Description

This is the main user interface for Chrono::Distributed Add bodies and set all settings through the system.

The simulation runs on all ranks given in the world parameter.

#include <ChSystemDistributed.h>

Inheritance diagram for chrono::ChSystemDistributed:

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Collaboration diagram for chrono::ChSystemDistributed:

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Classes
struct	BodyState
	Stores all data needed to fully update the state of a body. More...

struct	TriData
	Structure of vertex data for a triangle in the bodies existing local frame. More...

Public Types
typedef struct chrono::ChSystemDistributed::BodyState	BodyState
	Stores all data needed to fully update the state of a body.

typedef struct chrono::ChSystemDistributed::TriData	TriData
	Structure of vertex data for a triangle in the bodies existing local frame.

Public Member Functions
	ChSystemDistributed (MPI_Comm communicator, double ghostlayer, unsigned int maxobjects)
	Construct a distributed Chrono system using the specified MPI communicator.

MPI_Comm	GetCommunicator () const
	Return the system's MPI intra-communicator.

int	GetCommSize () const
	Return the size of the group associated with the system's intra-communicator.

int	GetCommRank () const
	Return the rank of the calling process in the system's intra-communicator.

void	SetMaster ()
	Set the calling process as 'master' in the intra-communicator used by this system. More...

int	GetMasterRank () const
	Return the rank (in the system's intra-communicator) of the process marked as 'master'. More...

bool	OnMaster () const
	Return true if the calling process is the one marked as 'master'.

void	SetGhostLayer (double ghostlayer)
	Set the distance into the neighboring sub-domain that is considered shared.

double	GetGhostLayer () const
	Return the distance into the neighboring sub-domain that is considered shared.

unsigned int	GetNumBodiesGlobal () const
	Return the current global number of bodies in the system.

bool	InSub (const ChVector< double > &pos) const
	Return true if pos is within this rank's sub-domain.

virtual ChBody *	NewBody () override
	Create a new body, consistent with the contact method and collision model used by this system. More...

virtual ChBodyAuxRef *	NewBodyAuxRef () override
	Create a new body with non-centroidal reference frame, consistent with the contact method and collision model used by this system. More...

virtual void	AddBody (std::shared_ptr< ChBody > newbody) override
	Add a body to the system. More...

void	AddBodyAllRanks (std::shared_ptr< ChBody > body)
	Add a body to the system on all ranks, regardless of its location. More...

virtual void	RemoveBody (std::shared_ptr< ChBody > body) override
	Remove a body from the simulation based on the ID of the body (not based on object comparison between ChBodys). More...

virtual bool	Integrate_Y () override
	Wraps the super-class Integrate_Y call and introduces a call that carries out all inter-rank communication.

virtual void	UpdateRigidBodies () override
	Wraps super-class UpdateRigidBodies and adds a gid update.

void	RemoveBodyExchange (int index)
	Internal call for removing deactivating a body. More...

ChDomainDistributed *	GetDomain () const
	Returns the ChDomainDistributed object associated with the system.

ChCommDistributed *	GetComm () const
	Returns the ChCommDistributed object associated with the system.

void	ErrorAbort (std::string msg)
	Prints msg to the user and ends execution with an MPI abort.

void	PrintBodyStatus ()
	Prints out all valid body data. Should only be used for debugging.

void	PrintShapeData ()
	Prints out all valid shape data. Should only be used for debugging.

void	PrintEfficiency ()
	Prints measures for computing efficiency.

double	GetLowestZ (uint *gid)
	Debugging function.

double	GetHighestZ ()
	Returns the highest z coordinate in the system.

void	CheckIds ()
	Checks for consistency in IDs in the system. More...

int	RemoveBodiesBelow (double z)
	Removes all bodies below the given height - initial implementation of a deactivating boundary condition.

void	SanityCheck ()
	Checks structures added by chrono_distributed. More...

void	SetBodyStates (const std::vector< uint > &gids, const std::vector< BodyState > &states)
	Updates the states of all bodies listed in the gids parameter Must be called on all system ranks and inputs must be complete and valid on each rank. More...

void	SetBodyState (uint gid, const BodyState &state)

void	SetSphereShapes (const std::vector< uint > &gids, const std::vector< int > &shape_idx, const std::vector< double > &radii)
	Updates each sphere shape associated with bodies with global ids gids. More...

void	SetSphereShape (uint gid, int shape_idx, double radius)

void	SetTriangleShapes (const std::vector< uint > &gids, const std::vector< int > &shape_idx, const std::vector< TriData > &new_shapes)
	Updates triangle shapes associated with bodies identified by gids. More...

void	SetTriangleShape (uint gid, int shape_idx, const TriData &new_shape)

std::vector< std::pair< uint, ChVector<> > >	GetBodyContactForces (const std::vector< uint > &gids) const
	Get contact forces experienced by any of the bodies specified through their global IDs. More...

virtual real3	GetBodyContactForce (uint gid) const override
	Get the contact force experienced by the body with given global ID. More...

