Description

Class which defines a mesh of finite elements of class ChElementBase using nodes of class ChNodeFEAbase.

#include <ChMesh.h>

Inheritance diagram for chrono::fea::ChMesh:
Collaboration diagram for chrono::fea::ChMesh:

Public Member Functions

 ChMesh (const ChMesh &other)
 
virtual ChMeshClone () const override
 "Virtual" copy constructor (covariant return type).
 
void AddNode (std::shared_ptr< ChNodeFEAbase > node)
 Add provided node to the mesh.
 
void AddElement (std::shared_ptr< ChElementBase > elem)
 Add provided element to the mesh.
 
void ClearNodes ()
 
void ClearElements ()
 
const std::vector< std::shared_ptr< ChNodeFEAbase > > & GetNodes () const
 Get the array of nodes of this mesh.
 
const std::vector< std::shared_ptr< ChElementBase > > & GetElements () const
 Get the array of elements of this mesh.
 
virtual std::shared_ptr< ChNodeBaseGetNode (unsigned int n) override
 Access the N-th node.
 
std::shared_ptr< ChElementBaseGetElement (unsigned int n)
 Access the N-th element.
 
virtual unsigned int GetNumNodes () const override
 Get the number of nodes in the mesh.
 
unsigned int GetNumElements ()
 Get the number of elements in the mesh.
 
virtual unsigned int GetNumCoordsPosLevel () override
 Get the number of coordinates at the position level. More...
 
virtual unsigned int GetNumCoordsVelLevel () override
 Get the number of coordinates at the velocity level. More...
 
virtual bool IsCollisionEnabled () const override
 Override default in ChPhysicsItem.
 
void ResetCounters ()
 Reset counters for internal force and Jacobian evaluations.
 
unsigned int GetNumCallsInternalForces ()
 Get cumulative number of calls to internal forces evaluation.
 
unsigned int GetNumCallsJacobianLoad ()
 Get cumulative number of calls to load Jacobian information.
 
void ResetTimers ()
 Reset timers for internal force and Jacobian evaluations.
 
double GetTimeInternalForces ()
 Get cumulative time for internal force evaluation.
 
double GetTimeJacobianLoad ()
 Get cumulative time for Jacobian load calls.
 
void AddContactSurface (std::shared_ptr< ChContactSurface > m_surf)
 Add a contact surface.
 
const std::vector< std::shared_ptr< ChContactSurface > > & GetContactSurfaces () const
 Get all contact surfaces associated with this mesh.
 
std::shared_ptr< ChContactSurfaceGetContactSurface (unsigned int n)
 Access the N-th contact surface.
 
unsigned int GetNumContactSurfaces ()
 Get number of added contact surfaces.
 
void ClearContactSurfaces ()
 Remove all contact surfaces.
 
void AddMeshSurface (std::shared_ptr< ChMeshSurface > m_surf)
 Add a mesh surface (set of ChLoadableUV items that support area loads such as pressure).
 
const std::vector< std::shared_ptr< ChMeshSurface > > & GetMeshSurfaces () const
 Get all mesh surfaces associated with this mesh.
 
std::shared_ptr< ChMeshSurfaceGetMeshSurface (unsigned int n)
 Access the N-th mesh surface.
 
unsigned int GetNumMeshSurfaces ()
 Get number of added mesh surfaces.
 
void ClearMeshSurfaces ()
 Remove all mesh surfaces.
 
void Relax ()
 Set reference position of nodes as current position, for all nodes.
 
void ForceToRest () override
 Set no speed and no accelerations in nodes (but does not change reference positions).
 
virtual void Setup () override
 This recomputes the number of DOFs, constraints, as well as state offsets of contained items.
 
virtual void Update (double m_time, bool update_assets=true) override
 Update time dependent data, for all elements. More...
 
virtual void AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const override
 Add the mesh contact surfaces (if any) to the provided collision system.
 
virtual void RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const override
 Remove the mesh contact surfaces (if any) from the provided collision system.
 
virtual void SyncCollisionModels () override
 Synchronize the position and bounding box of any collsion models managed by this physics item.
 
void SetAutomaticGravity (bool mg, int num_points=1)
 If true, as by default, this mesh will add automatically a gravity load to all contained elements (that support gravity) using the G value from the ChSystem. More...
 
bool GetAutomaticGravity ()
 Tell if this mesh will add automatically a gravity load to all contained elements.
 
void ComputeMassProperties (double &mass, ChVector3d &com, ChMatrix33<> &inertia)
 Get ChMesh mass properties. More...
 
virtual void IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override
 From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...
 
virtual void IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) override
 From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...
 
virtual void IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
 From item's state acceleration to global acceleration vector. More...
 
virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
 From global acceleration vector to item's state acceleration. More...
 
virtual void IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
 Computes x_new = x + Dt , using vectors at specified offsets. More...
 
