Description

Class for a single particle clone in the ChParticleCloud cluster.

It does not define mass, inertia and shape because those are shared among them.

#include <ChParticleCloud.h>

Inheritance diagram for chrono::ChParticle:

[legend]

Collaboration diagram for chrono::ChParticle:

[legend]

Public Member Functions
	ChParticle (const ChParticle &other)

ChParticle &	operator= (const ChParticle &other)

virtual ChVariables &	Variables () override

ChParticleCloud *	GetContainer () const

void	SetContainer (ChParticleCloud *mc)

virtual ChContactable::eChContactableType	GetContactableType () const override
	This must return the proper eChContactableType enum, for allowing a faster collision dispatcher in ChContactContainer classes (this enum will be used instead of slow dynamic_cast<> to infer the type of ChContactable, if possible)

virtual ChVariables *	GetVariables1 () override
	Access variables.

virtual bool	IsContactActive () override
	Tell if the object must be considered in collision detection.

virtual int	GetContactableNumCoordsPosLevel () override
	Get the number of DOFs affected by this object (position part).

virtual int	GetContactableNumCoordsVelLevel () override
	Get the number of DOFs affected by this object (speed part).

virtual void	ContactableGetStateBlockPosLevel (ChState &x) override
	Get all the DOFs packed in a single vector (position part)

virtual void	ContactableGetStateBlockVelLevel (ChStateDelta &w) override
	Get all the DOFs packed in a single vector (speed part)

virtual void	ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
	Increment the provided state of this object by the given state-delta increment. More...

virtual ChVector3d	GetContactPoint (const ChVector3d &loc_point, const ChState &state_x) override
	Express the local point in absolute frame, for the given state position.

virtual ChVector3d	GetContactPointSpeed (const ChVector3d &loc_point, const ChState &state_x, const ChStateDelta &state_w) override
	Get the absolute speed of a local point attached to the contactable. More...

virtual ChVector3d	GetContactPointSpeed (const ChVector3d &abs_point) override
	Get the absolute speed of point abs_point if attached to the surface. More...

virtual ChFrame	GetCollisionModelFrame () override
	Return the coordinate system for the associated collision model. More...

virtual void	ContactForceLoadResidual_F (const ChVector3d &F, const ChVector3d &T, const ChVector3d &abs_point, ChVectorDynamic<> &R) override
	Apply the force & torque, expressed in absolute reference, applied in pos, to the coordinates of the variables. More...

virtual void	ContactComputeQ (const ChVector3d &F, const ChVector3d &T, const ChVector3d &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override
	Compute a contiguous vector of generalized forces Q from a given force & torque at the given point. More...

virtual void	ComputeJacobianForContactPart (const ChVector3d &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override
	Compute the jacobian(s) part(s) for this contactable item. More...

virtual void	ComputeJacobianForRollingContactPart (const ChVector3d &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override
	Compute the jacobian(s) part(s) for this contactable item, for rolling about N,u,v (used only for rolling friction NSC contacts)

virtual double	GetContactableMass () override
	used by some SMC code

virtual ChPhysicsItem *	GetPhysicsItem () override
	This is only for backward compatibility.

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.

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

ChParticleBase &	operator= (const ChParticleBase &other)

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving (const ChVector3< double > &mv=ChVector3< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion).

	ChFrameMoving (const ChVector3< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix).

	ChFrameMoving (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< double > &mc)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< double > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< double > &	operator= (const ChFrameMoving< double > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< double > &other) const
	Returns true for different frames.

ChFrameMoving< double >	operator>> (const ChFrameMoving< double > &F) const
	Transform another frame through this frame. More...

ChFrameMoving< double >	operator* (const ChFrameMoving< double > &F) const
	Transform another frame through this frame. More...

ChFrameMoving< double > &	operator>>= (const ChFrameMoving< double > &F)
	Transform this frame by pre-multiplication with another frame. More...

ChFrameMoving< double > &	operator>>= (const ChVector3< double > &v)
	Transform this frame by pre-multiplication with a given vector (translate frame).

ChFrameMoving< double > &	operator>>= (const ChQuaternion< double > &q)
	Transform this frame by pre-multiplication with a given quaternion (rotate frame).

ChFrameMoving< double > &	operator>>= (const ChCoordsys< double > &C)
	Transform this frame by pre-multiplication with a given coordinate system.

