Description
Proxy to FEA nodes with 3 xyz + 3 rot coords, to grant them the features needed for collision detection.
**Note: the ChContactNodeXYZ would be sufficient if ChNodeFEAxyz were inherited from ChNodeFEAxyzrot, but this does not happen -hopefully it will be, in future API-, so we need to implement also this ChContactNodeXYZROT as a proxy to ChNodeFEAxyzrot, sorry for code redundancy.
#include <ChContactSurfaceNodeCloud.h>
Public Member Functions | |
| ChContactNodeXYZROT (ChNodeFEAxyzrot *node=nullptr, ChContactSurface *contact_surface=nullptr) | |
| ChNodeFEAxyzrot * | GetNode () |
| Access the FEA node to whom this is is a proxy. | |
| void | SetNode (ChNodeFEAxyzrot *node) |
| Set the FEA node to whom this is a proxy. | |
| ChContactSurface * | GetContactSurface () const |
| Get the contact surface container. | |
| void | SetContactSurface (ChContactSurface *contact_surface) |
| Set the contact surface container. | |
| virtual ChContactable::eChContactableType | GetContactableType () const override |
| This must return the proper eChContactableType enum, for allowing a faster collision dispatcher in ChContactContainer classes (this enum will be used instead of slow dynamic_cast<> to infer the type of ChContactable, if possible) | |
| virtual ChVariables * | GetVariables1 () override |
| Access variables. | |
| virtual bool | IsContactActive () override |
| Tell if the object must be considered in collision detection. | |
| virtual int | GetContactableNumCoordsPosLevel () override |
| Get the number of DOFs affected by this object (position part). | |
| virtual int | GetContactableNumCoordsVelLevel () override |
| Get the number of DOFs affected by this object (speed part). | |
| virtual void | ContactableGetStateBlockPosLevel (ChState &x) override |
| Get all the DOFs packed in a single vector (position part). | |
| virtual void | ContactableGetStateBlockVelLevel (ChStateDelta &w) override |
| Get all the DOFs packed in a single vector (speed part). | |
| virtual void | ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override |
| Increment the provided state of this object by the given state-delta increment. More... | |
| virtual ChVector3d | GetContactPoint (const ChVector3d &loc_point, const ChState &state_x) override |
| Express the local point in absolute frame, for the given state position. | |
| virtual ChVector3d | GetContactPointSpeed (const ChVector3d &loc_point, const ChState &state_x, const ChStateDelta &state_w) override |
| Get the absolute speed of a local point attached to the contactable. More... | |
| virtual ChVector3d | GetContactPointSpeed (const ChVector3d &abs_point) override |
| Get the absolute speed of point abs_point if attached to the surface. | |
| virtual ChFrame | GetCollisionModelFrame () override |
| Return the frame of the associated collision model relative to the contactable object. | |
| virtual void | ContactForceLoadResidual_F (const ChVector3d &F, const ChVector3d &T, const ChVector3d &abs_point, ChVectorDynamic<> &R) override |
| Apply the force & torque, expressed in absolute reference, to the coordinates of the variables. | |
| virtual void | ContactComputeQ (const ChVector3d &F, const ChVector3d &T, const ChVector3d &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override |
| Compute a contiguous vector of generalized forces Q from a given force & torque at the given point. More... | |
| virtual void | ComputeJacobianForContactPart (const ChVector3d &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override |
| Compute the jacobian(s) part(s) for this contactable item. More... | |
| virtual double | GetContactableMass () override |
| This can be useful in some SMC code: | |
| virtual ChPhysicsItem * | GetPhysicsItem () override |
| This is only for backward compatibility. | |
Member Function Documentation
◆ ComputeJacobianForContactPart()
|
overridevirtual |
Compute the jacobian(s) part(s) for this contactable item.
For example, if the contactable is a ChBody, this should update the corresponding 1x6 jacobian.
◆ ContactableIncrementState()
|
inlineoverridevirtual |
Increment the provided state of this object by the given state-delta increment.
Compute: x_new = x + dw.
Implements chrono::ChContactable.
◆ ContactComputeQ()
|
inlineoverridevirtual |
Compute a contiguous vector of generalized forces Q from a given force & torque at the given point.
Used for computing stiffness matrix (square force jacobian) by backward differentiation. The force and its application point are specified in the global frame. Each object must set the entries in Q corresponding to its variables, starting at the specified offset. If needed, the object states must be extracted from the provided state position.
Implements chrono::ChContactable.
◆ GetContactPointSpeed()
|
inlineoverridevirtual |
Get the absolute speed of a local point attached to the contactable.
The given point is assumed to be expressed in the local frame of this object. This function must use the provided states.
Implements chrono::ChContactable.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceNodeCloud.h
- /builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceNodeCloud.cpp