virtual void IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) override
 Computes Dt = x_new - x, using vectors at specified offsets. More...
 
virtual void IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
 Takes the F force term, scale and adds to R at given offset: R += c*F. More...
 
virtual void IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
 Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More...
 
virtual void IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) override
 Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...
 
virtual void IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
 Prepare variables and constraints to accommodate a solution: More...
 
virtual void IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
 After a solver solution, fetch values from variables and constraints into vectors: More...
 
virtual void InjectKRMMatrices (ChSystemDescriptor &descriptor) override
 Register with the given system descriptor any ChKRMBlock objects associated with this item.
 
virtual void LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override
 Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...
 
virtual void VariablesFbReset () override
 Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.
 
virtual void VariablesFbLoadForces (double factor=1) override
 Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.
 
virtual void VariablesQbLoadSpeed () override
 Initialize the 'qb' part of the ChVariables with the current value of speeds. More...
 
virtual void VariablesFbIncrementMq () override
 Adds M*q (masses multiplied current 'qb') to Fb, ex. More...
 
virtual void VariablesQbSetSpeed (double step=0) override
 Fetches the item speed (ex. More...
 
virtual void VariablesQbIncrementPosition (double step) override
 Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...
 
virtual void InjectVariables (ChSystemDescriptor &descriptor) override
 Register with the given system descriptor any ChVariable objects associated with this item.
 
- Public Member Functions inherited from chrono::ChIndexedNodes
 ChIndexedNodes (const ChIndexedNodes &other)
 
virtual void ArchiveOut (ChArchiveOut &archive_out) override
 Add a new node to the particle cluster, passing a vector as initial position. More...
 
virtual void ArchiveIn (ChArchiveIn &archive_in) override
 Method to allow deserialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () const
 Get the pointer to the parent ChSystem().
 
virtual void SetSystem (ChSystem *m_system)
 Set the pointer to the parent ChSystem(). More...
 
void AddVisualModel (std::shared_ptr< ChVisualModel > model)
 Add an (optional) visualization model. More...
 
std::shared_ptr< ChVisualModelGetVisualModel () const
 Access the visualization model (if any). More...
 
void AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
 Add the specified visual shape to the visualization model. More...
 
std::shared_ptr< ChVisualShapeGetVisualShape (unsigned int i) const
 Access the specified visualization shape in the visualization model (if any). More...
 
void AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
 Add the specified FEA visualization object to the visualization model. More...
 
std::shared_ptr< ChVisualShapeFEAGetVisualShapeFEA (unsigned int i) const
 Access the specified FEA visualization object in the visualization model (if any). More...
 
virtual ChFrame GetVisualModelFrame (unsigned int nclone=0) const
 Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...
 
virtual unsigned int GetNumVisualModelClones () const
 Return the number of clones of the visual model associated with this physics item. More...
 
void AddCamera (std::shared_ptr< ChCamera > camera)
 Attach a ChCamera to this physical item. More...
 
std::vector< std::shared_ptr< ChCamera > > GetCameras () const
 Get the set of cameras attached to this physics item.
 
virtual bool IsActive () const
 Return true if the object is active and included in dynamics.
 
virtual ChAABB GetTotalAABB () const
 Get the axis-aligned bounding box (AABB) of this object. More...
 
virtual ChVector3d GetCenter () const
 Get a symbolic 'center' of the object. More...
 
virtual void Update (bool update_assets=true)
 Perform an update using the current time.
 
void UpdateVisualModel ()
 Utility function to update only the associated visual assets (if any).
 
virtual unsigned int GetNumConstraints ()
 Get the number of scalar constraints.
 
virtual unsigned int GetNumConstraintsBilateral ()
 Get the number of bilateral scalar constraints.
 
virtual unsigned int GetNumConstraintsUnilateral ()
 Get the number of unilateral scalar constraints.
 
unsigned int GetOffset_x ()
 Get offset in the state vector (position part)
 
unsigned int GetOffset_w ()
 Get offset in the state vector (speed part)
 
unsigned int GetOffset_L ()
 Get offset in the lagrangian multipliers.
 
void SetOffset_x (const unsigned int moff)
 Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_w (const unsigned int moff)
 Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_L (const unsigned int moff)
 Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.
 
virtual void IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
 From item's reaction forces to global reaction vector. More...
 
virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
 From global reaction vector to item's reaction forces. More...
 
virtual void IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
 Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More...
 
virtual void IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)
 Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...
 
virtual void IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c)
 Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...
 
virtual void InjectConstraints (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChConstraint objects associated with this item.
 
virtual void LoadConstraintJacobians ()
 Compute and load current Jacobians in encapsulated ChConstraint objects.
 
virtual void ConstraintsBiReset ()
 Sets to zero the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)
 Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_Ct (double factor=1)
 Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_Qc (double factor=1)
 Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsFbLoadForces (double factor=1)
 Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.
 
