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chrono::ChContactContainerMulticore Class Referenceabstract
Description
Class representing a container of many contacts, implemented as a linked list of contact tuples.
#include <ChContactContainerMulticore.h>
Inheritance diagram for chrono::ChContactContainerMulticore:
Collaboration diagram for chrono::ChContactContainerMulticore:
Public Types | |
| typedef ChContactTuple< ChContactable_1vars< 6 >, ChContactable_1vars< 6 > > | ChContact_6_6 |
Public Member Functions | |
| ChContactContainerMulticore (ChMulticoreDataManager *dc) | |
| ChContactContainerMulticore (const ChContactContainerMulticore &other) | |
| virtual unsigned int | GetNumContacts () const override |
| Get the number of added contacts. | |
| virtual void | RemoveAllContacts () override |
| Remove (delete) all contained contact data. | |
| virtual void | BeginAddContact () override |
| The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar). More... | |
| virtual void | EndAddContact () override |
| The collision system will call EndAddContact() after adding all contacts (for example with AddContact() or similar). | |
| virtual void | RegisterAddContactCallback (std::shared_ptr< AddContactCallback > mcallback) override |
| Specify a callback object to be used each time a contact point is added to the container. | |
| virtual std::shared_ptr< AddContactCallback > | GetAddContactCallback () override |
| Get the callback object to be used each time a contact point is added to the container. | |
| virtual void | ReportAllContacts (std::shared_ptr< ReportContactCallback > callback) override |
| Scan all the contacts and for each contact executes the OnReportContact() function of the provided callback object. More... | |
| virtual void | ComputeContactForces () override |
| Compute contact forces on all contactable objects in this container. More... | |
| virtual ChVector3d | GetContactableForce (ChContactable *contactable) override |
| Return the resultant contact force acting on the specified contactable object. More... | |
| virtual ChVector3d | GetContactableTorque (ChContactable *contactable) override |
| Return the resultant contact torque acting on the specified contactable object. More... | |
| const std::list< ChContact_6_6 * > & | GetContactList () const |
| Return the list of contacts between rigid bodies. | |
| virtual void | AddContact (int index, int b1, int s1, int b2, int s2)=0 |
| Process the contact between the two specified collision shapes on the two specified bodies (compute composite material properties and load in global data structure). | |
 Public Member Functions inherited from chrono::ChContactContainer | |
| ChContactContainer (const ChContactContainer &other) | |
| virtual void | AddContact (const ChCollisionInfo &cinfo, std::shared_ptr< ChContactMaterial > mat1, std::shared_ptr< ChContactMaterial > mat2)=0 |
| Add a contact between two collision shapes, storing it into this container. More... | |
| virtual void | AddContact (const ChCollisionInfo &cinfo)=0 |
| Add a contact between two collision shapes, storing it into this container. More... | |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) |
| Method for serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) |
| Method for de-serialization of transient data from archives. | |
| Public Member Functions inherited from chrono::ChPhysicsItem | |
| ChPhysicsItem (const ChPhysicsItem &other) | |
| virtual ChPhysicsItem * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| ChSystem * | GetSystem () const |
| Get the pointer to the parent ChSystem(). | |
| virtual void | SetSystem (ChSystem *m_system) |
| Set the pointer to the parent ChSystem(). More... | |
| void | AddVisualModel (std::shared_ptr< ChVisualModel > model) |
| Add an (optional) visualization model. More... | |
| std::shared_ptr< ChVisualModel > | GetVisualModel () const |
| Access the visualization model (if any). More... | |
| void | AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>()) |
| Add the specified visual shape to the visualization model. More... | |
| std::shared_ptr< ChVisualShape > | GetVisualShape (unsigned int i) const |
| Access the specified visualization shape in the visualization model (if any). More... | |
| void | AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA) |
| Add the specified FEA visualization object to the visualization model. More... | |
| std::shared_ptr< ChVisualShapeFEA > | GetVisualShapeFEA (unsigned int i) const |
| Access the specified FEA visualization object in the visualization model (if any). More... | |
| virtual ChFrame | GetVisualModelFrame (unsigned int nclone=0) const |
| Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More... | |
| virtual unsigned int | GetNumVisualModelClones () const |
| Return the number of clones of the visual model associated with this physics item. More... | |
| void | AddCamera (std::shared_ptr< ChCamera > camera) |
| Attach a ChCamera to this physical item. More... | |
| std::vector< std::shared_ptr< ChCamera > > | GetCameras () const |
| Get the set of cameras attached to this physics item. | |
| virtual bool | IsActive () const |
| Return true if the object is active and included in dynamics. | |
| virtual bool | IsCollisionEnabled () const |
| Tell if the object is subject to collision. More... | |
| virtual void | AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const |
| Add to the provided collision system any collision models managed by this physics item. More... | |
| virtual void | RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const |
