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:

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Collaboration diagram for chrono::fea::ChMesh:

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Public Member Functions
	ChMesh (const ChMesh &other)

virtual ChMesh *	Clone () 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< ChNodeBase >	GetNode (unsigned int n) const override
	Access the N-th node.

std::shared_ptr< ChElementBase >	GetElement (unsigned int n) const
	Access the N-th element.

virtual unsigned int	GetNumNodes () const override
	Get the number of nodes in the mesh.

unsigned int	GetNumElements () const
	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< ChContactSurface >	GetContactSurface (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< ChMeshSurface >	GetMeshSurface (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 Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*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)

ChSystem *	GetSystem () 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< ChVisualModel >	GetVisualModel () 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< ChVisualShape >	GetVisualShape (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< ChVisualShapeFEA >	GetVisualShapeFEA (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 += cCq'*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
ChSystem *	system
	parent system

std::shared_ptr< ChVisualModelInstance >	vis_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

mass	ChMesh object mass
com	ChMesh center of gravity
inertia	ChMesh 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_v	offset for v
v	vector to where the q 'unknowns' term of the variables will be copied
off_L	offset for L
L	vector 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

off	offset in Md vector
Md	result: Md vector, diagonal of the lumped mass matrix
err	result: not touched if lumping does not introduce errors
c	a 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

off	offset in R residual
R	result: the R residual, R += c*F
c	a 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

off	offset in R residual
R	result: the R residual, R += cMv
w	the w vector
c	a 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_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time

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_a	offset in a accel. vector
a	acceleration 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_x	offset in x state vector
x_new	state vector, final position part
x	state vector, initial position part
off_v	offset in v state vector
Dv	state 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_x	offset in x state vector
x_new	state vector, position part, incremented result
x	state vector, initial position part
off_v	offset in v state vector
Dv	state 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_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time
full_update	perform 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_a	offset in a accel. vector
a	acceleration 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_v	offset for v and R
v	vector copied into the q 'unknowns' term of the variables
R	vector copied into the F 'force' term of the variables
off_L	offset for L and Qc
L	vector copied into the L 'lagrangian ' term of the constraints
Qc	vector 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

Description

Public Member Functions

Friends

Additional Inherited Members

Member Function Documentation

◆ ComputeMassProperties()

◆ GetNumCoordsPosLevel()

◆ GetNumCoordsVelLevel()

◆ IntFromDescriptor()

◆ IntLoadLumpedMass_Md()

◆ IntLoadResidual_F()

◆ IntLoadResidual_Mv()

◆ IntStateGather()

◆ IntStateGatherAcceleration()

◆ IntStateGetIncrement()

◆ IntStateIncrement()

◆ IntStateScatter()

◆ IntStateScatterAcceleration()

◆ IntToDescriptor()

◆ LoadKRMMatrices()

◆ SetAutomaticGravity()

◆ Update()

◆ VariablesFbIncrementMq()

◆ VariablesQbIncrementPosition()

◆ VariablesQbLoadSpeed()

◆ VariablesQbSetSpeed()