ChFrameMoving< double > &	operator>>= (const ChFrame< double > &F)
	Transform this frame by pre-multiplication with another frame.

ChFrameMoving< double > &	operator*= (const ChFrameMoving< double > &F)
	Transform this frame by post-multiplication with another frame. More...

const ChCoordsys< double > &	GetCoordsysDt () const
	Return both rotation and translation velocities as a ChCoordsys object.

const ChCoordsys< double > &	GetCoordsysDt2 () const
	Return both rotation and translation accelerations as a ChCoordsys object.

const ChVector3< double > &	GetPosDt () const
	Return the linear velocity.

const ChVector3< double > &	GetLinVel () const
	Return the linear velocity.

const ChVector3< double > &	GetPosDt2 () const
	Return the linear acceleration.

const ChVector3< double > &	GetLinAcc () const
	Return the linear acceleration.

const ChQuaternion< double > &	GetRotDt () const
	Return the rotation velocity as a quaternion.

const ChQuaternion< double > &	GetRotDt2 () const
	Return the rotation acceleration as a quaternion.

ChVector3< double >	GetAngVelLocal () const
	Compute the angular velocity (expressed in local coords).

ChVector3< double >	GetAngVelParent () const
	Compute the actual angular velocity (expressed in parent coords).

ChVector3< double >	GetAngAccLocal () const
	Compute the actual angular acceleration (expressed in local coords).

ChVector3< double >	GetAngAccParent () const
	Compute the actual angular acceleration (expressed in parent coords).

virtual void	SetCoordsysDt (const ChCoordsys< double > &csys_dt)
	Set both linear and rotation velocities as a single ChCoordsys derivative.

virtual void	SetPosDt (const ChVector3< double > &vel)
	Set the linear velocity.

virtual void	SetLinVel (const ChVector3< double > &vel)
	Set the linear velocity.

virtual void	SetRotDt (const ChQuaternion< double > &q_dt)
	Set the rotation velocity as a quaternion derivative. More...

virtual void	SetAngVelLocal (const ChVector3< double > &w)
	Set the rotation velocity from the given angular velocity (expressed in local coordinates).

virtual void	SetAngVelParent (const ChVector3< double > &w)
	Set the rotation velocity from given angular velocity (expressed in parent coordinates).

virtual void	SetCoordsysDt2 (const ChCoordsys< double > &csys_dtdt)
	Set the linear and rotation accelerations as a single ChCoordsys derivative.

virtual void	SetPosDt2 (const ChVector3< double > &acc)
	Set the linear acceleration.

virtual void	SetLinAcc (const ChVector3< double > &acc)
	Set the linear acceleration.

virtual void	SetRotDt2 (const ChQuaternion< double > &q_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetAngAccLocal (const ChVector3< double > &a)
	Set the rotation acceleration from given angular acceleration (expressed in local coordinates). More...

virtual void	SetAngAccParent (const ChVector3< double > &a)
	Set the rotation acceleration from given angular acceleration (expressed in parent coordinates).

void	ComputeRotMatDt (ChMatrix33< double > &R_dt) const
	Compute the time derivative of the rotation matrix.

void	ComputeRotMatDt2 (ChMatrix33< double > &R_dtdt)
	Compute the second time derivative of the rotation matrix.

ChMatrix33< double >	GetRotMatDt ()
	Return the time derivative of the rotation matrix.

ChMatrix33< double >	GetRotMatDt2 ()
	Return the second time derivative of the rotation matrix.

void	ConcatenatePreTransformation (const ChFrameMoving< double > &F)
	Apply a transformation (rotation and translation) represented by another frame. More...

void	ConcatenatePostTransformation (const ChFrameMoving< double > &F)
	Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...

ChVector3< double >	PointSpeedLocalToParent (const ChVector3< double > &localpos) const
	Return the velocity in the parent frame of a point fixed to this frame and expressed in local coordinates.

ChVector3< double >	PointSpeedLocalToParent (const ChVector3< double > &localpos, const ChVector3< double > &localspeed) const
	Return the velocity in the parent frame of a moving point, given the point location and velocity expressed in local coordinates.

ChVector3< double >	PointAccelerationLocalToParent (const ChVector3< double > &localpos) const
	Return the acceleration in the parent frame of a point fixed to this frame and expressed in local coordinates. More...

