Description

Class for Rigid Bodies.

A rigid body is an entity with mass and inertia properties moving in the 3D space. Optionally, an object of the ChBody class (or derived) can:

be involved in collision, if a collision model is provided (Collisions) and the collision is enabled;
be visualized, if a visual model is provided and a proper visualization system is available (Visualization System);
be constrained by means of ChLink objects (Links);
be loaded by ChLoad objects (Loads);
be used in coordinate transformation, being itself inherited from ChFrameMoving;

Location and orientation of the ChBody refer to its Center of Mass (CoM). Since no additional frame is available, also visual and collision shapes refer to the same frame. Derived classes might offer additional frames (e.g. ChBodyAuxRef).

Further info at the Rigid Bodies manual page.

#include <ChBody.h>

Inheritance diagram for chrono::ChBody:

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Collaboration diagram for chrono::ChBody:

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Public Member Functions
	ChBody (const ChBody &other)

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

void	SetFixed (bool state)
	Sets the 'fixed' state of the body. More...

bool	IsFixed () const
	Return true if this body is fixed to ground.

void	EnableCollision (bool state)
	Enable/disable the collision for this rigid body.

virtual bool	IsCollisionEnabled () const override
	Return true if collision is enabled for this body.

void	SetLimitSpeed (bool state)
	Enable the maximum linear speed limit (default: false).

void	SetUseGyroTorque (bool state)
	Enable/disable the gyroscopic torque (quadratic term). More...

bool	IsUsingGyroTorque () const
	Return true if gyroscopic torque is used (default=true).

void	SetSleepingAllowed (bool state)
	Enable/disable option for setting bodies to 'sleep'. More...

bool	IsSleepingAllowed () const
	Return true if 'sleep' mode is allowed for this specific body.

void	SetSleeping (bool state)
	Force the body in sleeping mode or not. More...

bool	IsSleeping () const
	Return true if this body is currently in 'sleep' mode.

bool	TrySleeping ()
	Test if a body could go in sleeping state if requirements are satisfied. More...

virtual bool	IsActive () const override
	Return true if the body is currently active and therefore included into the system solver. More...

unsigned int	GetIndex ()
	Get the unique sequential body index (internal use only).

virtual unsigned int	GetNumCoordsPosLevel () override
	Number of coordinates of body: 7 because uses quaternions for rotation.

virtual unsigned int	GetNumCoordsVelLevel () override
	Number of coordinates of body: 6 because derivatives use angular velocity.

virtual ChVariables &	Variables () override
	Return a reference to the encapsulated ChVariablesBody, representing states (pos, speed, or accel.) and forces. More...

void	ForceToRest () override
	Set no speed and no accelerations (but does not change the position).

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const override
	Add the body collision model (if any) to the provided collision system.

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const override
	Remove the body collision model (if any) from the provided collision system.

virtual void	SyncCollisionModels () override
	Synchronize the position and bounding box of the body collision model (if any).

virtual const ChFrameMoving &	GetFrameCOMToAbs () const
	Get the rigid body coordinate system that represents the GOG (Center of Gravity). More...

virtual const ChFrameMoving &	GetFrameRefToAbs () const
	Get the rigid body coordinate system that is used for defining the collision shapes and the ChMarker objects. More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const override
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual ChAABB	GetTotalAABB () const override
	Get the axis-aligned bounding (AABB) box of the object. More...

void	AddMarker (std::shared_ptr< ChMarker > amarker)
	Attach a marker to this body.

void	AddForce (std::shared_ptr< ChForce > aforce)
	Attach a force to this body.

void	RemoveMarker (std::shared_ptr< ChMarker > amarker)
	Remove a specific marker from this body. More...

void	RemoveForce (std::shared_ptr< ChForce > aforce)
	Remove a specific force from this body. More...

void	RemoveAllForces ()
	Remove all markers at once. More...

void	RemoveAllMarkers ()
	Remove all markers at once. More...

std::shared_ptr< ChMarker >	SearchMarker (const std::string &name) const
	Find a marker by its name.

