Description
Specialized class for representing a 6-DOF 3D rigid body, with mass matrix and associated variables.
Differently from the generic ChVariablesGeneric, here a full 6x6 mass matrix is not built, since only the 3x3 inertia matrix and the mass value are enough. This is very similar to ChVariablesBodyOwnMass, but the mass and inertia values are shared to be be used in problems with many identical objects.
#include <ChVariablesBodySharedMass.h>
Public Member Functions | |
| ChVariablesBodySharedMass & | operator= (const ChVariablesBodySharedMass &other) |
| Assignment operator: copy from other object. | |
| ChSharedMassBody * | GetSharedMass () |
| Get the pointer to shared mass. | |
| void | SetSharedMass (ChSharedMassBody *ms) |
| Set pointer to shared mass. | |
| virtual double | GetBodyMass () const override |
| Get the mass associated with translation of body. | |
| virtual ChMatrix33 & | GetBodyInertia () override |
| Access the 3x3 inertia matrix. | |
| virtual const ChMatrix33 & | GetBodyInertia () const override |
| virtual ChMatrix33 & | GetBodyInvInertia () override |
| Access the 3x3 inertia matrix inverted. | |
| virtual const ChMatrix33 & | GetBodyInvInertia () const override |
| virtual void | ComputeMassInverseTimesVector (ChVectorRef result, ChVectorConstRef vect) const override |
| Compute the product of the inverse mass matrix by a given vector and store in result. More... | |
| virtual void | AddMassTimesVector (ChVectorRef result, ChVectorConstRef vect) const override |
| Compute the product of the mass matrix by a given vector and increment result. More... | |
| virtual void | AddMassTimesVectorInto (ChVectorRef result, ChVectorConstRef vect, const double ca) const override |
| Add the product of the mass submatrix by a given vector, scaled by ca, to result. More... | |
| virtual void | AddMassDiagonalInto (ChVectorRef result, const double ca) const override |
| Add the diagonal of the mass matrix, as a vector scaled by ca, to result. More... | |
| virtual void | PasteMassInto (ChSparseMatrix &mat, unsigned int start_row, unsigned int start_col, const double ca) const override |
| Write the mass submatrix for these variables into the specified global matrix at the offsets of each variable. More... | |
| 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 de-serialization of transient data from archives. | |
 Public Member Functions inherited from chrono::ChVariablesBody | |
| ChVariablesBody & | operator= (const ChVariablesBody &other) |
| Assignment operator: copy from other object. | |
| void * | GetUserData () |
| void | SetUserData (void *mdata) |
| Public Member Functions inherited from chrono::ChVariables | |
| ChVariables (unsigned int dof) | |
| ChVariables & | operator= (const ChVariables &other) |
| Assignment operator: copy from other object. | |
| void | SetDisabled (bool mdis) |
| Deactivates/freezes the variable (these variables won't be modified by the system solver). | |
| bool | IsDisabled () const |
| Check if the variables have been deactivated (these variables won't be modified by the system solver). | |
| bool | IsActive () const |
| Check if these variables are currently active. More... | |
| unsigned int | GetDOF () const |
| The number of scalar variables in the vector qb (dof=degrees of freedom). | |
| ChVectorRef | State () |
| Get a reference to the differential states encapsulated by these variables. More... | |
| ChVectorRef | Force () |
| Get a reference to the generalized force corresponding to these variables. More... | |
| void | SetOffset (unsigned int moff) |
| Set offset in the global state vector. More... | |
| unsigned int | GetOffset () const |
| Get offset in the global state vector. | |
Additional Inherited Members | |
| Protected Attributes inherited from chrono::ChVariables | |
| unsigned int | offset |
| offset in global q state vector (needed by some solvers) | |
| unsigned int | ndof |
| number of degrees of freedom (number of contained scalar variables) | |
Member Function Documentation
◆ AddMassDiagonalInto()
|
overridevirtual |
Add the diagonal of the mass matrix, as a vector scaled by ca, to result.
Note: 'result' is a system-level vector of appropriate size. This function must index into this vector using the offsets of each variable.
Implements chrono::ChVariables.
◆ AddMassTimesVector()
|
overridevirtual |
Compute the product of the mass matrix by a given vector and increment result.
This function must perform the operation result += M * vect for a vector of same size as the variables state.
Implements chrono::ChVariables.
◆ AddMassTimesVectorInto()
|
overridevirtual |
Add the product of the mass submatrix by a given vector, scaled by ca, to result.
Note: 'result' and 'vect' are system-level vectors of appropriate size. This function must index into these vectors using the offsets of each variable.
Implements chrono::ChVariables.
◆ ComputeMassInverseTimesVector()
|
overridevirtual |
Compute the product of the inverse mass matrix by a given vector and store in result.
This function must calculate result = M^(-1) * vect for a vector of same size as the variables state.
Implements chrono::ChVariables.
◆ PasteMassInto()
|
overridevirtual |
Write the mass submatrix for these variables into the specified global matrix at the offsets of each variable.
The masses will be scaled by the given factor 'ca'. The (start_row, start_col) pair specifies the top-left corner of the system-level mass matrix in the provided matrix. Assembling the system-level sparse matrix is required only if using a direct sparse solver or for debugging/reporting purposes.
Implements chrono::ChVariables.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/solver/ChVariablesBodySharedMass.h
- /builds/uwsbel/chrono/src/chrono/solver/ChVariablesBodySharedMass.cpp