ChVector3< double >	PointAccelerationLocalToParent (const ChVector3< double > &localpos, const ChVector3< double > &localspeed, const ChVector3< double > &localacc) const
	Return the acceleration in the parent frame of a moving point, given the point location, velocity, and acceleration expressed in local coordinates.

ChVector3< double >	PointSpeedParentToLocal (const ChVector3< double > &parentpos, const ChVector3< double > &parentspeed) const
	Return the velocity of a point expressed in this frame, given the point location and velocity in the parent frame.

ChVector3< double >	PointAccelerationParentToLocal (const ChVector3< double > &parentpos, const ChVector3< double > &parentspeed, const ChVector3< double > &parentacc) const
	Return the acceleration of a point expressed in this frame, given the point location, velocity, and acceleration in the parent frame.

ChFrameMoving< double >	TransformLocalToParent (const ChFrameMoving< double > &F) const
	Transform a moving frame from 'this' local coordinate system to parent frame coordinate system.

ChFrameMoving< double >	TransformParentToLocal (const ChFrameMoving< double > &F) const
	Transform a moving frame from the parent coordinate system to 'this' local frame coordinate system.

bool	Equals (const ChFrameMoving< double > &other) const
	Returns true if this transform is identical to the other transform.

bool	Equals (const ChFrameMoving< double > &other, double tol) const
	Returns true if this transform is equal to the other transform, within a tolerance 'tol'.

virtual void	Invert () override
	Invert in place. More...

ChFrameMoving< double >	GetInverse () const
	Return the inverse transform.

Public Member Functions inherited from chrono::ChFrame< double >
	ChFrame (const ChVector3< double > &v=ChVector3< double >(0, 0, 0), const ChQuaternion< double > &q=ChQuaternion< double >(1, 0, 0, 0))
	Default constructor, or construct from pos and rot (as a quaternion)

	ChFrame (const ChVector3< double > &v, const ChMatrix33< double > &R)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrame (const ChCoordsys< double > &C)
	Construct from a coordsys.

	ChFrame (const ChVector3< double > &v, const double angle, const ChVector3< double > &u)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChFrame< double > &other)
	Copy constructor, build from another frame.

ChFrame< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrame< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrame< double > &other) const
	Returns true for different frames.

ChFrame< double >	operator* (const ChFrame< double > &F) const
	Transform another frame through this frame. More...

ChVector3< double >	operator* (const ChVector3< double > &v) const
	Transform a vector through this frame (express in parent frame). More...

ChFrame< double >	operator>> (const ChFrame< double > &F) const
	Transform another frame through this frame. More...

ChVector3< double >	operator/ (const ChVector3< double > &v) const
	Transform a vector through this frame (express from parent frame). More...

ChFrame< double > &	operator>>= (const ChFrame< double > &F)
	Transform this frame by pre-multiplication with another frame. More...

ChFrame< double > &	operator>>= (const ChVector3< double > &v)
	Transform this frame by pre-multiplication with a given vector (translate frame).

ChFrame< double > &	operator>>= (const ChQuaternion< double > &q)
	Transform this frame by pre-multiplication with a given quaternion (rotate frame).

ChFrame< double > &	operator>>= (const ChCoordsys< double > &C)
	Transform this frame by pre-multiplication with a given coordinate system.

ChFrame< double > &	operator*= (const ChFrame< double > &F)
	Transform this frame by post-multiplication with another frame. More...

const ChCoordsys< double > &	GetCoordsys () const
	Return both current rotation and translation as a ChCoordsys object.

const ChVector3< double > &	GetPos () const
	Return the current translation vector.

const ChQuaternion< double > &	GetRot () const
	Return the current rotation quaternion.

const ChMatrix33< double > &	GetRotMat () const
	Return the current 3x3 rotation matrix.