| Remove from the provided collision system any collision models managed by this physics item. More... | |
| virtual void | SyncCollisionModels () |
| Synchronize the position and bounding box of any collsion models managed by this physics item. | |
| virtual ChAABB | GetTotalAABB () |
| Get the entire AABB axis-aligned bounding box of the object. More... | |
| virtual void | GetCenter (ChVector3d &mcenter) |
| Get a symbolic 'center' of the object. More... | |
| virtual void | Setup () |
| This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh) | |
| virtual void | Update (double mytime, bool update_assets=true) |
| This is an important function, which is called by the owner ChSystem at least once per integration step. More... | |
| virtual void | Update (bool update_assets=true) |
| As above, but does not require updating of time-dependent data. More... | |
| virtual void | ForceToRest () |
| Set zero speed (and zero accelerations) in state, without changing the position. More... | |
| virtual unsigned int | GetNumCoordsPosLevel () |
| Get the number of coordinates at the position level. More... | |
| virtual unsigned int | GetNumCoordsVelLevel () |
| Get the number of coordinates at the velocity level. More... | |
| virtual unsigned int | GetNumConstraints () |
| Get the number of scalar constraints. | |
| virtual unsigned int | GetNumConstraintsBilateral () |
| Get the number of bilateral scalar constraints. | |
| virtual unsigned int | GetNumConstraintsUnilateral () |
| Get the number of unilateral scalar constraints. | |
| unsigned int | GetOffset_x () |
| Get offset in the state vector (position part) | |
| unsigned int | GetOffset_w () |
| Get offset in the state vector (speed part) | |
| unsigned int | GetOffset_L () |
| Get offset in the lagrangian multipliers. | |
| void | SetOffset_x (const unsigned int moff) |
| Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this. | |
| void | SetOffset_w (const unsigned int moff) |
| Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this. | |
| void | SetOffset_L (const unsigned int moff) |
| Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this. | |
| virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) |
| From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More... | |
| virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) |
| From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More... | |
| virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) |
| From item's state acceleration to global acceleration vector. More... | |
| virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) |
| From global acceleration vector to item's state acceleration. More... | |
| virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
| From item's reaction forces to global reaction vector. More... | |
| virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
| From global reaction vector to item's reaction forces. More... | |
| virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
| Computes x_new = x + Dt , using vectors at specified offsets. More... | |
| virtual void | IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) |
| Computes Dt = x_new - x, using vectors at specified offsets. More... | |
| virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) |
| Takes the F force term, scale and adds to R at given offset: R += c*F. More... | |
| virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) |
| Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More... | |
| virtual void | IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) |
| Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More... | |
| virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
| Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
| virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
| Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More... | |
| virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
| Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
| virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) |
| Prepare variables and constraints to accommodate a solution: More... | |
| virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) |
| After a solver solution, fetch values from variables and constraints into vectors: More... | |
| virtual void | InjectVariables (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChVariable objects associated with this item. | |
| virtual void | InjectConstraints (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChConstraint objects associated with this item. | |
| virtual void | LoadConstraintJacobians () |
| Compute and load current Jacobians in encapsulated ChConstraint objects. | |
| virtual void | InjectKRMMatrices (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChKRMBlock objects associated with this item. | |
| virtual void | LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) |
| Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More... | |
| virtual void | VariablesFbReset () |
| Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
| virtual void | VariablesFbLoadForces (double factor=1) |
| Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor. | |
| virtual void | VariablesQbLoadSpeed () |
| Initialize the 'qb' part of the ChVariables with the current value of speeds. More... | |
| virtual void | VariablesFbIncrementMq () |
| Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
| virtual void | VariablesQbSetSpeed (double step=0) |
| Fetches the item speed (ex. More... | |
| virtual void | VariablesQbIncrementPosition (double step) |
| Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More... | |
