Description

Class for a generic ED finite element node, with x,y,z displacement and a 3D rotation.

This is the typical node that can be used for beams, etc.

#include <ChNodeFEAxyzrot.h>

Inheritance diagram for chrono::fea::ChNodeFEAxyzrot:

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Collaboration diagram for chrono::fea::ChNodeFEAxyzrot:

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Public Member Functions
	ChNodeFEAxyzrot (ChFrame<> initialf=ChFrame<>())

	ChNodeFEAxyzrot (const ChNodeFEAxyzrot &other)

ChNodeFEAxyzrot &	operator= (const ChNodeFEAxyzrot &other)

virtual ChVariables &	Variables () override
	Return a reference to the encapsulated variables, representing states (pos, speed or accel.) and forces.

virtual void	Relax () override
	Set the rest position as the actual position.

virtual void	ForceToRest () override
	Reset to no speed and acceleration.

virtual void	SetFixed (bool fixed) override
	Fix/release this node. More...

virtual bool	IsFixed () const override
	Return true if the node is fixed (i.e., its state variables are not changed by the solver).

double	GetMass () const
	Get atomic mass of the node.

void	SetMass (double m)
	Set atomic mass of the node.

ChMatrix33 &	GetInertia ()
	Access atomic inertia of the node.

void	SetX0 (const ChFrame<> &mx)
	Set the initial (reference) frame.

const ChFrame &	GetX0 () const
	Get the initial (reference) frame.

ChFrame &	GetX0ref ()
	Access the initial (reference) frame.

void	SetForce (const ChVector3d &frc)
	Set the 3d applied force, in absolute reference.

const ChVector3d &	GetForce () const
	Get the 3d applied force, in absolute reference.

void	SetTorque (const ChVector3d &trq)
	Set the 3d applied torque, in node reference.

const ChVector3d &	GetTorque () const
	Get the 3d applied torque, in node reference.

ChFrameMoving &	Frame ()
	Access the frame of the node - in absolute csys, with infos on actual position, speed, acceleration, etc.

virtual unsigned int	GetNumCoordsPosLevel () const override
	Get the number of degrees of freedom (7 because quaternion for rotation).

virtual unsigned int	GetNumCoordsVelLevel () const override
	Get the number of degrees of freedom, derivative (6 because angular velocity for rotation derivative).

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.

virtual ChVariables *	GetVariables1 () override

virtual void	NodeIntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override

virtual void	NodeIntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T) override

virtual void	NodeIntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override

virtual void	NodeIntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override

virtual void	NodeIntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override

virtual void	NodeIntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) override

virtual void	NodeIntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override

virtual void	NodeIntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override

virtual void	NodeIntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &error, const double c) override

virtual void	NodeIntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R) override

virtual void	NodeIntFromDescriptor (const unsigned int off_v, ChStateDelta &v) override

virtual void	InjectVariables (ChSystemDescriptor &descriptor) override
	Register with the given system descriptor any ChVariable objects associated with this item.

virtual void	VariablesFbReset () override
	Set the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1) override
	Add the current forces (applied to node) into the encapsulated ChVariables. More...

virtual void	VariablesQbLoadSpeed () override
	Initialize the 'qb' part of the ChVariables with the current value of speeds.

virtual void	VariablesQbSetSpeed (double step=0) override
	Fetch the item speed (ex. More...

virtual void	VariablesFbIncrementMq () override
	Add M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbIncrementPosition (double step) override
	Increment node positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual unsigned int	GetLoadableNumCoordsPosLevel () override
	Gets the number of DOFs affected by this element (position part)

virtual unsigned int	GetLoadableNumCoordsVelLevel () override
	Gets the number of DOFs affected by this element (speed part)

virtual void	LoadableGetStateBlockPosLevel (int block_offset, ChState &mD) override
	Gets all the DOFs packed in a single vector (position part)

virtual void	LoadableGetStateBlockVelLevel (int block_offset, ChStateDelta &mD) override
	Gets all the DOFs packed in a single vector (speed part)

virtual void	LoadableStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Increment all DOFs using a delta.