std::shared_ptr< ChMarker >	SearchMarker (int id) const
	Find a marker by its identifier.

std::shared_ptr< ChForce >	SearchForce (const std::string &name) const
	Find a force by its name.

const std::vector< std::shared_ptr< ChMarker > > &	GetMarkers () const
	Gets the list of children markers. More...

const std::vector< std::shared_ptr< ChForce > > &	GetForces () const
	Gets the list of children forces. More...

void	SetMass (double newmass)
	Set the body mass. More...

double	GetMass ()
	Get the body mass.

void	SetInertia (const ChMatrix33<> &newXInertia)
	Set the inertia tensor of the body. More...

const ChMatrix33 &	GetInertia () const
	Get the inertia tensor, expressed in the local coordinate system. More...

const ChMatrix33 &	GetInvInertia () const
	Get the inverse of the inertia matrix.

void	SetInertiaXX (const ChVector3d &iner)
	Set the diagonal part of the inertia tensor (Ixx, Iyy, Izz values). More...

ChVector3d	GetInertiaXX () const
	Get the diagonal part of the inertia tensor (Ixx, Iyy, Izz values). More...

void	SetInertiaXY (const ChVector3d &iner)
	Set the off-diagonal part of the inertia tensor (Ixy, Ixz, Iyz values). More...

ChVector3d	GetInertiaXY () const
	Get the extra-diagonal part of the inertia tensor (Ixy, Ixz, Iyz values). More...

void	SetMaxLinVel (float m_max_speed)
	Set the maximum linear speed (beyond this limit it will be clamped). More...

float	GetMaxLinVel () const

void	SetMaxAngVel (float m_max_wvel)
	Set the maximum angular speed (beyond this limit it will be clamped). More...

float	GetMaxAngVel () const

void	ClampSpeed ()
	Clamp the body speed to the provided limits. More...

void	SetSleepTime (float m_t)
	Set the amount of time which must pass before going automatically in sleep mode when the body has very small movements.

float	GetSleepTime () const

void	SetSleepMinLinVel (float m_t)
	Set the max linear speed to be kept for 'sleep_time' before freezing.

float	GetSleepMinLinVel () const

void	SetSleepMinAngVel (float m_t)
	Set the max linear speed to be kept for 'sleep_time' before freezing.

float	GetSleepMinAngVel () const

void	ComputeQInertia (ChMatrix44<> &mQInertia)
	Computes the 4x4 inertia tensor in quaternion space, if needed.

void	ComputeGyro ()
	Computes the gyroscopic torque. More...

void	AccumulateForce (const ChVector3d &force, const ChVector3d &appl_point, bool local)
	Add an applied force to the body's accumulator (as an increment). More...

void	AccumulateTorque (const ChVector3d &torque, bool local)
	Add an applied torque to the body's accumulator (as an increment). More...

void	EmptyAccumulators ()
	Clear the force and torque accumulators.

const ChVector3d &	GetAccumulatedForce () const
	Return the current value of the accumulator force. More...

const ChVector3d &	GetAccumulatedTorque () const
	Return the current value of the accumulator torque. More...

void	UpdateMarkers (double mytime)
	Update all children markers of the rigid body, at current body state.

void	UpdateForces (double mytime)
	Update all children forces of the rigid body, at current body state.

void	UpdateTime (double mytime)
	Update local time of rigid body, and time-dependent data.

virtual void	Update (double mytime, bool update_assets=true) override
	Update all auxiliary data of the rigid body and of its children (markers, forces..), at given time.

virtual void	Update (bool update_assets=true) override
	Update all auxiliary data of the rigid body and of its children (markers, forces..)

ChVector3d	GetAppliedForce ()
	Return the resultant applied force on the body. More...

ChVector3d	GetAppliedTorque ()
	Return the resultant applied torque on the body. More...

ChVector3d	GetContactForce ()
	Get the resultant contact force acting on this body.

ChVector3d	GetContactTorque ()
	Get the resultant contact torque acting on this body.