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

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

virtual ChContactMethod	GetContactMethod () const override
	Return the contact method supported by this system. More...

virtual void	AddMaterialSurfaceData (std::shared_ptr< ChBody > newbody) override

virtual void	UpdateMaterialSurfaceData (int index, ChBody *body) override

virtual void	Setup () override
	Counts the number of bodies and links. More...

virtual void	SetCollisionSystemType (ChCollisionSystemType type) override
	Change the underlying collision detection system to the specified type. More...

virtual void	SetContactContainer (ChCollisionSystemType type) override
	Change the underlying contact container given the specified type of the collision detection system. More...

virtual void	SetContactContainer (std::shared_ptr< ChContactContainer > container) override
	Change the underlying contact container. More...

virtual real3	GetBodyContactTorque (uint body_id) const override
	Get the contact torque on the body with specified id. More...

virtual void	PrintStepStats () override

double	GetTimerProcessContact () const

virtual real3	GetBodyContactForce (uint body_id) const=0
	Get the contact force on the body with specified id. More...

real3	GetBodyContactForce (std::shared_ptr< ChBody > body) const
	Get the contact force on the specified body. More...

virtual real3	GetBodyContactTorque (uint body_id) const=0
	Get the contact torque on the body with specified id. More...

real3	GetBodyContactTorque (std::shared_ptr< ChBody > body) const
	Get the contact torque on the specified body. More...

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

virtual void	AddShaft (std::shared_ptr< ChShaft > shaft) override
	Attach a shaft to the underlying assembly.

virtual void	AddLink (std::shared_ptr< ChLinkBase > link) override
	Attach a link to the underlying assembly.

virtual void	AddOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > newitem) override
	Attach a ChPhysicsItem object that is not a body, link, or mesh.

void	ClearForceVariables ()

virtual void	Update ()

virtual void	UpdateBilaterals ()

virtual void	UpdateLinks ()

virtual void	UpdateOtherPhysics ()

virtual void	UpdateShafts ()

virtual void	UpdateMotorLinks ()

virtual void	Update3DOFBodies ()

void	RecomputeThreads ()

virtual void	SetMaterialCompositionStrategy (std::unique_ptr< ChMaterialCompositionStrategy > &&strategy) override
	Change the default composition laws for contact surface materials (coefficient of friction, cohesion, compliance, etc.).

unsigned int	GetNumBodies ()

unsigned int	GetNumShafts ()

unsigned int	GetNumContacts ()

unsigned int	GetNumBilaterals ()

virtual double	GetTimerStep () const override
	Return the time (in seconds) spent for computing the time step.

virtual double	GetTimerAdvance () const override
	Return the time (in seconds) for time integration, within the time step.

virtual double	GetTimerLSsolve () const override
	Return the time (in seconds) for the solver, within the time step. More...

virtual double	GetTimerLSsetup () const override
	Return the time (in seconds) for the solver Setup phase, within the time step.

virtual double	GetTimerJacobian () const override
	Return the time (in seconds) for calculating/loading Jacobian information, within the time step.

virtual double	GetTimerCollision () const override
	Return the time (in seconds) for runnning the collision detection step, within the time step.

virtual double	GetTimerSetup () const override
	Return the time (in seconds) for system setup, within the time step.

virtual double	GetTimerUpdate () const override
	Return the time (in seconds) for updating auxiliary data, within the time step.

void	CalculateBodyAABB ()
	Calculate current body AABBs.

virtual void	CalculateContactForces ()
	Calculate cummulative contact forces for all bodies in the system. More...

virtual ChVector	GetBodyAppliedForce (ChBody *body) override
	Return the resultant applied force on the specified body. More...

virtual ChVector	GetBodyAppliedTorque (ChBody *body) override
	Return the resultant applied torque on the specified body. More...

real3	GetBodyContactForce (std::shared_ptr< ChBody > body) const
	Get the contact force on the specified body. More...

real3	GetBodyContactTorque (std::shared_ptr< ChBody > body) const
	Get the contact torque on the specified body. More...

settings_container *	GetSettings ()

virtual void	SetNumThreads (int num_threads_chrono, int num_threads_collision=0, int num_threads_eigen=0) override
	Set the number of OpenMP threads used by Chrono itself, Eigen, and the collision detection system. More...

void	EnableThreadTuning (int min_threads, int max_threads)
	Enable dynamic adjustment of number of threads between the specified limits. More...

double	CalculateConstraintViolation (std::vector< double > &cvec)
	Calculate the (linearized) bilateral constraint violations. More...

Public Member Functions inherited from chrono::ChSystem
	ChSystem ()
	Create a physical system.

	ChSystem (const ChSystem &other)
	Copy constructor.

virtual	~ChSystem ()
	Destructor.

void	SetStep (double m_step)
	Sets the time step used for integration (dynamical simulation). More...

double	GetStep () const
	Gets the current time step used for the integration (dynamical simulation).

void	SetTimestepperType (ChTimestepper::Type type)
	Set the method for time integration (time stepper type). More...