virtual unsigned int	GetNumFieldCoords () override
	Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, etc. More...

virtual unsigned int	GetNumSubBlocks () override
	Get the number of DOFs sub-blocks.

virtual unsigned int	GetSubBlockOffset (unsigned int nblock) override
	Get the offset of the specified sub-block of DOFs in global vector.

virtual unsigned int	GetSubBlockSize (unsigned int nblock) override
	Get the size of the specified sub-block of DOFs in global vector.

virtual bool	IsSubBlockActive (unsigned int nblock) const override
	Check if the specified sub-block of DOFs is active.

virtual void	LoadableGetVariables (std::vector< ChVariables * > &mvars) override
	Get the pointers to the contained ChVariables, appending to the mvars vector.

virtual void	ComputeNF (const double U, const double V, const double W, ChVectorDynamic<> &Qi, double &detJ, const ChVectorDynamic<> &F, ChVectorDynamic<> state_x, ChVectorDynamic<> state_w) override
	Evaluate Q=N'*F, for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates. More...

virtual double	GetDensity () override
	This is not needed because not used in quadrature.

Public Member Functions inherited from chrono::fea::ChNodeFEAbase
virtual void	SetIndex (unsigned int mindex)
	Sets the global index of the node.

virtual unsigned int	GetIndex ()
	Gets the global index of the node.

virtual void	SetupInitial (ChSystem *system)
	Initial setup.

Public Member Functions inherited from chrono::ChNodeBase
	ChNodeBase (const ChNodeBase &other)

ChNodeBase &	operator= (const ChNodeBase &other)

virtual unsigned int	GetNumCoordsPosLevelActive () const
	Get the actual number of active degrees of freedom. More...

virtual unsigned int	GetNumCoordsVelLevelActive () const
	Get the actual number of active degrees of freedom, derivative. More...

virtual bool	IsAllCoordsActive () const
	Return true if all node DOFs are active (no node variable is fixed).

unsigned int	NodeGetOffsetPosLevel ()
	Get offset in the state vector (position part).

unsigned int	NodeGetOffsetVelLevel ()
	Get offset in the state vector (speed part).

void	NodeSetOffsetPosLevel (const unsigned int moff)
	Set offset in the state vector (position part).

void	NodeSetOffsetVelLevel (const unsigned int moff)
	Set offset in the state vector (speed part).

Public Member Functions inherited from chrono::ChBodyFrame
	ChBodyFrame (const ChBodyFrame &other)

ChWrenchd	AppliedForceLocalToWrenchParent (const ChVector3d &force, const ChVector3d &appl_point)
	Transform a force applied to a point on the body to a force and moment at the frame origin. More...

ChWrenchd	AppliedForceParentToWrenchParent (const ChVector3d &force, const ChVector3d &appl_point)
	Transform a force applied to a point on the body to a force and moment at the frame origin. More...

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving ()
	Default constructor (identity frame).

	ChFrameMoving (const ChVector3< double > &v, const ChQuaternion< double > &q=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion).

	ChFrameMoving (const ChVector3< double > &v, const ChMatrix33< double > &R)
	Construct from pos and rotation (as a 3x3 matrix).

	ChFrameMoving (const ChCoordsys< double > &C)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< double > &F)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< double > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< double > &	operator= (const ChFrameMoving< double > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< double > &other) const
	Returns true for different frames.

ChFrameMoving< double >	operator>> (const ChFrameMoving< double > &F) const
	Transform another frame through this frame. More...

ChFrameMoving< double >	operator* (const ChFrameMoving< double > &F) const
	Transform another frame through this frame. More...

ChFrameMoving< double > &	operator>>= (const ChFrameMoving< double > &F)
	Transform this frame by pre-multiplication with another frame. More...

ChFrameMoving< double > &	operator>>= (const ChVector3< double > &v)
	Transform this frame by pre-multiplication with a given vector (translate frame).