virtual void ConstraintsFetch_react (double factor=1)
 Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
int GetIdentifier () const
 Get the unique integer identifier of this object. More...
 
void SetTag (int tag)
 Set an object integer tag (default: -1). More...
 
int GetTag () const
 Get the tag of this object.
 
void SetName (const std::string &myname)
 Set the name of this object.
 
const std::string & GetName () const
 Get the name of this object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
virtual std::string & ArchiveContainerName ()
 

Friends

class chrono::ChSystem
 
class chrono::ChAssembly
 
class chrono::modal::ChModalAssembly
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::shared_ptr< ChVisualModelInstancevis_model_instance
 instantiated visualization model
 
std::vector< std::shared_ptr< ChCamera > > cameras
 set of cameras
 
unsigned int offset_x
 offset in vector of state (position part)
 
unsigned int offset_w
 offset in vector of state (speed part)
 
unsigned int offset_L
 offset in vector of lagrangian multipliers
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 object simulation time
 
std::string m_name
 object name
 
int m_identifier
 object unique identifier
 
int m_tag
 user-supplied tag
 

Member Function Documentation

◆ ComputeMassProperties()

void chrono::fea::ChMesh::ComputeMassProperties ( double &  mass,
ChVector3d com,
ChMatrix33<> &  inertia 
)

Get ChMesh mass properties.

The inertia tensor is solved with respect to the absolute frame, and also aligned with the absolute frame, NOT at the center of mass.

Parameters
massChMesh object mass
comChMesh center of gravity
inertiaChMesh inertia tensor

◆ GetNumCoordsPosLevel()

virtual unsigned int chrono::fea::ChMesh::GetNumCoordsPosLevel ( )
inlineoverridevirtual

Get the number of coordinates at the position level.

Might differ from coordinates at velocity level if quaternions are used for rotations.

Reimplemented from chrono::ChPhysicsItem.

◆ GetNumCoordsVelLevel()

virtual unsigned int chrono::fea::ChMesh::GetNumCoordsVelLevel ( )
inlineoverridevirtual

Get the number of coordinates at the velocity level.

Might differ from coordinates at position level if quaternions are used for rotations.

Reimplemented from chrono::ChPhysicsItem.

◆ IntFromDescriptor()

void chrono::fea::ChMesh::IntFromDescriptor ( const unsigned int  off_v,
ChStateDelta v,
const unsigned int  off_L,
ChVectorDynamic<> &  L 
)
overridevirtual

After a solver solution, fetch values from variables and constraints into vectors:

Parameters
off_voffset for v
vvector to where the q 'unknowns' term of the variables will be copied
off_Loffset for L
Lvector to where L 'lagrangian ' term of the constraints will be copied

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadLumpedMass_Md()

void chrono::fea::ChMesh::IntLoadLumpedMass_Md ( const unsigned int  off,
ChVectorDynamic<> &  Md,
double &  err,
const double  c 
)
overridevirtual

Adds the lumped mass to a Md vector, representing a mass diagonal matrix.

Used by lumped explicit integrators. If mass lumping is impossible or approximate, adds scalar error to "error" parameter. Md += c*diag(M)

Parameters
offoffset in Md vector
Mdresult: Md vector, diagonal of the lumped mass matrix
errresult: not touched if lumping does not introduce errors
ca scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_F()

void chrono::fea::ChMesh::IntLoadResidual_F ( const unsigned int  off,
ChVectorDynamic<> &  R,
const double  c 
)
overridevirtual

Takes the F force term, scale and adds to R at given offset: R += c*F.

Parameters
offoffset in R residual
Rresult: the R residual, R += c*F
ca scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_Mv()

void chrono::fea::ChMesh::IntLoadResidual_Mv ( const unsigned int  off,
ChVectorDynamic<> &  R,
const ChVectorDynamic<> &  w,
const double  c 
)
overridevirtual

Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.

Parameters
offoffset in R residual
Rresult: the R residual, R += c*M*v
wthe w vector
ca scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGather()

void chrono::fea::ChMesh::IntStateGather ( const unsigned int  off_x,
ChState x,
const unsigned int  off_v,
ChStateDelta v,
double &  T 
)
overridevirtual

From item's state to global state vectors y={x,v} pasting the states at the specified offsets.

Parameters
off_xoffset in x state vector
xstate vector, position part
off_voffset in v state vector
vstate vector, speed part
Ttime

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGatherAcceleration()

void chrono::fea::ChMesh::IntStateGatherAcceleration ( const unsigned int  off_a,
ChStateDelta a 
)
overridevirtual

From item's state acceleration to global acceleration vector.

