Description

Proxy to FEA nodes for collisions, with spheres associated to nodes, for point-cloud type of collisions.

#include <ChContactSurfaceNodeCloud.h>

Inheritance diagram for chrono::fea::ChContactNodeXYZsphere:

Collaboration diagram for chrono::fea::ChContactNodeXYZsphere:

Public Member Functions
	ChContactNodeXYZsphere (ChNodeFEAxyz node=nullptr, ChContactSurface contact_surface=nullptr)

Public Member Functions inherited from chrono::fea::ChContactNodeXYZ
	ChContactNodeXYZ (ChNodeFEAxyz node=nullptr, ChContactSurface contact_surface=nullptr)

ChNodeFEAxyz *	GetNode ()
	Access the FEA node to whom this is is a proxy.

void	SetNode (ChNodeFEAxyz *node)
	Set the FEA node to whom this is a proxy.

const ChVector3d &	GetPos () const
	Get the current position.

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, type_constraint_tuple &jacobian_tuple_N, type_constraint_tuple &jacobian_tuple_U, 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.

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

Description

Public Member Functions