ChFrameMoving< double > &	operator>>= (const ChQuaternion< double > &q)
	Transform this frame by pre-multiplication with a given quaternion (rotate frame).

ChFrameMoving< double > &	operator>>= (const ChCoordsys< double > &C)
	Transform this frame by pre-multiplication with a given coordinate system.

ChFrameMoving< double > &	operator>>= (const ChFrame< double > &F)
	Transform this frame by pre-multiplication with another frame.

ChFrameMoving< double > &	operator*= (const ChFrameMoving< double > &F)
	Transform this frame by post-multiplication with another frame. More...

const ChCoordsys< double > &	GetCoordsysDt () const
	Return both rotation and translation velocities as a ChCoordsys object.

const ChCoordsys< double > &	GetCoordsysDt2 () const
	Return both rotation and translation accelerations as a ChCoordsys object.

const ChVector3< double > &	GetPosDt () const
	Return the linear velocity.

const ChVector3< double > &	GetLinVel () const
	Return the linear velocity.

const ChVector3< double > &	GetPosDt2 () const
	Return the linear acceleration.

const ChVector3< double > &	GetLinAcc () const
	Return the linear acceleration.

const ChQuaternion< double > &	GetRotDt () const
	Return the rotation velocity as a quaternion.

const ChQuaternion< double > &	GetRotDt2 () const
	Return the rotation acceleration as a quaternion.

ChVector3< double >	GetAngVelLocal () const
	Compute the angular velocity (expressed in local coords).

ChVector3< double >	GetAngVelParent () const
	Compute the actual angular velocity (expressed in parent coords).

ChVector3< double >	GetAngAccLocal () const
	Compute the actual angular acceleration (expressed in local coords).

ChVector3< double >	GetAngAccParent () const
	Compute the actual angular acceleration (expressed in parent coords).

virtual void	SetCoordsysDt (const ChCoordsys< double > &csys_dt)
	Set both linear and rotation velocities as a single ChCoordsys derivative.

virtual void	SetPosDt (const ChVector3< double > &vel)
	Set the linear velocity.

virtual void	SetLinVel (const ChVector3< double > &vel)
	Set the linear velocity.

virtual void	SetRotDt (const ChQuaternion< double > &q_dt)
	Set the rotation velocity as a quaternion derivative. More...

virtual void	SetAngVelLocal (const ChVector3< double > &w)
	Set the rotation velocity from the given angular velocity (expressed in local coordinates).

virtual void	SetAngVelParent (const ChVector3< double > &w)
	Set the rotation velocity from given angular velocity (expressed in parent coordinates).

virtual void	SetCoordsysDt2 (const ChCoordsys< double > &csys_dtdt)
	Set the linear and rotation accelerations as a single ChCoordsys derivative.

virtual void	SetPosDt2 (const ChVector3< double > &acc)
	Set the linear acceleration.

virtual void	SetLinAcc (const ChVector3< double > &acc)
	Set the linear acceleration.

virtual void	SetRotDt2 (const ChQuaternion< double > &q_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetAngAccLocal (const ChVector3< double > &a)
	Set the rotation acceleration from given angular acceleration (expressed in local coordinates). More...

virtual void	SetAngAccParent (const ChVector3< double > &a)
	Set the rotation acceleration from given angular acceleration (expressed in parent coordinates).

void	ComputeRotMatDt (ChMatrix33< double > &R_dt) const
	Compute the time derivative of the rotation matrix.

void	ComputeRotMatDt2 (ChMatrix33< double > &R_dtdt)
	Compute the second time derivative of the rotation matrix.

ChMatrix33< double >	GetRotMatDt ()
	Return the time derivative of the rotation matrix.

ChMatrix33< double >	GetRotMatDt2 ()
	Return the second time derivative of the rotation matrix.

void	ConcatenatePreTransformation (const ChFrameMoving< double > &F)
	Apply a transformation (rotation and translation) represented by another frame. More...

void	ConcatenatePostTransformation (const ChFrameMoving< double > &F)
	Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...