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 deserialization of transient data from archives. More...

virtual void	LoadableGetVariables (std::vector< ChVariables * > &mvars) override
	Get the pointers to the contained ChVariables, appending to the mvars vector.

virtual void	LoadableStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Increment all DOFs using a delta.

virtual void	LoadableGetStateBlockPosLevel (int block_offset, ChState &mD) override
	Gets all the DOFs packed in a single vector (position part)

virtual void	LoadableGetStateBlockVelLevel (int block_offset, ChStateDelta &mD) override
	Gets all the DOFs packed in a single vector (speed part)

virtual void	ComputeNF (const double U, const double V, const double W, ChVectorDynamic<> &Qi, double &detJ, const ChVectorDynamic<> &F, ChVectorDynamic<> state_x, ChVectorDynamic<> state_w) override
	Evaluate Q=N'*F, for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates. More...

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 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 ChVector3d	GetCenter () const
	Get a symbolic 'center' of the object. More...

virtual void	Setup ()
	Perform setup operations. More...

void	UpdateVisualModel ()
	Utility function to update only the associated visual assets (if any).

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	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	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	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	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 Member Functions inherited from chrono::ChBodyFrame
	ChBodyFrame (const ChBodyFrame &other)

ChWrenchd	AppliedForceLocalToWrenchParent (const ChVector3d &force, const ChVector3d &appl_point)
	Transform a force applied to a point on the body to a force and moment at the frame origin. More...

ChWrenchd	AppliedForceParentToWrenchParent (const ChVector3d &force, const ChVector3d &appl_point)
	Transform a force applied to a point on the body to a force and moment at the frame origin. More...

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving ()
	Default constructor (identity frame).

	ChFrameMoving (const ChVector3< double > &v, const ChQuaternion< double > &q=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion).

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

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

	ChFrameMoving (const ChFrame< double > &F)
	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 ()
	Default constructor (identity frame).

	ChFrame (const ChVector3< double > &v, const ChQuaternion< double > &q=ChQuaternion< double >(1, 0, 0, 0))
	Construct from position and rotation (as quaternion).

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

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

	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 Member Functions inherited from chrono::ChLoadableUVW
virtual bool	IsTetrahedronIntegrationNeeded ()
	If true, use quadrature over u,v,w in [0..1] range as tetrahedron volumetric coords (with z=1-u-v-w) otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

virtual bool	IsTrianglePrismIntegrationNeeded ()
	If true, use quadrature over u,v in [0..1] range as triangle natural coords (with z=1-u-v), and use linear quadrature over w in [-1..+1], otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

Protected Attributes
std::vector< std::shared_ptr< ChMarker > >	marklist
	list of markers

std::vector< std::shared_ptr< ChForce > >	forcelist
	list of forces

ChVector3d	gyro
	gyroscopic torque, i.e. Qm = Wvel x (XInertia*Wvel)

ChVector3d	Xforce
	force acting on body, applied to COM (in absolute coords)

ChVector3d	Xtorque
	torque acting on body (in body local coords)

ChVector3d	Force_acc
	force accumulator, applied to COM (in absolute coords)

ChVector3d	Torque_acc
	torque accumulator (in body local coords)

ChVariablesBodyOwnMass	variables
	interface to solver (store inertia and coordinates)

float	max_speed
	limit on linear speed

float	max_wvel
	limit on angular velocity

float	sleep_time

float	sleep_minspeed

float	sleep_minwvel

float	sleep_starttime

unsigned int	index
	unique sequential body identifier, used for indexing (internal use only)

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

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

Friends
class	ChSystem

class	ChSystemMulticore

class	ChSystemMulticoreNSC

class	ChAssembly

class	modal::ChModalAssembly

class	ChConveyor

Additional Inherited Members
Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Member Function Documentation

◆ AccumulateForce()

void chrono::ChBody::AccumulateForce	(	const ChVector3d &	force,
		const ChVector3d &	appl_point,
		bool	local
	)

Add an applied force to the body's accumulator (as an increment).

It is the caller's responsibility to clear the force and torque accumulators at each integration step. If local = true, the provided applied force is assumed to be expressed in body coordinates. If local = false, the provided applied force is assumed to be expressed in absolute coordinates.