ChTimestepper::Type	GetTimestepperType () const
	Get the current method for time integration (time stepper type).

void	SetTimestepper (std::shared_ptr< ChTimestepper > mstepper)
	Set the timestepper object to be used for time integration.

std::shared_ptr< ChTimestepper >	GetTimestepper () const
	Get the timestepper currently used for time integration.

void	SetMaxiter (int m_maxiter)
	Sets outer iteration limit for assembly constraints. More...

int	GetMaxiter () const
	Gets iteration limit for assembly constraints.

const ChMaterialCompositionStrategy &	GetMaterialCompositionStrategy () const
	Accessor for the current composition laws for contact surface material.

void	SetMinBounceSpeed (double mval)
	For elastic collisions, with objects that have nonzero restitution coefficient: objects will rebounce only if their relative colliding speed is above this threshold. More...

double	GetMinBounceSpeed () const
	Objects will rebounce only if their relative colliding speed is above this threshold.

void	SetMaxPenetrationRecoverySpeed (double mval)
	For the default stepper, you can limit the speed of exiting from penetration situations. More...

double	GetMaxPenetrationRecoverySpeed () const
	Get the limit on the speed for exiting from penetration situations (for Anitescu stepper)

virtual void	SetSolver (std::shared_ptr< ChSolver > newsolver)
	Attach a solver (derived from ChSolver) for use by this system.

virtual std::shared_ptr< ChSolver >	GetSolver ()
	Access the solver currently associated with this system.

void	SetSolverType (ChSolver::Type type)
	Choose the solver type, to be used for the simultaneous solution of the constraints in dynamical simulations (as well as in kinematics, statics, etc.) More...

ChSolver::Type	GetSolverType () const
	Gets the current solver type.

void	SetSolverMaxIterations (int max_iters)
	Set the maximum number of iterations, if using an iterative solver. More...

int	GetSolverMaxIterations () const
	Get the current maximum number of iterations, if using an iterative solver. More...

void	SetSolverTolerance (double tolerance)
	Set the solver tolerance threshold (used with iterative solvers only). More...

double	GetSolverTolerance () const
	Get the current tolerance value (used with iterative solvers only).

void	SetSolverForceTolerance (double tolerance)
	Set a solver tolerance threshold at force level (default: not specified). More...

double	GetSolverForceTolerance () const
	Get the current value of the force-level tolerance (used with iterative solvers only).

void	SetSystemDescriptor (std::shared_ptr< ChSystemDescriptor > newdescriptor)
	Instead of using the default 'system descriptor', you can create your own custom descriptor (inherited from ChSystemDescriptor) and plug it into the system using this function.

std::shared_ptr< ChSystemDescriptor >	GetSystemDescriptor ()
	Access directly the 'system descriptor'.

void	Set_G_acc (const ChVector<> &m_acc)
	Set the G (gravity) acceleration vector, affecting all the bodies in the system.

const ChVector &	Get_G_acc () const
	Get the G (gravity) acceleration vector affecting all the bodies in the system.

double	GetChTime () const
	Get the simulation time of this system.

void	SetChTime (double time)
	Set (overwrite) the simulation time of this system.

int	RemoveRedundantConstraints (bool remove_zero_constr=false, double qr_tol=1e-6, bool verbose=false)
	Remove redundant constraints present in ChSystem through QR decomposition of constraints Jacobian matrix. More...

int	GetNumThreadsChrono () const

int	GetNumthreadsCollision () const

int	GetNumthreadsEigen () const

const ChAssembly &	GetAssembly () const
	Get the underlying assembly containing all physics items.

virtual void	AddMesh (std::shared_ptr< fea::ChMesh > mesh)
	Attach a mesh to the underlying assembly.

void	Add (std::shared_ptr< ChPhysicsItem > item)
	Attach an arbitrary ChPhysicsItem (e.g. More...

void	AddBatch (std::shared_ptr< ChPhysicsItem > item)
	Items added in this way are added like in the Add() method, but not instantly, they are simply queued in a batch of 'to add' items, that are added automatically at the first Setup() call. More...

void	FlushBatch ()
	If some items are queued for addition in the assembly, using AddBatch(), this will effectively add them and clean the batch. More...

virtual void	RemoveShaft (std::shared_ptr< ChShaft > shaft)
	Remove a shaft from this assembly.

virtual void	RemoveLink (std::shared_ptr< ChLinkBase > link)
	Remove a link from this assembly.

virtual void	RemoveMesh (std::shared_ptr< fea::ChMesh > mesh)
	Remove a mesh from the assembly.

virtual void	RemoveOtherPhysicsItem (std::shared_ptr< ChPhysicsItem > item)
	Remove a ChPhysicsItem object that is not a body or a link.

void	Remove (std::shared_ptr< ChPhysicsItem > item)
	Remove arbitrary ChPhysicsItem that was added to the underlying assembly.

void	RemoveAllBodies ()
	Remove all bodies from the underlying assembly.

void	RemoveAllShafts ()
	Remove all shafts from the underlying assembly.

void	RemoveAllLinks ()
	Remove all links from the underlying assembly.

void	RemoveAllMeshes ()
	Remove all meshes from the underlying assembly.

void	RemoveAllOtherPhysicsItems ()
	Remove all physics items not in the body, link, or mesh lists.

const std::vector< std::shared_ptr< ChBody > > &	Get_bodylist () const
	Get the list of bodies.

const std::vector< std::shared_ptr< ChShaft > > &	Get_shaftlist () const
	Get the list of shafts.

const std::vector< std::shared_ptr< ChLinkBase > > &	Get_linklist () const
	Get the list of links.

const std::vector< std::shared_ptr< fea::ChMesh > > &	Get_meshlist () const
	Get the list of meshes.

const std::vector< std::shared_ptr< ChPhysicsItem > > &	Get_otherphysicslist () const
	Get the list of physics items that are not in the body or link lists.

std::shared_ptr< ChBody >	SearchBody (const std::string &name) const
	Search a body by its name.

std::shared_ptr< ChBody >	SearchBodyID (int id) const
	Search a body by its ID.

std::shared_ptr< ChShaft >	SearchShaft (const std::string &name) const
	Search a shaft by its name.

std::shared_ptr< ChLinkBase >	SearchLink (const std::string &name) const
	Search a link by its name.

std::shared_ptr< fea::ChMesh >	SearchMesh (const std::string &name) const
	Search a mesh by its name.

std::shared_ptr< ChPhysicsItem >	SearchOtherPhysicsItem (const std::string &name) const
	Search from other ChPhysics items (not bodies, links, or meshes) by name.

