Description

Class representing a container of many smooth (penalty) contacts.

Implemented using linked lists of ChContactSMC objects (that is, contacts between two ChContactable objects).

#include <ChContactContainerSMC.h>

Inheritance diagram for chrono::ChContactContainerSMC:

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Collaboration diagram for chrono::ChContactContainerSMC:

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Public Types
typedef ChContactSMC< ChContactable_1vars< 3 >, ChContactable_1vars< 3 > >	ChContactSMC_3_3

typedef ChContactSMC< ChContactable_1vars< 6 >, ChContactable_1vars< 3 > >	ChContactSMC_6_3

typedef ChContactSMC< ChContactable_1vars< 6 >, ChContactable_1vars< 6 > >	ChContactSMC_6_6

typedef ChContactSMC< ChContactable_3vars< 3, 3, 3 >, ChContactable_1vars< 3 > >	ChContactSMC_333_3

typedef ChContactSMC< ChContactable_3vars< 3, 3, 3 >, ChContactable_1vars< 6 > >	ChContactSMC_333_6

typedef ChContactSMC< ChContactable_3vars< 3, 3, 3 >, ChContactable_3vars< 3, 3, 3 > >	ChContactSMC_333_333

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_1vars< 3 > >	ChContactSMC_666_3

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_1vars< 6 > >	ChContactSMC_666_6

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_3vars< 3, 3, 3 > >	ChContactSMC_666_333

typedef ChContactSMC< ChContactable_3vars< 6, 6, 6 >, ChContactable_3vars< 6, 6, 6 > >	ChContactSMC_666_666

Public Member Functions
	ChContactContainerSMC (const ChContactContainerSMC &other)

virtual ChContactContainerSMC *	Clone () const override
	"Virtual" copy constructor (covariant return type).

virtual unsigned int	GetNumContacts () const override
	Report 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	AddContact (const ChCollisionInfo &cinfo, std::shared_ptr< ChContactMaterial > mat1, std::shared_ptr< ChContactMaterial > mat2) override
	Add a contact between two collision shapes, storing it into this container. More...

virtual void	AddContact (const ChCollisionInfo &cinfo) override
	Add a contact between two collision shapes, storing it into this container. More...

virtual void	EndAddContact () override
	The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar). More...

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.

virtual void	Update (double mtime, bool update_assets=true) override
	Update state of this contact container: compute jacobians, violations, etc. 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.

virtual ChVector3d	GetContactableTorque (ChContactable *contactable) override
	Return the resultant contact torque acting on the specified contactable object.

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor) override
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

virtual void	ConstraintsFbLoadForces (double factor) override
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow de-serialization of transient data from archives. More...

Public Member Functions inherited from chrono::ChContactContainer
	ChContactContainer (const ChContactContainer &other)

virtual void	RegisterAddContactCallback (std::shared_ptr< AddContactCallback > callback)
	Specify a callback object to be used each time a contact point is added to the container. More...

virtual std::shared_ptr< AddContactCallback >	GetAddContactCallback ()
	Get the callback object to be used each time a contact point is added to the container.

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

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 (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_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c)
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*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 += cCq'*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	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	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 ()