Parameters
off_aoffset in a accel. vector
aacceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGetIncrement()

void chrono::fea::ChMesh::IntStateGetIncrement ( const unsigned int  off_x,
const ChState x_new,
const ChState x,
const unsigned int  off_v,
ChStateDelta Dv 
)
overridevirtual

Computes Dt = x_new - x, using vectors at specified offsets.

By default, when DOF = DOF_w, it does just the difference of two state vectors, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.

Parameters
off_xoffset in x state vector
x_newstate vector, final position part
xstate vector, initial position part
off_voffset in v state vector
Dvstate vector, increment. Here gets the result

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateIncrement()

void chrono::fea::ChMesh::IntStateIncrement ( const unsigned int  off_x,
ChState x_new,
const ChState x,
const unsigned int  off_v,
const ChStateDelta Dv 
)
overridevirtual

Computes x_new = x + Dt , using vectors at specified offsets.

By default, when DOF = DOF_w, it does just the sum, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.

Parameters
off_xoffset in x state vector
x_newstate vector, position part, incremented result
xstate vector, initial position part
off_voffset in v state vector
Dvstate vector, increment

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatter()

void chrono::fea::ChMesh::IntStateScatter ( const unsigned int  off_x,
const ChState x,
const unsigned int  off_v,
const ChStateDelta v,
const double  T,
bool  full_update 
)
overridevirtual

From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets.

Parameters
off_xoffset in x state vector
xstate vector, position part
off_voffset in v state vector
vstate vector, speed part
Ttime
full_updateperform complete update

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatterAcceleration()

void chrono::fea::ChMesh::IntStateScatterAcceleration ( const unsigned int  off_a,
const ChStateDelta a 
)
overridevirtual

From global acceleration vector to item's state acceleration.

Parameters
off_aoffset in a accel. vector
aacceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntToDescriptor()

void chrono::fea::ChMesh::IntToDescriptor ( const unsigned int  off_v,
const ChStateDelta v,
const ChVectorDynamic<> &  R,
const unsigned int  off_L,
const ChVectorDynamic<> &  L,
const ChVectorDynamic<> &  Qc 
)
overridevirtual

Prepare variables and constraints to accommodate a solution:

Parameters
off_voffset for v and R
vvector copied into the q 'unknowns' term of the variables
Rvector copied into the F 'force' term of the variables
off_Loffset for L and Qc
Lvector copied into the L 'lagrangian ' term of the constraints
Qcvector copied into the Qb 'constraint' term of the constraints

Reimplemented from chrono::ChPhysicsItem.

◆ LoadKRMMatrices()

void chrono::fea::ChMesh::LoadKRMMatrices ( double  Kfactor,
double  Rfactor,
double  Mfactor 
)
overridevirtual

Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects.

The resulting KRM blocks represent linear combinations of the K, R, and M matrices, with the specified coefficients Kfactor, Rfactor,and Mfactor, respectively.

Reimplemented from chrono::ChPhysicsItem.

◆ SetAutomaticGravity()

void chrono::fea::ChMesh::SetAutomaticGravity ( bool  mg,
int  num_points = 1 
)
inline

If true, as by default, this mesh will add automatically a gravity load to all contained elements (that support gravity) using the G value from the ChSystem.

So this saves you from adding many ChLoad<ChLoaderGravity> to all elements.

◆ Update()

void chrono::fea::ChMesh::Update ( double  m_time,
bool  update_assets = true 
)
overridevirtual

Update time dependent data, for all elements.

Updates all [A] coord.systems for all (corotational) elements.

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesFbIncrementMq()

void chrono::fea::ChMesh::VariablesFbIncrementMq ( )
overridevirtual

Adds M*q (masses multiplied current 'qb') to Fb, ex.

if qb is initialized with v_old using VariablesQbLoadSpeed, this method can be used in timestepping schemes that do: M*v_new = M*v_old + forces*dt.

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbIncrementPosition()

void chrono::fea::ChMesh::VariablesQbIncrementPosition ( double  step)
overridevirtual

Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor.

    pos += qb * step

If qb is a speed, this behaves like a single step of 1-st order numerical integration (Euler integration).

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbLoadSpeed()

void chrono::fea::ChMesh::VariablesQbLoadSpeed ( )
overridevirtual

Initialize the 'qb' part of the ChVariables with the current value of speeds.

Note: since 'qb' is the unknown, this function seems unnecessary, unless used before VariablesFbIncrementMq().

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbSetSpeed()

void chrono::fea::ChMesh::VariablesQbSetSpeed ( double  step = 0)
overridevirtual

Fetches the item speed (ex.

linear and angular vel.in rigid bodies) from the 'qb' part of the ChVariables and sets it as the current item speed. If 'step' is not 0, also should compute the approximate acceleration of the item using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariables.

Reimplemented from chrono::ChPhysicsItem.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/fea/ChMesh.h
  • /builds/uwsbel/chrono/src/chrono/fea/ChMesh.cpp