| virtual void | ConstraintsBiReset () |
| Sets to zero the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) |
| Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsBiLoad_Ct (double factor=1) |
| Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsBiLoad_Qc (double factor=1) |
| Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints. | |
| virtual void | ConstraintsFbLoadForces (double factor=1) |
| Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints. | |
| virtual void | ConstraintsFetch_react (double factor=1) |
| Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More... | |
| Public Member Functions inherited from chrono::ChObj | |
| ChObj (const ChObj &other) | |
| int | GetIdentifier () const |
| Get the unique integer identifier of this object. More... | |
| void | SetTag (int tag) |
| Set an object integer tag (default: -1). More... | |
| int | GetTag () const |
| Get the tag of this object. | |
| void | SetName (const std::string &myname) |
| Set the name of this object. | |
| const std::string & | GetName () const |
| Get the name of this object. | |
| double | GetChTime () const |
| Gets the simulation time of this object. | |
| void | SetChTime (double m_time) |
| Sets the simulation time of this object. | |
| virtual std::string & | ArchiveContainerName () |
Public Attributes | |
| ChMulticoreDataManager * | data_manager |
Protected Member Functions | |
| virtual void | AddContact (const ChCollisionInfo &cinfo, std::shared_ptr< ChContactMaterial > mat1, std::shared_ptr< ChContactMaterial > mat2)=0 |
| Add a contact between two collision shapes, storing it into this container. More... | |
| virtual void | AddContact (const ChCollisionInfo &cinfo)=0 |
| Add a contact between two collision shapes, storing it into this container. More... | |
| Protected Member Functions inherited from chrono::ChContactContainer | |
| template<class Tcont > | |
| void | SumAllContactForces (std::list< Tcont * > &contactlist, std::unordered_map< ChContactable *, ForceTorque > &contactforces) |
| Utility function to accumulate contact forces from a specified list of contacts. More... | |
| Protected Member Functions inherited from chrono::ChObj | |
| int | GenerateUniqueIdentifier () |
Protected Attributes | |
| int | n_added_6_6 |
| std::list< ChContact_6_6 * > | contactlist_6_6 |
| std::list< ChContact_6_6 * >::iterator | lastcontact_6_6 |
| Protected Attributes inherited from chrono::ChContactContainer | |
| std::shared_ptr< AddContactCallback > | add_contact_callback |
| ReportContactCallback * | report_contact_callback |
| Protected Attributes inherited from chrono::ChPhysicsItem | |
| ChSystem * | system |
| parent system | |
| std::shared_ptr< ChVisualModelInstance > | vis_model_instance |
| instantiated visualization model | |
| std::vector< std::shared_ptr< ChCamera > > | cameras |
| set of cameras | |
| unsigned int | offset_x |
| offset in vector of state (position part) | |
| unsigned int | offset_w |
| offset in vector of state (speed part) | |
| unsigned int | offset_L |
| offset in vector of lagrangian multipliers | |
| Protected Attributes inherited from chrono::ChObj | |
| double | ChTime |
| object simulation time | |
| std::string | m_name |
| object name | |
| int | m_identifier |
| object unique identifier | |
| int | m_tag |
| user-supplied tag | |
Friends | |
| class | ChSystemMulticoreNSC |
| class | ChSystemMulticoreSMC |
Member Function Documentation
◆ AddContact() [1/2]
|
protected |
Add a contact between two collision shapes, storing it into this container.
The collision info object is assumed to contain valid pointers to the two colliding shapes. A composite contact material is created from their material properties.
◆ AddContact() [2/2]
|
protected |
Add a contact between two collision shapes, storing it into this container.
A compositecontact material is created from the two given materials. In this case, the collision info object may have null pointers to collision shapes.
◆ BeginAddContact()
|
overridevirtual |
The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar).
By default it deletes all previous contacts. More efficient implementations might reuse contacts if possible.
Reimplemented from chrono::ChContactContainer.
Reimplemented in chrono::ChContactContainerMulticoreSMC, and chrono::ChContactContainerMulticoreNSC.
◆ ComputeContactForces()
|
overridevirtual |
Compute contact forces on all contactable objects in this container.
Note that this function must be explicitly called by the user at each time where calls to GetContactableForce or ContactableTorque are made.
Reimplemented from chrono::ChContactContainer.
◆ GetContactableForce()
|
overridevirtual |
Return the resultant contact force acting on the specified contactable object.
Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact forces is desired.
Implements chrono::ChContactContainer.
◆ GetContactableTorque()
|
overridevirtual |
Return the resultant contact torque acting on the specified contactable object.
Note that ComputeContactForces must be called prior to calling this function at any time where reporting of contact torques is desired.
Implements chrono::ChContactContainer.
◆ ReportAllContacts()
|
overridevirtual |
Scan all the contacts and for each contact executes the OnReportContact() function of the provided callback object.
Note: currently, the contact reaction force and torque are not set (always zero).
Reimplemented from chrono::ChContactContainer.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_multicore/collision/ChContactContainerMulticore.h
- /builds/uwsbel/chrono/src/chrono_multicore/collision/ChContactContainerMulticore.cpp