Protected Attributes
std::list< ChContactSMC_3_3 * >	contactlist_3_3

std::list< ChContactSMC_6_3 * >	contactlist_6_3

std::list< ChContactSMC_6_6 * >	contactlist_6_6

std::list< ChContactSMC_333_3 * >	contactlist_333_3

std::list< ChContactSMC_333_6 * >	contactlist_333_6

std::list< ChContactSMC_333_333 * >	contactlist_333_333

std::list< ChContactSMC_666_3 * >	contactlist_666_3

std::list< ChContactSMC_666_6 * >	contactlist_666_6

std::list< ChContactSMC_666_333 * >	contactlist_666_333

std::list< ChContactSMC_666_666 * >	contactlist_666_666

int	n_added_3_3

int	n_added_6_3

int	n_added_6_6

int	n_added_333_3

int	n_added_333_6

int	n_added_333_333

int	n_added_666_3

int	n_added_666_6

int	n_added_666_333

int	n_added_666_666

std::list< ChContactSMC_3_3 * >::iterator	lastcontact_3_3

std::list< ChContactSMC_6_3 * >::iterator	lastcontact_6_3

std::list< ChContactSMC_6_6 * >::iterator	lastcontact_6_6

std::list< ChContactSMC_333_3 * >::iterator	lastcontact_333_3

std::list< ChContactSMC_333_6 * >::iterator	lastcontact_333_6

std::list< ChContactSMC_333_333 * >::iterator	lastcontact_333_333

std::list< ChContactSMC_666_3 * >::iterator	lastcontact_666_3

std::list< ChContactSMC_666_6 * >::iterator	lastcontact_666_6

std::list< ChContactSMC_666_333 * >::iterator	lastcontact_666_333

std::list< ChContactSMC_666_666 * >::iterator	lastcontact_666_666

std::unordered_map< ChContactable *, ForceTorque >	contact_forces

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

Additional Inherited Members
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 ()

Member Function Documentation

◆ AddContact() [1/2]

void chrono::ChContactContainerSMC::AddContact ( const ChCollisionInfo & cinfo )

overridevirtual

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.

Implements chrono::ChContactContainer.

◆ AddContact() [2/2]

void chrono::ChContactContainerSMC::AddContact	(	const ChCollisionInfo &	cinfo,
		std::shared_ptr< ChContactMaterial >	mat1,
		std::shared_ptr< ChContactMaterial >	mat2
	)

overridevirtual

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.

Implements chrono::ChContactContainer.

◆ ArchiveIn()

void chrono::ChContactContainerSMC::ArchiveIn ( ChArchiveIn & archive_in )

overridevirtual

Method to allow de-serialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChContactContainer.

◆ BeginAddContact()

void chrono::ChContactContainerSMC::BeginAddContact ( )

overridevirtual

The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar).

Instead of simply deleting all list of the previous contacts, this optimized implementation rewinds the link iterator to begin and tries to reuse previous contact objects until possible, to avoid too much allocation/deallocation.

Reimplemented from chrono::ChContactContainer.

◆ ComputeContactForces()

void chrono::ChContactContainerSMC::ComputeContactForces ( )

overridevirtual

Compute contact forces on all contactable objects in this container.

This function caches contact forces in a map.

Reimplemented from chrono::ChContactContainer.

◆ EndAddContact()

void chrono::ChContactContainerSMC::EndAddContact ( )

overridevirtual

The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar).

This optimized version purges the end of the list of contacts that were not reused (if any).

Reimplemented from chrono::ChContactContainer.

◆ IntLoadResidual_F()

void chrono::ChContactContainerSMC::IntLoadResidual_F	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const double	c
	)

overridevirtual

Takes the F force term, scale and adds to R at given offset: R += c*F.

Parameters

off	offset in R residual
R	result: the R residual, R += c*F
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ LoadKRMMatrices()

void chrono::ChContactContainerSMC::LoadKRMMatrices	(	double	Kfactor,
		double	Rfactor,
		double	Mfactor
	)

overridevirtual

Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects.

The resulting KRM blocks represent linear combinations of the K, R, and M matrices, with the specified coefficients Kfactor, Rfactor,and Mfactor, respectively. Note: signs are flipped from the term dF/dx in the integrator: K = -dF/dq and R = -dF/dv.

Reimplemented from chrono::ChPhysicsItem.

◆ Update()

void chrono::ChContactContainerSMC::Update	(	double	mtime,
		bool	update_assets = `true`
	)

overridevirtual

Update state of this contact container: compute jacobians, violations, etc.

and store results in inner structures of contacts.

Reimplemented from chrono::ChPhysicsItem.

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

/builds/uwsbel/chrono/src/chrono/physics/ChContactContainerSMC.h
/builds/uwsbel/chrono/src/chrono/physics/ChContactContainerSMC.cpp

Description

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddContact() [1/2]

◆ AddContact() [2/2]

◆ ArchiveIn()

◆ BeginAddContact()

◆ ComputeContactForces()

◆ EndAddContact()

◆ IntLoadResidual_F()

◆ LoadKRMMatrices()

◆ Update()