Description

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

Class for smooth (penalty-based) contact between two generic contactable objects.

Ta and Tb are of ChContactable sub classes.

#include <ChContactSMC.h>

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

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

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Public Types
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
	ChContactSMC (ChContactContainer contact_container, Ta obj_A, Tb *obj_B, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeSMC &mat)

virtual ChVector3d	GetContactForce () const override
	Get the contact force, if computed, in contact coordinate system.

virtual ChVector3d	GetContactTorque () const override
	Get the contact torque, if computed, in contact coordinate system.

double	GetContactPenetration () const
	Get the contact penetration (positive if there is overlap).

ChVector3d	GetContactForceAbs () const
	Get the contact force, expressed in the absolute frame.

ChVector3d	GetContactTorqueAbs () const
	Get the contact torque, expressed in the absolute frame.

const ChKRMBlock *	GetJacobianKRM () const
	Access the proxy to the Jacobian.

const ChMatrixDynamic< double > *	GetJacobianK () const

const ChMatrixDynamic< double > *	GetJacobianR () const

void	Reset (Ta obj_A, Tb obj_B, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeSMC &mat)
	Reinitialize this contact for reuse. More...

ChWrenchd	CalculateForceTorque (double delta, const ChVector3d &normal_dir, const ChVector3d &vel1, const ChVector3d &vel2, const ChContactMaterialCompositeSMC &mat)
	Calculate contact force, and maybe torque too, expressed in absolute coordinates. More...

void	CalculateQ (const ChState &stateA_x, const ChStateDelta &stateA_w, const ChState &stateB_x, const ChStateDelta &stateB_w, const ChContactMaterialCompositeSMC &mat, ChVectorDynamic<> &Q)
	Compute all forces in a contiguous array. More...

void	CreateJacobians ()
	Create the Jacobian matrices. More...

void	CalculateJacobians (const ChContactMaterialCompositeSMC &mat)
	Calculate Jacobian of generalized contact forces.

virtual void	ContIntLoadResidual_F (ChVectorDynamic<> &R, const double c) override
	Apply contact forces to the two objects. More...

virtual void	ContInjectKRMmatrices (ChSystemDescriptor &mdescriptor) override
	Inject Jacobian blocks into the system descriptor. More...

virtual void	ContKRMmatricesLoad (double Kfactor, double Rfactor) override
	Compute Jacobian of contact forces.

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 void	ContIntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)

virtual void	ContIntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)

virtual void	ContIntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)

virtual void	ContIntLoadConstraint_C (const unsigned int off_L, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)

virtual void	ContIntToDescriptor (const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)

virtual void	ContIntFromDescriptor (const unsigned int off_L, ChVectorDynamic<> &L)

virtual void	InjectConstraints (ChSystemDescriptor &descriptor)

virtual void	ConstraintsBiReset ()

virtual void	ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false)

virtual void	ConstraintsFetch_react (double factor)

Additional Inherited Members
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

◆ ChContactSMC()

template<class Ta , class Tb >

chrono::ChContactSMC< Ta, Tb >::ChContactSMC	(	ChContactContainer *	contact_container,
		Ta *	obj_A,
		Tb *	obj_B,
		const ChCollisionInfo &	cinfo,
		const ChContactMaterialCompositeSMC &	mat
	)

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

Member Function Documentation

◆ CalculateForceTorque()

template<class Ta , class Tb >

ChWrenchd chrono::ChContactSMC< Ta, Tb >::CalculateForceTorque	(	double	delta,
		const ChVector3d &	normal_dir,
		const ChVector3d &	vel1,
		const ChVector3d &	vel2,
		const ChContactMaterialCompositeSMC &	mat
	)

inline

Calculate contact force, and maybe torque too, expressed in absolute coordinates.

Parameters

delta	overlap in normal direction
normal_dir	normal contact direction (expressed in global frame)
vel1	velocity of contact point on objA (expressed in global frame)
vel2	velocity of contact point on objB (expressed in global frame)
mat	composite material for contact pair

◆ CalculateQ()

template<class Ta , class Tb >

void chrono::ChContactSMC< Ta, Tb >::CalculateQ	(	const ChState &	stateA_x,
		const ChStateDelta &	stateA_w,
		const ChState &	stateB_x,
		const ChStateDelta &	stateB_w,
		const ChContactMaterialCompositeSMC &	mat,
		ChVectorDynamic<> &	Q
	)

inline

Compute all forces in a contiguous array.

Used in finite-difference Jacobian approximation.

Parameters

stateA_x	state positions for objA
stateA_w	state velocities for objA
stateB_x	state positions for objB
stateB_w	state velocities for objB
mat	composite material for contact pair
Q	output generalized forces

◆ ContInjectKRMmatrices()

template<class Ta , class Tb >

virtual void chrono::ChContactSMC< Ta, Tb >::ContInjectKRMmatrices ( ChSystemDescriptor & mdescriptor )

inlineoverridevirtual

Inject Jacobian blocks into the system descriptor.

Tell to a system descriptor that there are item(s) of type ChKRMBlock in this object (for further passing it to a solver)

Reimplemented from chrono::ChContactTuple< Ta, Tb >.

◆ ContIntLoadResidual_F()

template<class Ta , class Tb >

virtual void chrono::ChContactSMC< Ta, Tb >::ContIntLoadResidual_F	(	ChVectorDynamic<> &	R,
		const double	c
	)

inlineoverridevirtual

Apply contact forces to the two objects.

(new version, for interfacing to ChTimestepper and ChIntegrable)

Reimplemented from chrono::ChContactTuple< Ta, Tb >.

◆ CreateJacobians()

template<class Ta , class Tb >

void chrono::ChContactSMC< Ta, Tb >::CreateJacobians ( )

inline

Create the Jacobian matrices.

These matrices are created/resized as needed.

◆ Reset()

template<class Ta , class Tb >

void chrono::ChContactSMC< Ta, Tb >::Reset	(	Ta *	obj_A,
		Tb *	obj_B,
		const ChCollisionInfo &	cinfo,
		const ChContactMaterialCompositeSMC &	mat
	)

inline

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

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

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

Description

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

Public Types

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChContactSMC()

Member Function Documentation

◆ CalculateForceTorque()

◆ CalculateQ()

◆ ContInjectKRMmatrices()

◆ ContIntLoadResidual_F()

◆ CreateJacobians()

◆ Reset()

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