chrono::ChContactNSC Class Reference

Description

Class for non-smooth contact between two generic ChContactable objects.

#include <ChContactNSC.h>

Inheritance diagram for chrono::ChContactNSC:

Collaboration diagram for chrono::ChContactNSC:

Public Member Functions
	ChContactNSC (ChContactContainer *contact_container, ChContactable *obj_A, ChContactable *obj_B, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeNSC &mat, double min_speed)
virtual void	Reset (ChContactable *obj_A, ChContactable *obj_B, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeNSC &mat, double min_speed)
	Reinitialize this contact for reuse. More...
virtual ChVector3d	GetContactForce () const override
	Get the contact force, if computed, in contact coordinate system.
virtual double	GetFriction ()
	Get the contact friction coefficient.
virtual void	SetFriction (double mf)
	Set the contact friction coefficient.
ChConstraint *	GetConstraintNx ()
	Access the constraints.
ChConstraint *	GetConstraintTu ()
ChConstraint *	GetConstraintTv ()
virtual void	ContIntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
virtual void	ContIntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
virtual void	ContIntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
virtual void	ContIntLoadConstraint_C (const unsigned int off_L, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override
virtual void	ContIntToDescriptor (const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
virtual void	ContIntFromDescriptor (const unsigned int off_L, ChVectorDynamic<> &L) override
virtual void	InjectConstraints (ChSystemDescriptor &descriptor) override
virtual void	ConstraintsBiReset () override
virtual void	ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false) override
virtual void	ConstraintsFetch_react (double factor) override
Public Member Functions inherited from chrono::ChContact
void	Reset_cinfo (ChContactable *obj_A, ChContactable *obj_B, const ChCollisionInfo &cinfo)
	Reinitialize geometric information for this contact for reuse. More...
ChContactable *	GetObjA ()
	Get the colliding object A, with point P1.
ChContactable *	GetObjB ()
	Get the colliding object B, with point P2.
ChCoordsys	GetContactCoords () const
	Get the contact coordinate system, expressed in absolute frame. More...
const ChMatrix33 &	GetContactPlane () const
	Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact. More...
const ChVector3d &	GetContactP1 () const
	Get the contact point 1, in absolute coordinates.
const ChVector3d &	GetContactP2 () const
	Get the contact point 2, in absolute coordinates.
const ChVector3d &	GetContactNormal () const
	Get the contact normal, in absolute coordinates.
double	GetContactDistance () const
	Get the contact distance.
double	GetEffectiveCurvatureRadius () const
	Get the effective radius of curvature.
virtual ChVector3d	GetContactTorque () const
	Get the contact torque, if computed, in contact coordinate system.
virtual void	ContIntLoadResidual_F (ChVectorDynamic<> &R, const double c)
virtual void	ContInjectKRMmatrices (ChSystemDescriptor &mdescriptor)
virtual void	ContKRMmatricesLoad (double Kfactor, double Rfactor)

Protected Attributes
ChConstraintContactNormal	Nx
	normal constraint
ChConstraintContactTangential	Tu
	first tangential sliding constraint
ChConstraintContactTangential	Tv
	second tangential sliding constraint
float *	reactions_cache
	N,U,V reactions potentially stored in a persistent contact manifold.
ChVector3d	react_force
	constraint reaction force
double	compliance
double	complianceT
double	restitution
double	dampingf
double	min_rebounce_speed
Protected Attributes inherited from chrono::ChContact
ChContactContainer *	container
	associated contact container
ChContactable *	objA
	first ChContactable object in the pair
ChContactable *	objB
	second ChContactable object in the pair
ChVector3d	p1
	max penetration point on geo1, after refining, in abs space
ChVector3d	p2
	max penetration point on geo2, after refining, in abs space
ChVector3d	normal
	normal, on surface of master reference (geo1)
ChMatrix33	contact_plane
	the plane of contact (X is normal direction)
double	norm_dist
	penetration distance (negative if going inside) after refining
double	eff_radius
	effective radius of curvature at contact

Additional Inherited Members
Protected Member Functions inherited from chrono::ChContact
	ChContact (ChContactContainer *contact_container, ChContactable *obj_A, ChContactable *obj_B)

Constructor & Destructor Documentation

ChContactNSC()

chrono::ChContactNSC::ChContactNSC	(	ChContactContainer *	contact_container,
		ChContactable *	obj_A,
		ChContactable *	obj_B,
		const ChCollisionInfo &	cinfo,
		const ChContactMaterialCompositeNSC &	mat,
		double	min_speed
	)

Parameters

contact_container	contact container
obj_A	contactable object A
obj_B	contactable object B
cinfo	data for the collision pair
mat	composite material
min_speed	minimum speed for rebounce

Member Function Documentation

Reset()

void chrono::ChContactNSC::Reset ( ChContactable *  obj_A, ChContactable *  obj_B, const ChCollisionInfo &  cinfo, const ChContactMaterialCompositeNSC &  mat, double  min_speed  )

virtual

Reinitialize this contact for reuse.

Parameters

obj_A	contactable object A
obj_B	contactable object B
cinfo	data for the collision pair
mat	composite material
min_speed	minimum speed for rebounce

Reimplemented in chrono::ChContactNSCrolling.

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

• /builds/uwsbel/chrono/src/chrono/physics/ChContactNSC.h
• /builds/uwsbel/chrono/src/chrono/physics/ChContactNSC.cpp