Parameters

force	applied force
appl_point	application point
local	force and point expressed in body local frame?

◆ AccumulateTorque()

void chrono::ChBody::AccumulateTorque	(	const ChVector3d &	torque,
		bool	local
	)

Add an applied torque to the body's accumulator (as an increment).

It is the caller's responsibility to clear the force and torque accumulators at each integration step. If local = true, the provided applied torque is assumed to be expressed in body coordinates. If local = false, the provided applied torque is assumed to be expressed in absolute coordinates.

Parameters

torque	applied torque
local	torque expressed in body local frame?

◆ ArchiveIn()

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

overridevirtual

Method to allow deserialization of transient data from archives.

Method to allow de serialization of transient data from archives.

< pointer to the collision model

Reimplemented from chrono::ChBodyFrame.

Reimplemented in chrono::ChBodyAuxRef.

◆ ClampSpeed()

void chrono::ChBody::ClampSpeed ( )

Clamp the body speed to the provided limits.

When this function is called, the speed of the body is clamped to the range specified by max_speed and max_wvel. Remember to put the body in the SetLimitSpeed(true) mode.

◆ ComputeGyro()

void chrono::ChBody::ComputeGyro ( )

Computes the gyroscopic torque.

In fact, in sake of highest speed, the gyroscopic torque isn't automatically updated each time a SetCoordsys() or SetCoordsysDt() etc. is called, but only if necessary, for each UpdateState().

◆ ComputeNF()

void chrono::ChBody::ComputeNF	(	const double	U,
		const double	V,
		const double	W,
		ChVectorDynamic<> &	Qi,
		double &	detJ,
		const ChVectorDynamic<> &	F,
		ChVectorDynamic<> *	state_x,
		ChVectorDynamic<> *	state_w
	)

overridevirtual

Evaluate Q=N'*F, for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates.

det[J] is unused.

Parameters

U	x coordinate of application point in absolute space
V	y coordinate of application point in absolute space
W	z coordinate of application point in absolute space
Qi	Return result of N'*F here, maybe with offset block_offset
detJ	Return det[J] here
F	Input F vector, size is 6, it is {Force,Torque} in absolute coords.
state_x	if != 0, update state (pos. part) to this, then evaluate Q
state_w	if != 0, update state (speed part) to this, then evaluate Q

Implements chrono::ChLoadableUVW.

◆ GetAccumulatedForce()

const ChVector3d& chrono::ChBody::GetAccumulatedForce ( ) const

inline

Return the current value of the accumulator force.

Note that this is a resultant force as applied to the COM and expressed in the absolute frame.

◆ GetAccumulatedTorque()

const ChVector3d& chrono::ChBody::GetAccumulatedTorque ( ) const

inline

Return the current value of the accumulator torque.

Note that this is a resultant torque expressed in the body local frame.

◆ GetAppliedForce()

ChVector3d chrono::ChBody::GetAppliedForce ( )

Return the resultant applied force on the body.

This resultant force includes all external applied loads acting on this body (from gravity, loads, springs, etc). However, this does not include any constraint forces. In particular, contact forces are not included if using the NSC formulation, but are included when using the SMC formulation.

◆ GetAppliedTorque()

ChVector3d chrono::ChBody::GetAppliedTorque ( )

Return the resultant applied torque on the body.

This resultant torque includes all external applied loads acting on this body (from gravity, loads, springs, etc). However, this does not include any constraint forces. In particular, contact torques are not included if using the NSC formulation, but are included when using the SMC formulation.

◆ GetForces()

const std::vector<std::shared_ptr<ChForce> >& chrono::ChBody::GetForces ( ) const

inline

Gets the list of children forces.

NOTE: to modify this list, use the appropriate Remove.. and Add.. functions.

◆ GetFrameCOMToAbs()

virtual const ChFrameMoving& chrono::ChBody::GetFrameCOMToAbs ( ) const

inlinevirtual

Get the rigid body coordinate system that represents the GOG (Center of Gravity).