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

std::shared_ptr< ChMarker >	SearchMarker (int id) const
	Search a marker by its unique ID.

std::shared_ptr< ChPhysicsItem >	Search (const std::string &name) const
	Search an item (body, link or other ChPhysics items) by name.

int	GetNbodies () const
	Get the number of active bodies (excluding those that are sleeping or are fixed to ground).

int	GetNbodiesSleeping () const
	Get the number of bodies that are in sleeping mode (excluding fixed bodies).

int	GetNbodiesFixed () const
	Get the number of bodies that are fixed to ground.

int	GetNbodiesTotal () const
	Get the total number of bodies in the assembly, including the grounded and sleeping bodies.

int	GetNshafts () const
	Get the number of shafts.

int	GetNshaftsSleeping () const
	Get the number of shafts that are in sleeping mode (excluding fixed shafts).

int	GetNshaftsFixed () const
	Get the number of shafts that are fixed to ground.

int	GetNshaftsTotal () const
	Get the total number of shafts added to the assembly, including the grounded and sleeping shafts.

int	GetNlinks () const
	Get the number of links.

int	GetNmeshes () const
	Get the number of meshes.

int	GetNphysicsItems () const
	Get the number of other physics items (other than bodies, links, or meshes).

int	GetNcoords () const
	Get the number of coordinates (considering 7 coords for rigid bodies because of the 4 dof of quaternions).

int	GetNdof () const
	Get the number of degrees of freedom of the assembly.

int	GetNdoc () const
	Get the number of scalar constraints added to the assembly, including constraints on quaternion norms.

int	GetNsysvars () const
	Get the number of system variables (coordinates plus the constraint multipliers, in case of quaternions).

int	GetNcoords_w () const
	Get the number of coordinates (considering 6 coords for rigid bodies, 3 transl.+3rot.)

int	GetNdoc_w () const
	Get the number of scalar constraints added to the assembly.

int	GetNdoc_w_C () const
	Get the number of scalar constraints added to the assembly (only bilaterals).

int	GetNdoc_w_D () const
	Get the number of scalar constraints added to the assembly (only unilaterals).

int	GetNsysvars_w () const
	Get the number of system variables (coordinates plus the constraint multipliers).

int	GetDOF () const
	Get the number of scalar coordinates (ex. dim of position vector)

int	GetDOF_w () const
	Get the number of scalar coordinates of variables derivatives (ex. dim of speed vector)

int	GetDOC () const
	Get the number of scalar constraints, if any, in this item.

int	GetDOC_c () const
	Get the number of scalar constraints, if any, in this item (only bilateral constr.)

int	GetDOC_d () const
	Get the number of scalar constraints, if any, in this item (only unilateral constr.)

void	ShowHierarchy (ChStreamOutAscii &m_file, int level=0) const
	Write the hierarchy of contained bodies, markers, etc. More...

void	Clear ()
	Removes all bodies/marker/forces/links/contacts, also resets timers and events.

int	GetNcontacts ()
	Gets the number of contacts.

double	GetTimerCollisionBroad () const
	Return the time (in seconds) for broadphase collision detection, within the time step.

double	GetTimerCollisionNarrow () const
	Return the time (in seconds) for narrowphase collision detection, within the time step.

double	GetRTF () const
	Get current estimated RTF (real time factor).

void	SetRTF (double rtf)
	Set (overwrite) the RTF value for this system (if calculated externally).

void	ResetTimers ()
	Resets the timers.

void	Update (double mytime, bool update_assets=true)
	Updates all the auxiliary data and children of bodies, forces, links, given their current state.

void	Update (bool update_assets=true)
	Updates all the auxiliary data and children of bodies, forces, links, given their current state.

void	ForceUpdate ()
	In normal usage, no system update is necessary at the beginning of a new dynamics step (since an update is performed at the end of a step). More...

void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)

void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L)

void	InjectVariables (ChSystemDescriptor &mdescriptor)

void	InjectConstraints (ChSystemDescriptor &mdescriptor)

void	ConstraintsLoadJacobians ()

void	InjectKRMmatrices (ChSystemDescriptor &mdescriptor)

void	KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor)

void	VariablesFbReset ()

void	VariablesFbLoadForces (double factor=1)

void	VariablesQbLoadSpeed ()

void	VariablesFbIncrementMq ()

void	VariablesQbSetSpeed (double step=0)

void	VariablesQbIncrementPosition (double step)

void	ConstraintsBiReset ()

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

void	ConstraintsBiLoad_Ct (double factor=1)

void	ConstraintsBiLoad_Qc (double factor=1)

void	ConstraintsFbLoadForces (double factor=1)

void	ConstraintsFetch_react (double factor=1)

virtual int	GetNcoords_x () override
	Tells the number of position coordinates x in y = {x, v}.