ChVector3< double >	PointSpeedLocalToParent (const ChVector3< double > &localpos) const
	Return the velocity in the parent frame of a point fixed to this frame and expressed in local coordinates.

ChVector3< double >	PointSpeedLocalToParent (const ChVector3< double > &localpos, const ChVector3< double > &localspeed) const
	Return the velocity in the parent frame of a moving point, given the point location and velocity expressed in local coordinates.

ChVector3< double >	PointAccelerationLocalToParent (const ChVector3< double > &localpos) const
	Return the acceleration in the parent frame of a point fixed to this frame and expressed in local coordinates. More...

ChVector3< double >	PointAccelerationLocalToParent (const ChVector3< double > &localpos, const ChVector3< double > &localspeed, const ChVector3< double > &localacc) const
	Return the acceleration in the parent frame of a moving point, given the point location, velocity, and acceleration expressed in local coordinates.

ChVector3< double >	PointSpeedParentToLocal (const ChVector3< double > &parentpos, const ChVector3< double > &parentspeed) const
	Return the velocity of a point expressed in this frame, given the point location and velocity in the parent frame.

ChVector3< double >	PointAccelerationParentToLocal (const ChVector3< double > &parentpos, const ChVector3< double > &parentspeed, const ChVector3< double > &parentacc) const
	Return the acceleration of a point expressed in this frame, given the point location, velocity, and acceleration in the parent frame.

ChFrameMoving< double >	TransformLocalToParent (const ChFrameMoving< double > &F) const
	Transform a moving frame from 'this' local coordinate system to parent frame coordinate system.

ChFrameMoving< double >	TransformParentToLocal (const ChFrameMoving< double > &F) const
	Transform a moving frame from the parent coordinate system to 'this' local frame coordinate system.

bool	Equals (const ChFrameMoving< double > &other) const
	Returns true if this transform is identical to the other transform.

bool	Equals (const ChFrameMoving< double > &other, double tol) const
	Returns true if this transform is equal to the other transform, within a tolerance 'tol'.

virtual void	Invert () override
	Invert in place. More...

ChFrameMoving< double >	GetInverse () const
	Return the inverse transform.

Public Member Functions inherited from chrono::ChFrame< double >
	ChFrame ()
	Default constructor (identity frame).

	ChFrame (const ChVector3< double > &v, const ChQuaternion< double > &q=ChQuaternion< double >(1, 0, 0, 0))
	Construct from position and rotation (as quaternion).

	ChFrame (const ChVector3< double > &v, const ChMatrix33< double > &R)
	Construct from pos and rotation (as a 3x3 matrix).

	ChFrame (const ChVector3< double > &v, const double angle, const ChVector3< double > &u)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChCoordsys< double > &C)
	Construct from a coordsys.

	ChFrame (const ChFrame< double > &other)
	Copy constructor, build from another frame.

ChFrame< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrame< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrame< double > &other) const
	Returns true for different frames.

ChFrame< double >	operator* (const ChFrame< double > &F) const
	Transform another frame through this frame. More...

ChVector3< double >	operator* (const ChVector3< double > &v) const
	Transform a vector through this frame (express in parent frame). More...

ChFrame< double >	operator>> (const ChFrame< double > &F) const
	Transform another frame through this frame. More...

ChVector3< double >	operator/ (const ChVector3< double > &v) const
	Transform a vector through this frame (express from parent frame). More...

ChFrame< double > &	operator>>= (const ChFrame< double > &F)
	Transform this frame by pre-multiplication with another frame. More...

ChFrame< double > &	operator>>= (const ChVector3< double > &v)
	Transform this frame by pre-multiplication with a given vector (translate frame).

ChFrame< double > &	operator>>= (const ChQuaternion< double > &q)
	Transform this frame by pre-multiplication with a given quaternion (rotate frame).

ChFrame< double > &	operator>>= (const ChCoordsys< double > &C)
	Transform this frame by pre-multiplication with a given coordinate system.

