Description

template<class Ta, class Tb>
class chrono::ChContactNSCrolling< Ta, Tb >

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

It inherits ChContactNSC, that has three reaction forces (N,U,V), but also adds three rolling reaction torques. This means that it requires about twice the memory required by the ChContactNSC. Ta and Tb are of ChContactable sub classes.

#include <ChContactNSCrolling.h>

Inheritance diagram for chrono::ChContactNSCrolling< Ta, Tb >:

[legend]

Collaboration diagram for chrono::ChContactNSCrolling< Ta, Tb >:

[legend]

Public Types
typedef ChContactTuple< Ta, Tb >::typecarr_a	typecarr_a

typedef ChContactTuple< Ta, Tb >::typecarr_b	typecarr_b

Public Types inherited from chrono::ChContactNSC< Ta, Tb >
typedef ChContactTuple< Ta, Tb >::typecarr_a	typecarr_a

typedef ChContactTuple< Ta, Tb >::typecarr_b	typecarr_b

Public Types inherited from chrono::ChContactTuple< Ta, Tb >
typedef Ta::type_variable_tuple_carrier	typecarr_a

typedef Tb::type_variable_tuple_carrier	typecarr_b

Public Member Functions
	ChContactNSCrolling (ChContactContainer contact_container, Ta obj_A, Tb *obj_B, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeNSC &mat, double min_speed)

virtual void	Reset (Ta obj_A, Tb obj_B, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeNSC &mat, double min_speed) override
	Reinitialize this contact for reuse. More...

virtual ChVector3d	GetContactTorque ()
	Get the contact force, if computed, in contact coordinate system.

virtual float	GetRollingFriction ()
	Get the contact rolling friction coefficient.

virtual void	SetRollingFriction (float mf)
	Set the contact rolling friction coefficient.

virtual float	GetSpinningFriction ()
	Get the contact spinning friction coefficient.

virtual void	SetSpinningFriction (float mf)
	Set the contact spinning friction coefficient.

ChConstraint *	GetConstraintRu ()
	Access the constraints.

ChConstraint *	GetConstraintRv ()

ChConstraint *	GetConstraintRx ()

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::ChContactNSC< Ta, Tb >
	ChContactNSC (ChContactContainer contact_container, Ta obj_A, Tb *obj_B, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeNSC &mat, double min_speed)

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 ()

Public Member Functions inherited from chrono::ChContactTuple< Ta, Tb >
	ChContactTuple (ChContactContainer contact_container, Ta obj_A, Tb *obj_B)

void	Reset_cinfo (Ta obj_A, Tb obj_B, const ChCollisionInfo &cinfo)
	Reinitialize geometric information for this contact for reuse. More...

Ta *	GetObjA ()
	Get the colliding object A, with point P1.

Tb *	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
ChConstraintTwoTuplesRollingN< typecarr_a, typecarr_b >	Rx

ChConstraintTwoTuplesRollingT< typecarr_a, typecarr_b >	Ru

ChConstraintTwoTuplesRollingT< typecarr_a, typecarr_b >	Rv

ChVector3d	react_torque

float	complianceRoll

float	complianceSpin

Protected Attributes inherited from chrono::ChContactNSC< Ta, Tb >
float *	reactions_cache
	N,U,V reactions which might be stored in a persistent contact manifold.

ChConstraintTwoTuplesContactN< typecarr_a, typecarr_b >	Nx
	The three scalar constraints, to be fed into the system solver. More...

ChConstraintTwoTuplesFrictionT< typecarr_a, typecarr_b >	Tu

ChConstraintTwoTuplesFrictionT< typecarr_a, typecarr_b >	Tv

ChVector3d	react_force

double	compliance

double	complianceT

double	restitution

double	dampingf

double	min_rebounce_speed

Protected Attributes inherited from chrono::ChContactTuple< Ta, Tb >
ChContactContainer *	container
	associated contact container

Ta *	objA
	first ChContactable object in the pair

Tb *	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

Constructor & Destructor Documentation

◆ ChContactNSCrolling()

template<class Ta , class Tb >

chrono::ChContactNSCrolling< Ta, Tb >::ChContactNSCrolling	(	ChContactContainer *	contact_container,
		Ta *	obj_A,
		Tb *	obj_B,
		const ChCollisionInfo &	cinfo,
		const ChContactMaterialCompositeNSC &	mat,
		double	min_speed
	)

inline

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()

template<class Ta , class Tb >

virtual void chrono::ChContactNSCrolling< Ta, Tb >::Reset	(	Ta *	obj_A,
		Tb *	obj_B,
		const ChCollisionInfo &	cinfo,
		const ChContactMaterialCompositeNSC &	mat,
		double	min_speed
	)

inlineoverridevirtual

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 from chrono::ChContactNSC< Ta, Tb >.

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

/builds/uwsbel/chrono/src/chrono/physics/ChContactNSCrolling.h

Description

template<class Ta, class Tb> class chrono::ChContactNSCrolling< Ta, Tb >

Public Types

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ChContactNSCrolling()

Member Function Documentation

◆ Reset()

template<class Ta, class Tb>
class chrono::ChContactNSCrolling< Ta, Tb >