virtual int	GetNcoords_v () override
	Tells the number of speed coordinates of v in y = {x, v} and dy/dt={v, a}.

virtual int	GetNconstr () override
	Tells the number of lagrangian multipliers (constraints)

virtual void	StateGather (ChState &x, ChStateDelta &v, double &T) override
	From system to state y={x,v}.

virtual void	StateScatter (const ChState &x, const ChStateDelta &v, const double T, bool full_update) override
	From state Y={x,v} to system. This also triggers an update operation.

virtual void	StateGatherAcceleration (ChStateDelta &a) override
	From system to state derivative (acceleration), some timesteppers might need last computed accel.

virtual void	StateScatterAcceleration (const ChStateDelta &a) override
	From state derivative (acceleration) to system, sometimes might be needed.

virtual void	StateGatherReactions (ChVectorDynamic<> &L) override
	From system to reaction forces (last computed) - some timestepper might need this.

virtual void	StateScatterReactions (const ChVectorDynamic<> &L) override
	From reaction forces to system, ex. store last computed reactions in ChLink objects for plotting etc.

virtual void	StateIncrementX (ChState &x_new, const ChState &x, const ChStateDelta &Dx) override
	Perform x_new = x + dx, for x in Y = {x, dx/dt}. More...

virtual bool	StateSolveCorrection (ChStateDelta &Dv, ChVectorDynamic<> &L, const ChVectorDynamic<> &R, const ChVectorDynamic<> &Qc, const double c_a, const double c_v, const double c_x, const ChState &x, const ChStateDelta &v, const double T, bool force_state_scatter, bool full_update, bool force_setup) override
	Assuming a DAE of the form. More...

virtual void	LoadResidual_F (ChVectorDynamic<> &R, const double c) override
	Increment a vector R with the term cF: R += cF. More...

virtual void	LoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
	Increment a vector R with a term that has M multiplied a given vector w: R += cMw. More...

virtual void	LoadResidual_CqL (ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
	Increment a vectorR with the term Cq'L: R += cCq'*L. More...

virtual void	LoadConstraint_C (ChVectorDynamic<> &Qc, const double c, const bool do_clamp=false, const double clamp=1e30) override
	Increment a vector Qc with the term C: Qc += c*C. More...

virtual void	LoadConstraint_Ct (ChVectorDynamic<> &Qc, const double c) override
	Increment a vector Qc with the term Ct = partial derivative dC/dt: Qc += c*Ct. More...

virtual void	CustomEndOfStep ()
	Executes custom processing at the end of step. More...

double	ComputeCollisions ()
	Perform the collision detection. More...

void	RegisterCustomCollisionCallback (std::shared_ptr< CustomCollisionCallback > callback)
	Specify a callback object to be invoked at each collision detection step. More...

void	UnregisterCustomCollisionCallback (std::shared_ptr< CustomCollisionCallback > callback)
	Remove the given collision callback from this system.

virtual void	SetCollisionSystem (std::shared_ptr< ChCollisionSystem > coll_sys)
	Change the underlying collision system. More...

std::shared_ptr< ChCollisionSystem >	GetCollisionSystem () const
	Access the underlying collision system. More...

std::shared_ptr< ChContactContainer >	GetContactContainer () const
	Access the underlying contact container. More...

void	SetUseSleeping (bool ms)
	Turn on this feature to let the system put to sleep the bodies whose motion has almost come to a rest. More...

bool	GetUseSleeping () const
	Tell if the system will put to sleep the bodies whose motion has almost come to a rest.

int	DoStepDynamics (double step_size)
	Advances the dynamical simulation for a single step, of length step_size. More...

bool	DoFrameDynamics (double end_time)
	Performs integration until the m_endtime is exactly reached, but current time step may be automatically "retouched" to meet exactly the m_endtime after n steps. More...

bool	DoEntireDynamics (double end_time)
	Given the current state, the sw simulates the dynamical behavior of the system, until the end time is reached, repeating many steps (maybe the step size will be automatically changed if the integrator method supports step size adaption).

bool	DoEntireUniformDynamics (double end_time, double frame_step)
	Like "DoEntireDynamics", but results are provided at uniform steps "frame_step", using the DoFrameDynamics() many times.

size_t	GetStepcount () const
	Return the total number of time steps taken so far.

void	ResetStepcount ()
	Reset to 0 the total number of time steps.

int	GetSolverCallsCount () const
	Return the number of calls to the solver's Solve() function. More...

int	GetSolverSetupCount () const
	Return the number of calls to the solver's Setup() function. More...

void	EnableSolverMatrixWrite (bool val, const std::string &out_dir=".")
	Set this to "true" to enable automatic saving of solver matrices at each time step, for debugging purposes. More...

bool	IsSolverMatrixWriteEnabled () const

void	DumpSystemMatrices (bool save_M, bool save_K, bool save_R, bool save_Cq, const char *path)
	Dump the current M mass matrix, K damping matrix, R damping matrix, Cq constraint jacobian matrix (at the current configuration). More...

void	GetMassMatrix (ChSparseMatrix *M)
	Compute the system-level mass matrix. More...

void	GetStiffnessMatrix (ChSparseMatrix *K)
	Compute the system-level stiffness matrix, i.e. More...

void	GetDampingMatrix (ChSparseMatrix *R)
	Compute the system-level damping matrix, i.e. More...