ChFrame< double > &	operator*= (const ChFrame< double > &F)
	Transform this frame by post-multiplication with another frame. More...

const ChCoordsys< double > &	GetCoordsys () const
	Return both current rotation and translation as a ChCoordsys object.

const ChVector3< double > &	GetPos () const
	Return the current translation vector.

const ChQuaternion< double > &	GetRot () const
	Return the current rotation quaternion.

const ChMatrix33< double > &	GetRotMat () const
	Return the current 3x3 rotation matrix.

ChVector3< double >	GetRotAxis () const
	Get axis of finite rotation, in parent space.

double	GetRotAngle () const
	Get angle of rotation about axis of finite rotation.

void	SetCoordsys (const ChCoordsys< double > &C)
	Impose both translation and rotation as a single ChCoordsys. More...

void	SetCoordsys (const ChVector3< double > &v, const ChQuaternion< double > &q)
	Impose both translation and rotation. More...

void	SetRot (const ChQuaternion< double > &q)
	Impose the rotation as a quaternion. More...

void	SetRot (const ChMatrix33< double > &R)
	Impose the rotation as a 3x3 matrix. More...

void	SetPos (const ChVector3< double > &pos)
	Impose the translation vector.

void	ConcatenatePreTransformation (const ChFrame< double > &F)
	Apply a transformation (rotation and translation) represented by another frame. More...

void	ConcatenatePostTransformation (const ChFrame< double > &F)
	Apply a transformation (rotation and translation) represented by another frame F in local coordinate. More...

void	Move (const ChVector3< double > &v)
	An easy way to move the frame by the amount specified by vector v, (assuming v expressed in parent coordinates)

void	Move (const ChCoordsys< double > &C)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

ChVector3< double >	TransformPointLocalToParent (const ChVector3< double > &v) const
	Transform a point from the local frame coordinate system to the parent coordinate system.

ChVector3< double >	TransformPointParentToLocal (const ChVector3< double > &v) const
	Transforms a point from the parent coordinate system to local frame coordinate system.

ChVector3< double >	TransformDirectionLocalToParent (const ChVector3< double > &d) const
	Transform a direction from the parent frame coordinate system to 'this' local coordinate system.

ChVector3< double >	TransformDirectionParentToLocal (const ChVector3< double > &d) const
	Transforms a direction from 'this' local coordinate system to parent frame coordinate system.

ChWrench< double >	TransformWrenchLocalToParent (const ChWrench< double > &w) const
	Transform a wrench from the local coordinate system to the parent coordinate system.

ChWrench< double >	TransformWrenchParentToLocal (const ChWrench< double > &w) const
	Transform a wrench from the parent coordinate system to the local coordinate system.

ChFrame< double >	TransformLocalToParent (const ChFrame< double > &F) const
	Transform a frame from 'this' local coordinate system to parent frame coordinate system.

ChFrame< double >	TransformParentToLocal (const ChFrame< double > &F) const
	Transform a frame from the parent coordinate system to 'this' local frame coordinate system.

bool	Equals (const ChFrame< double > &other) const
	Returns true if this transform is identical to the other transform.

bool	Equals (const ChFrame< double > &other, double tol) const
	Returns true if this transform is equal to the other transform, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< double >	GetInverse () const
	Return the inverse transform.

Public Member Functions inherited from chrono::ChLoadableUVW
virtual bool	IsTetrahedronIntegrationNeeded ()
	If true, use quadrature over u,v,w in [0..1] range as tetrahedron volumetric coords (with z=1-u-v-w) otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

virtual bool	IsTrianglePrismIntegrationNeeded ()
	If true, use quadrature over u,v in [0..1] range as triangle natural coords (with z=1-u-v), and use linear quadrature over w in [-1..+1], otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

Protected Attributes
ChVariablesBodyOwnMass	variables
	3D node variables, with x,y,z displ. and 3D rot.