ChVector3< double >	GetRotAxis () const
	Get axis of finite rotation, in parent space.

double	GetRotAngle () const
	Get angle of rotation about axis of finite rotation.

void	SetCoordsys (const ChCoordsys< double > &C)
	Impose both translation and rotation as a single ChCoordsys. More...

void	SetCoordsys (const ChVector3< double > &v, const ChQuaternion< double > &q)
	Impose both translation and rotation. More...

void	SetRot (const ChQuaternion< double > &q)
	Impose the rotation as a quaternion. More...

void	SetRot (const ChMatrix33< double > &R)
	Impose the rotation as a 3x3 matrix. More...

void	SetPos (const ChVector3< double > &pos)
	Impose the translation vector.

void	ConcatenatePreTransformation (const ChFrame< double > &F)
	Apply a transformation (rotation and translation) represented by another frame. More...

void	ConcatenatePostTransformation (const ChFrame< double > &F)
	Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...

void	Move (const ChVector3< double > &v)
	An easy way to move the frame by the amount specified by vector v, (assuming v expressed in parent coordinates)

void	Move (const ChCoordsys< double > &C)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

ChVector3< double >	TransformPointLocalToParent (const ChVector3< double > &v) const
	Transform a point from the local frame coordinate system to the parent coordinate system.

ChVector3< double >	TransformPointParentToLocal (const ChVector3< double > &v) const
	Transforms a point from the parent coordinate system to local frame coordinate system.

ChVector3< double >	TransformDirectionLocalToParent (const ChVector3< double > &d) const
	Transform a direction from the parent frame coordinate system to 'this' local coordinate system.

ChVector3< double >	TransformDirectionParentToLocal (const ChVector3< double > &d) const
	Transforms a direction from 'this' local coordinate system to parent frame coordinate system.

ChWrench< double >	TransformWrenchLocalToParent (const ChWrench< double > &w) const
	Transform a wrench from the local coordinate system to the parent coordinate system.

ChWrench< double >	TransformWrenchParentToLocal (const ChWrench< double > &w) const
	Transform a wrench from the parent coordinate system to the local coordinate system.

ChFrame< double >	TransformLocalToParent (const ChFrame< double > &F) const
	Transform a frame from 'this' local coordinate system to parent frame coordinate system.

ChFrame< double >	TransformParentToLocal (const ChFrame< double > &F) const
	Transform a frame from the parent coordinate system to 'this' local frame coordinate system.

bool	Equals (const ChFrame< double > &other) const
	Returns true if this transform is identical to the other transform.

bool	Equals (const ChFrame< double > &other, double tol) const
	Returns true if this transform is equal to the other transform, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< double >	GetInverse () const
	Return the inverse transform.

Public Attributes
ChParticleCloud *	container

ChVariablesBodySharedMass	variables

ChVector3d	UserForce

ChVector3d	UserTorque

Additional Inherited Members
Protected Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double >	m_csys_dt
	rotation and position velocity, as vector + quaternion

ChCoordsys< double >	m_csys_dtdt
	rotation and position acceleration, as vector + quaternion

Protected Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double >	m_csys
	position and rotation, as vector + quaternion

ChMatrix33< double >	m_rmat
	3x3 orthogonal rotation matrix

Member Function Documentation

◆ ComputeJacobianForContactPart()

void chrono::ChParticle::ComputeJacobianForContactPart	(	const ChVector3d &	abs_point,
		ChMatrix33<> &	contact_plane,
		ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &	jacobian_tuple_N,
		ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &	jacobian_tuple_U,
		ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &	jacobian_tuple_V,
		bool	second
	)

overridevirtual

Compute the jacobian(s) part(s) for this contactable item.

For example, if the contactable is a ChBody, this should update the corresponding 1x6 jacobian.

◆ ContactableIncrementState()

void chrono::ChParticle::ContactableIncrementState	(	const ChState &	x,
		const ChStateDelta &	dw,
		ChState &	x_new
	)

overridevirtual

Increment the provided state of this object by the given state-delta increment.

Compute: x_new = x + dw.

Implements chrono::ChContactable.

◆ ContactComputeQ()

void chrono::ChParticle::ContactComputeQ	(	const ChVector3d &	F,
		const ChVector3d &	T,
		const ChVector3d &	point,
		const ChState &	state_x,
		ChVectorDynamic<> &	Q,
		int	offset
	)

overridevirtual

Compute a contiguous vector of generalized forces Q from a given force & torque at the given point.

Used for computing stiffness matrix (square force jacobian) by backward differentiation. The force and its application point are specified in the global frame. Each object must set the entries in Q corresponding to its variables, starting at the specified offset. If needed, the object states must be extracted from the provided state position.

Implements chrono::ChContactable.