void	GetConstraintJacobianMatrix (ChSparseMatrix *Cq)
	Compute the system-level constraint jacobian matrix, i.e. More...

bool	DoStepKinematics (double step_size)
	Advances the kinematic simulation for a single step of given length.

bool	DoFrameKinematics (double end_time)
	Performs kinematics until the end time is exactly reached. More...

bool	DoEntireKinematics (double end_time)
	Given the current state, this kinematic simulation satisfies all the constraints with the "DoStepKinematics" procedure for each time step, from the current time to the end time.

bool	DoAssembly (int action)
	Given the current time and state, attempt to satisfy all constraints, using a Newton-Raphson iteration loop. More...

bool	DoFullAssembly ()
	Shortcut for full position/velocity/acceleration assembly.

bool	DoStaticAnalysis (ChStaticAnalysis &analysis)
	Perform a generic static analysis. More...

bool	DoStaticLinear ()
	Solve the position of static equilibrium (and the reactions). More...

bool	DoStaticNonlinear (int nsteps=10, bool verbose=false)
	Solve the position of static equilibrium (and the reactions). More...

bool	DoStaticNonlinearRheonomic (int nsteps=10, bool verbose=false, std::shared_ptr< ChStaticNonLinearRheonomicAnalysis::IterationCallback > callback=nullptr)
	Solve the position of static equilibrium (and the reactions). More...

bool	DoStaticRelaxing (int nsteps=10)
	Finds the position of static equilibrium (and the reactions) starting from the current position. More...

virtual void	ArchiveOut (ChArchiveOut &marchive)
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &marchive)
	Method to allow deserialization of transient data from archives.

int	FileProcessChR (ChStreamInBinary &m_file)
	Process a ".chr" binary file containing the full system object hierarchy as exported -for example- by the R3D modeler, with chrono plug-in version, or by using the FileWriteChR() function.

int	FileWriteChR (ChStreamOutBinary &m_file)
	Write a ".chr" binary file containing the full system object hierarchy (bodies, forces, links, etc.) (deprecated function - obsolete)

Public Member Functions inherited from chrono::ChIntegrableIIorder
virtual int	GetNcoords_a ()
	Return the number of acceleration coordinates of a in dy/dt={v, a} This is a default implementation that works in almost all cases, as dim(a) = dim(v),.

virtual void	StateSetup (ChState &x, ChStateDelta &v, ChStateDelta &a)
	Set up the system state with separate II order components x, v, a for y = {x, v} and dy/dt={v, a}.

virtual bool	StateSolveA (ChStateDelta &Dvdt, ChVectorDynamic<> &L, const ChState &x, const ChStateDelta &v, const double T, const double dt, bool force_state_scatter, bool full_update)
	Solve for accelerations: a = f(x,v,t) Given current state y={x,v} , computes acceleration a in the state derivative dy/dt={v,a} and lagrangian multipliers L (if any). More...

virtual int	GetNcoords_y () override
	Return the number of coordinates in the state Y. More...

virtual int	GetNcoords_dy () override
	Return the number of coordinates in the state increment. More...

virtual void	StateGather (ChState &y, double &T) override
	Gather system state in specified array. More...

virtual void	StateScatter (const ChState &y, const double T, bool full_update) override
	Scatter the states from the provided array to the system. More...

virtual void	StateGatherDerivative (ChStateDelta &Dydt) override
	Gather from the system the state derivatives in specified array. More...

virtual void	StateScatterDerivative (const ChStateDelta &Dydt) override
	Scatter the state derivatives from the provided array to the system. More...

virtual void	StateIncrement (ChState &y_new, const ChState &y, const ChStateDelta &Dy) override
	Increment state array: y_new = y + Dy. More...

virtual bool	StateSolve (ChStateDelta &dydt, ChVectorDynamic<> &L, const ChState &y, const double T, const double dt, bool force_state_scatter, bool full_update) override
	Solve for state derivatives: dy/dt = f(y,t). More...

virtual bool	StateSolveCorrection (ChStateDelta &Dy, ChVectorDynamic<> &L, const ChVectorDynamic<> &R, const ChVectorDynamic<> &Qc, const double a, const double b, const ChState &y, const double T, const double dt, bool force_state_scatter, bool full_update, bool force_setup) override final
	Override of method for Ist order implicit integrators. More...

Public Member Functions inherited from chrono::ChIntegrable
virtual void	StateSetup (ChState &y, ChStateDelta &dy)
	Set up the system state.

virtual void	LoadResidual_Hv (ChVectorDynamic<> &R, const ChVectorDynamic<> &v, const double c)
	Increment a vector R (usually the residual in a Newton Raphson iteration for solving an implicit integration step) with a term that has H multiplied a given vector w: R += cHw. More...

Public Attributes
ChDistributedDataManager *	ddm
	Central data storages for chrono_distributed. More...

char	node_name [50]
	Name of the node being run on.

Public Attributes inherited from chrono::ChSystemMulticore
ChMulticoreDataManager *	data_manager

int	current_threads

Protected Member Functions
void	AddBodyExchange (std::shared_ptr< ChBody > newbody, distributed::COMM_STATUS status)
	Internal function for adding a body from communication. More...

Protected Member Functions inherited from chrono::ChSystem
virtual void	DescriptorPrepareInject (ChSystemDescriptor &mdescriptor)
	Pushes all ChConstraints and ChVariables contained in links, bodies, etc. into the system descriptor.

void	SetupInitial ()
	Initial system setup before analysis. More...