ChFrame	X0
	reference frame

ChVector3d	Force
	applied force

ChVector3d	Torque
	applied torque

Protected Attributes inherited from chrono::fea::ChNodeFEAbase
unsigned int	g_index
	global node index

Protected Attributes inherited from chrono::ChNodeBase
unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

Protected Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double >	m_csys_dt
	rotation and position velocity, as vector + quaternion

ChCoordsys< double >	m_csys_dtdt
	rotation and position acceleration, as vector + quaternion

Protected Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double >	m_csys
	position and rotation, as vector + quaternion

ChMatrix33< double >	m_rmat
	3x3 orthogonal rotation matrix

Additional Inherited Members
Public Types inherited from chrono::ChVariableTupleCarrier_1vars< 6 >
typedef ChConstraintTuple_1vars< ChVariableTupleCarrier_1vars< N1 > >	type_constraint_tuple

Public Attributes inherited from chrono::fea::ChNodeFEAbase
double	m_TotalMass
	Nodal mass obtained from element mass matrix.

Static Public Attributes inherited from chrono::ChVariableTupleCarrier_1vars< 6 >
static const int	nvars1

Member Function Documentation

◆ ComputeNF()

void chrono::fea::ChNodeFEAxyzrot::ComputeNF	(	const double	U,
		const double	V,
		const double	W,
		ChVectorDynamic<> &	Qi,
		double &	detJ,
		const ChVectorDynamic<> &	F,
		ChVectorDynamic<> *	state_x,
		ChVectorDynamic<> *	state_w
	)

overridevirtual

Evaluate Q=N'*F, for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates.

det[J] is unused.

Parameters

U	x coordinate of application point in absolute space
V	y coordinate of application point in absolute space
W	z coordinate of application point in absolute space
Qi	Return result of N'*F here, maybe with offset block_offset
detJ	Return det[J] here
F	Input F vector, size is 6, it is {Force,Torque} both in absolute coords.
state_x	if != 0, update state (pos. part) to this, then evaluate Q
state_w	if != 0, update state (speed part) to this, then evaluate Q

Implements chrono::ChLoadableUVW.

◆ GetNumFieldCoords()

virtual unsigned int chrono::fea::ChNodeFEAxyzrot::GetNumFieldCoords ( )

inlineoverridevirtual

Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, etc.

Here is 6: xyz displ + xyz rots

Implements chrono::ChLoadable.

◆ SetFixed()

void chrono::fea::ChNodeFEAxyzrot::SetFixed ( bool fixed )

overridevirtual

Fix/release this node.

If fixed, its state variables are not changed by the solver.

Implements chrono::fea::ChNodeFEAbase.

◆ VariablesFbIncrementMq()

void chrono::fea::ChNodeFEAxyzrot::VariablesFbIncrementMq ( )

overridevirtual

Add 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::ChNodeBase.

◆ VariablesFbLoadForces()

void chrono::fea::ChNodeFEAxyzrot::VariablesFbLoadForces ( double factor = 1 )

overridevirtual

Add the current forces (applied to node) into the encapsulated ChVariables.

Include in the 'fb' part: qf+=forces*factor

Reimplemented from chrono::ChNodeBase.

◆ VariablesQbIncrementPosition()

void chrono::fea::ChNodeFEAxyzrot::VariablesQbIncrementPosition ( double step )

overridevirtual

Increment node 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::ChNodeBase.

◆ VariablesQbSetSpeed()

void chrono::fea::ChNodeFEAxyzrot::VariablesQbSetSpeed ( double step = 0 )

overridevirtual

Fetch the item speed (ex.

linear velocity, in xyz nodes) 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::ChNodeBase.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/fea/ChNodeFEAxyzrot.h
/builds/uwsbel/chrono/src/chrono/fea/ChNodeFEAxyzrot.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ ComputeNF()

◆ GetNumFieldCoords()

◆ SetFixed()

◆ VariablesFbIncrementMq()

◆ VariablesFbLoadForces()

◆ VariablesQbIncrementPosition()

◆ VariablesQbSetSpeed()