The mass and inertia tensor are defined with respect to this coordinate system, which is also assumed to be the default coordinates of the body. By default, a call to body.GetPos() is equivalent to body.GetFrame_COG_abs().GetPos().

◆ GetFrameRefToAbs()

virtual const ChFrameMoving& chrono::ChBody::GetFrameRefToAbs ( ) const

inlinevirtual

Get the rigid body coordinate system that is used for defining the collision shapes and the ChMarker objects.

For the base ChBody, this is always the same reference of the COG.

Reimplemented in chrono::ChBodyAuxRef.

◆ GetInertia()

const ChMatrix33& chrono::ChBody::GetInertia ( ) const

inline

Get the inertia tensor, expressed in the local coordinate system.

The return 3x3 symmetric matrix contains the following values:

 [ int{y^2+z^2}dm    -int{xy}dm    -int{xz}dm    ]
 [                  int{x^2+z^2}   -int{yz}dm    ]
 [                                int{x^2+y^2}dm ]

◆ GetInertiaXX()

ChVector3d chrono::ChBody::GetInertiaXX ( ) const

Get the diagonal part of the inertia tensor (Ixx, Iyy, Izz values).

The return 3x1 vector contains the following values:

[  int{y^2+z^2}dm   int{x^2+z^2}   int{x^2+y^2}dm ]

◆ GetInertiaXY()

ChVector3d chrono::ChBody::GetInertiaXY ( ) const

Get the extra-diagonal part of the inertia tensor (Ixy, Ixz, Iyz values).

The return 3x1 vector contains the following values:

[ -int{xy}dm   -int{xz}dm   -int{yz}dm ]

◆ GetMarkers()

const std::vector<std::shared_ptr<ChMarker> >& chrono::ChBody::GetMarkers ( ) const

inline

Gets the list of children markers.

NOTE: to modify this list, use the appropriate Remove.. and Add.. functions.

◆ GetTotalAABB()

ChAABB chrono::ChBody::GetTotalAABB ( ) const

overridevirtual

Get the axis-aligned bounding (AABB) box of the object.

The body AABB is the AABB of its collision model (if any).

Reimplemented from chrono::ChPhysicsItem.

◆ GetVisualModelFrame()

virtual ChFrame chrono::ChBody::GetVisualModelFrame ( unsigned int nclone = 0 ) const

inlineoverridevirtual

Get the reference frame (expressed in and relative to the absolute frame) of the visual model.

For a ChBody, this is the main coordinate system of the rigid body.

Reimplemented from chrono::ChPhysicsItem.

◆ IsActive()

bool chrono::ChBody::IsActive ( ) const

overridevirtual

Return true if the body is currently active and therefore included into the system solver.

A body is inactive if it is fixed to ground or in sleep mode.

Reimplemented from chrono::ChPhysicsItem.

◆ RemoveAllForces()

void chrono::ChBody::RemoveAllForces ( )

Remove all markers at once.

Faster than doing multiple RemoveForce().

◆ RemoveAllMarkers()

void chrono::ChBody::RemoveAllMarkers ( )

Remove all markers at once.

Faster than doing multiple RemoveForce().

◆ RemoveForce()

void chrono::ChBody::RemoveForce ( std::shared_ptr< ChForce > aforce )

Remove a specific force from this body.

Warning: linear time search.

◆ RemoveMarker()

void chrono::ChBody::RemoveMarker ( std::shared_ptr< ChMarker > amarker )

Remove a specific marker from this body.

Warning: linear time search.

◆ SetFixed()

void chrono::ChBody::SetFixed ( bool state )

Sets the 'fixed' state of the body.

If true, the body does not move with respect to the absolute reference frame. Its state is also removed by the system, thus reducing the global size of the system. If this is not desired, use ChLinkMateFix or ChLinkLockLock instead.

◆ SetInertia()

void chrono::ChBody::SetInertia ( const ChMatrix33<> & newXInertia )

Set the inertia tensor of the body.