Protected Attributes
int	num_ranks
	Number of MPI ranks.

int	my_rank
	MPI rank.

int	master_rank
	Master MPI rank.

double	ghost_layer
	Length into the neighboring sub-domain which is considered shared.

unsigned int	num_bodies_global
	Number of bodies in the whole global simulation. More...

MPI_Comm	world
	Communicator of MPI ranks for the simulation.

ChDomainDistributed *	domain
	Class for domain decomposition.

ChCommDistributed *	comm
	Class for MPI communication.

MPI_Datatype	InternalForceType
	Type for internally sending contact forces.

Protected Attributes inherited from chrono::ChSystemMulticore
double	old_timer

double	old_timer_cd

bool	detect_optimal_threads

int	detect_optimal_bins

std::vector< double >	timer_accumulator

std::vector< double >	cd_accumulator

uint	frame_threads

uint	frame_bins

uint	counter

std::vector< ChLink * >::iterator	it

Protected Attributes inherited from chrono::ChSystem
ChAssembly	assembly

std::shared_ptr< ChContactContainer >	contact_container
	the container of contacts

ChVector	G_acc
	gravitational acceleration

bool	is_initialized
	if false, an initial setup is required (i.e. a call to SetupInitial)

bool	is_updated
	if false, a new update is required (i.e. a call to Update)

int	ncoords
	number of scalar coordinates (including 4th dimension of quaternions) for all active bodies

int	ndoc
	number of scalar constraints (including constr. on quaternions)

int	nsysvars
	number of variables (coords+lagrangian mult.), i.e. = ncoords+ndoc for all active bodies

int	ncoords_w
	number of scalar coordinates when using 3 rot. dof. per body; for all active bodies

int	ndoc_w
	number of scalar constraints when using 3 rot. dof. per body; for all active bodies

int	nsysvars_w
	number of variables when using 3 rot. dof. per body; i.e. = ncoords_w+ndoc_w

int	ndof
	number of degrees of freedom, = ncoords-ndoc = ncoords_w-ndoc_w ,

int	ndoc_w_C
	number of scalar constraints C, when using 3 rot. dof. per body (excluding unilaterals)

int	ndoc_w_D
	number of scalar constraints D, when using 3 rot. dof. per body (only unilaterals)

double	ch_time
	simulation time of the system

double	step
	time step

double	tol_force
	tolerance for forces (used to obtain a tolerance for impulses)

int	maxiter
	max iterations for nonlinear convergence in DoAssembly()

bool	use_sleeping
	if true, put to sleep objects that come to rest

std::shared_ptr< ChSystemDescriptor >	descriptor
	system descriptor

std::shared_ptr< ChSolver >	solver
	solver for DVI or DAE problem

double	min_bounce_speed
	minimum speed for rebounce after impacts. Lower speeds are clamped to 0

double	max_penetration_recovery_speed
	limit for the speed of penetration recovery (positive, speed of exiting)

size_t	stepcount
	internal counter for steps

int	setupcount
	number of calls to the solver's Setup()

int	solvecount
	number of StateSolveCorrection (reset to 0 at each timestep of static analysis)

bool	write_matrix
	write current system matrix to file(s); for debugging

std::string	output_dir
	output directory for writing system matrices

int	ncontacts
	total number of contacts

ChCollisionSystemType	collision_system_type
	type of the collision engine

std::shared_ptr< ChCollisionSystem >	collision_system
	collision engine

std::vector< std::shared_ptr< CustomCollisionCallback > >	collision_callbacks
	user-defined collision callbacks

std::unique_ptr< ChMaterialCompositionStrategy >	composition_strategy

ChVisualSystem *	visual_system
	material composition strategy More...

int	nthreads_chrono

int	nthreads_eigen

int	nthreads_collision

ChTimer	timer_step
	timer for integration step

ChTimer	timer_advance
	timer for time integration

ChTimer	timer_ls_solve
	timer for solver (excluding setup phase)

ChTimer	timer_ls_setup
	timer for solver setup

ChTimer	timer_jacobian
	timer for computing/loading Jacobian information

ChTimer	timer_collision
	timer for collision detection

ChTimer	timer_setup
	timer for system setup

ChTimer	timer_update
	timer for system update

double	m_RTF
	real-time factor (simulation time / simulated time)

std::shared_ptr< ChTimestepper >	timestepper
	time-stepper object

bool	last_err
	indicates error over the last kinematic/dynamics/statics

ChVectorDynamic	applied_forces
	system-wide vector of applied forces (lazy evaluation)

bool	applied_forces_current
	indicates if system-wide vector of forces is up-to-date

Friends
class	ChCommDistributed

class	ChDomainDistributed

Member Function Documentation

◆ AddBody()

void ChSystemDistributed::AddBody ( std::shared_ptr< ChBody > newbody )

overridevirtual

Add a body to the system.

This function should be called on all ranks. AddBody classifies the body and decides whether or not to keep it on each rank.

Reimplemented from chrono::ChSystemMulticore.

◆ AddBodyAllRanks()

void ChSystemDistributed::AddBodyAllRanks ( std::shared_ptr< ChBody > body )

Add a body to the system on all ranks, regardless of its location.

This body should not have associated collision geometry. NOTE: A body crossing multiple sub-domains will not be correctly advanced.

