Description

FEA Deformable terrain model.

This class implements a terrain made up of isoparametric finite elements. It features Drucker-Prager plasticity and capped Drucker-Prager plasticity.

#include <FEADeformableTerrain.h>

Inheritance diagram for chrono::vehicle::FEADeformableTerrain:

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Collaboration diagram for chrono::vehicle::FEADeformableTerrain:

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Public Member Functions
	FEADeformableTerrain (ChSystem *system)
	Construct a default FEADeformableSoil. More...

virtual double	GetHeight (const ChVector<> &loc) const override
	Get the terrain height below the specified location.

virtual chrono::ChVector	GetNormal (const ChVector<> &loc) const override
	Get the terrain normal at the point below the specified location.

virtual float	GetCoefficientFriction (const ChVector<> &loc) const override
	Get the terrain coefficient of friction at the point below the specified location. More...

void	SetSoilParametersFEA (double rho, double Emod, double nu, double yield_stress, double hardening_slope, double friction_angle, double dilatancy_angle)
	Set the properties of the Drucker-Prager FEA soil. More...

void	Initialize (const ChVector<> &start_point, const ChVector<> &terrain_dimension, const ChVector< int > &terrain_discretization)
	Initialize the terrain system (flat). More...

std::shared_ptr< fea::ChMesh >	GetMesh () const
	Get the underlying FEA mesh.

Public Member Functions inherited from chrono::vehicle::ChTerrain
virtual void	Synchronize (double time)
	Update the state of the terrain system at the specified time.

virtual void	Advance (double step)
	Advance the state of the terrain system by the specified duration.

virtual void	GetProperties (const ChVector<> &loc, double &height, ChVector<> &normal, float &friction) const
	Get all terrain characteristics at the point below the specified location.

void	RegisterHeightFunctor (std::shared_ptr< HeightFunctor > functor)
	Specify the functor object to provide the terrain height at given locations. More...

void	RegisterNormalFunctor (std::shared_ptr< NormalFunctor > functor)
	Specify the functor object to provide the terrain normal at given locations. More...

void	RegisterFrictionFunctor (std::shared_ptr< FrictionFunctor > functor)
	Specify the functor object to provide the coefficient of friction at given locations.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChTerrain
std::shared_ptr< HeightFunctor >	m_height_fun
	functor for location-dependent terrain height

std::shared_ptr< NormalFunctor >	m_normal_fun
	functor for location-dependent terrain normal

std::shared_ptr< FrictionFunctor >	m_friction_fun
	functor for location-dependent coefficient of friction

Constructor & Destructor Documentation

◆ FEADeformableTerrain()

chrono::vehicle::FEADeformableTerrain::FEADeformableTerrain ( ChSystem * system )

Construct a default FEADeformableSoil.

The user is responsible for calling various Set methods before Initialize.

Parameters

[in,out] system pointer to the containing system);

Member Function Documentation

◆ GetCoefficientFriction()

float chrono::vehicle::FEADeformableTerrain::GetCoefficientFriction ( const ChVector<> & loc ) const

overridevirtual

Get the terrain coefficient of friction at the point below the specified location.

This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For FEADeformableTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value of 0.8.

Reimplemented from chrono::vehicle::ChTerrain.

◆ Initialize()

void chrono::vehicle::FEADeformableTerrain::Initialize	(	const ChVector<> &	start_point,
		const ChVector<> &	terrain_dimension,
		const ChVector< int > &	terrain_discretization
	)

Initialize the terrain system (flat).

This version creates a flat array of points.

Parameters

[in]	start_point	Base point to build terrain box
[in]	terrain_dimension	terrain dimensions in the 3 directions
[in]	terrain_discretization	Number of finite elements in the 3 directions

◆ SetSoilParametersFEA()

void chrono::vehicle::FEADeformableTerrain::SetSoilParametersFEA	(	double	rho,
		double	Emod,
		double	nu,
		double	yield_stress,
		double	hardening_slope,
		double	friction_angle,
		double	dilatancy_angle
	)

Set the properties of the Drucker-Prager FEA soil.

Parameters

[in]	rho	Soil density
[in]	Emod	Soil modulus of elasticity
[in]	nu	Soil Poisson ratio
[in]	yield_stress	Soil yield stress, for plasticity
[in]	hardening_slope	Soil hardening slope, for plasticity
[in]	friction_angle	Soil internal friction angle
[in]	dilatancy_angle	Soil dilatancy angle

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/terrain/FEADeformableTerrain.h
/builds/uwsbel/chrono/src/chrono_vehicle/terrain/FEADeformableTerrain.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ FEADeformableTerrain()

Member Function Documentation

◆ GetCoefficientFriction()

◆ Initialize()

◆ SetSoilParametersFEA()