The provided 3x3 matrix should be symmetric and contain the inertia tensor, expressed in the local coordinate system:

              [ int{y^2+z^2}dm    -int{xy}dm    -int{xz}dm    ]
newXInertia = [                  int{x^2+z^2}   -int{yz}dm    ]
              [                                int{x^2+y^2}dm ]

◆ SetInertiaXX()

void chrono::ChBody::SetInertiaXX ( const ChVector3d & iner )

Set the diagonal part of the inertia tensor (Ixx, Iyy, Izz values).

The provided 3x1 vector should contain the moments of inertia, expressed in the local coordinate frame:

iner = [  int{y^2+z^2}dm   int{x^2+z^2}   int{x^2+y^2}dm ]

◆ SetInertiaXY()

void chrono::ChBody::SetInertiaXY ( const ChVector3d & iner )

Set the off-diagonal part of the inertia tensor (Ixy, Ixz, Iyz values).

The provided 3x1 vector should contain the products of inertia, expressed in the local coordinate frame:

iner = [ -int{xy}dm   -int{xz}dm   -int{yz}dm ]

◆ SetMass()

void chrono::ChBody::SetMass ( double newmass )

inline

Set the body mass.

Try not to mix bodies with too high/too low values of mass, for numerical stability.

◆ SetMaxAngVel()

void chrono::ChBody::SetMaxAngVel ( float m_max_wvel )

inline

Set the maximum angular speed (beyond this limit it will be clamped).

This speed limit is active only if you set SetLimitSpeed(true);

◆ SetMaxLinVel()

void chrono::ChBody::SetMaxLinVel ( float m_max_speed )

inline

Set the maximum linear speed (beyond this limit it will be clamped).

This speed limit is active only if you set SetLimitSpeed(true);

◆ SetSleeping()

void chrono::ChBody::SetSleeping ( bool state )

Force the body in sleeping mode or not.

Usually this state change is handled internally.

◆ SetSleepingAllowed()

void chrono::ChBody::SetSleepingAllowed ( bool state )

Enable/disable option for setting bodies to 'sleep'.

If the sleeping is allowed, bodies which stay in same place for long enough time will be deactivated, for optimization. By default the sleeping is enabled.

◆ SetUseGyroTorque()

void chrono::ChBody::SetUseGyroTorque ( bool state )

Enable/disable the gyroscopic torque (quadratic term).

This is useful in virtual reality and real-time simulations, where objects that spin too fast with non-uniform inertia tensors (e.g., thin cylinders) might cause the integration to diverge quickly. The realism is limited, but the simulation is more stable. By default the gyroscopic torque is enabled.

◆ TrySleeping()

bool chrono::ChBody::TrySleeping ( )

Test if a body could go in sleeping state if requirements are satisfied.

Return true if state could be changed from no sleep to sleep.

◆ Variables()

virtual ChVariables& chrono::ChBody::Variables ( )

inlineoverridevirtual

Return a reference to the encapsulated ChVariablesBody, representing states (pos, speed, or accel.) and forces.

The ChVariablesBodyOwnMass is the interface to the system solver.

Implements chrono::ChBodyFrame.

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

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

Description

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ AccumulateForce()

◆ AccumulateTorque()

◆ ArchiveIn()

◆ ClampSpeed()

◆ ComputeGyro()

◆ ComputeNF()

◆ GetAccumulatedForce()

◆ GetAccumulatedTorque()

◆ GetAppliedForce()

◆ GetAppliedTorque()

◆ GetForces()

◆ GetFrameCOMToAbs()

◆ GetFrameRefToAbs()

◆ GetInertia()

◆ GetInertiaXX()

◆ GetInertiaXY()

◆ GetMarkers()

◆ GetTotalAABB()

◆ GetVisualModelFrame()

◆ IsActive()

◆ RemoveAllForces()

◆ RemoveAllMarkers()

◆ RemoveForce()

◆ RemoveMarker()

◆ SetFixed()

◆ SetInertia()

◆ SetInertiaXX()

◆ SetInertiaXY()

◆ SetMass()

◆ SetMaxAngVel()

◆ SetMaxLinVel()

◆ SetSleeping()

◆ SetSleepingAllowed()

◆ SetUseGyroTorque()

◆ TrySleeping()

◆ Variables()