◆ AddBodyExchange()

void ChSystemDistributed::AddBodyExchange	(	std::shared_ptr< ChBody >	newbody,
		distributed::COMM_STATUS	status
	)

protected

Internal function for adding a body from communication.

Should not be called by the user.

◆ CheckIds()

void ChSystemDistributed::CheckIds ( )

Checks for consistency in IDs in the system.

Should only be used for debugging.

◆ GetBodyContactForce()

real3 ChSystemDistributed::GetBodyContactForce ( uint gid ) const

overridevirtual

Get the contact force experienced by the body with given global ID.

Must be called on all system ranks; return value valid only on 'master' rank.

Reimplemented from chrono::ChSystemMulticoreSMC.

◆ GetBodyContactForces()

std::vector< std::pair< uint, ChVector<> > > ChSystemDistributed::GetBodyContactForces ( const std::vector< uint > & gids ) const

Get contact forces experienced by any of the bodies specified through their global IDs.

Must be called on all system ranks; return value valid only on 'master' rank. Returns a vector of pairs of global IDs and corresponding contact forces.

◆ GetMasterRank()

int chrono::ChSystemDistributed::GetMasterRank ( ) const

inline

Return the rank (in the system's intra-communicator) of the process marked as 'master'.

Certain functions return information only on this process.

◆ NewBody()

ChBody * ChSystemDistributed::NewBody ( )

overridevirtual

Create a new body, consistent with the contact method and collision model used by this system.

The returned body is not added to the system.

Reimplemented from chrono::ChSystemMulticore.

◆ NewBodyAuxRef()

ChBodyAuxRef * ChSystemDistributed::NewBodyAuxRef ( )

overridevirtual

Create a new body with non-centroidal reference frame, consistent with the contact method and collision model used by this system.

The returned body is not added to the system.

Reimplemented from chrono::ChSystemMulticore.

◆ RemoveBody()

void ChSystemDistributed::RemoveBody ( std::shared_ptr< ChBody > body )

overridevirtual

Remove a body from the simulation based on the ID of the body (not based on object comparison between ChBodys).

Should be called on all ranks to ensure that the correct body is found and removed where it exists.

Reimplemented from chrono::ChSystem.

◆ RemoveBodyExchange()

void ChSystemDistributed::RemoveBodyExchange ( int index )

Internal call for removing deactivating a body.

Should not be called by the user.

◆ SanityCheck()

void ChSystemDistributed::SanityCheck ( )

Checks structures added by chrono_distributed.

Prints ERROR messages at inconsistencies.

◆ SetBodyStates()

void ChSystemDistributed::SetBodyStates	(	const std::vector< uint > &	gids,
		const std::vector< BodyState > &	states
	)

Updates the states of all bodies listed in the gids parameter Must be called on all system ranks and inputs must be complete and valid on each rank.

NOTE: The change in position should be small in comparison to the ghost layer of this system. NOTE: The new states will reach the data_manager at the beginning of the next time step.

◆ SetMaster()

void chrono::ChSystemDistributed::SetMaster ( )

inline

Set the calling process as 'master' in the intra-communicator used by this system.

For efficiency, certain functions report information only on this single rank. This saves a potentially unnecessary scatter operation (if needed, such an operation should be performed in user code). By default this is rank 0 in the system's intra-communicator.

◆ SetSphereShapes()

void ChSystemDistributed::SetSphereShapes	(	const std::vector< uint > &	gids,
		const std::vector< int > &	shape_idx,
		const std::vector< double > &	radii
	)

Updates each sphere shape associated with bodies with global ids gids.

shape_idx identifies the index of the shape within its body's collisionsystem model. Must be called on all system ranks and inputs must be complete and valid on each rank.

◆ SetTriangleShapes()

void ChSystemDistributed::SetTriangleShapes	(	const std::vector< uint > &	gids,
		const std::vector< int > &	shape_idx,
		const std::vector< TriData > &	new_shapes
	)

Updates triangle shapes associated with bodies identified by gids.

shape_idx identifies the index of the shape within its body's collisionsystem model. Must be called on all system ranks and inputs must be complete and valid on each rank.

Member Data Documentation

◆ ddm

ChDistributedDataManager* chrono::ChSystemDistributed::ddm

Central data storages for chrono_distributed.

Adds scaffolding data around ChDataManager used by Chrono::Multicore in order to maintain a consistent and correct view of all valid data.

◆ num_bodies_global

unsigned int chrono::ChSystemDistributed::num_bodies_global

protected

Number of bodies in the whole global simulation.

Important for maintaining unique global IDs

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

/builds/uwsbel/chrono/src/chrono_distributed/physics/ChSystemDistributed.h
/builds/uwsbel/chrono/src/chrono_distributed/physics/ChSystemDistributed.cpp

Description

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ AddBody()

◆ AddBodyAllRanks()

◆ AddBodyExchange()

◆ CheckIds()

◆ GetBodyContactForce()

◆ GetBodyContactForces()

◆ GetMasterRank()

◆ NewBody()

◆ NewBodyAuxRef()

◆ RemoveBody()

◆ RemoveBodyExchange()

◆ SanityCheck()

◆ SetBodyStates()

◆ SetMaster()

◆ SetSphereShapes()

◆ SetTriangleShapes()

Member Data Documentation

◆ ddm

◆ num_bodies_global