Description
FEA Deformable terrain model.
This class implements a terrain made up of isoparametric finite elements. It features Drucker-Prager plasticity and capped Drucker-Prager plasticity.
#include <FEADeformableTerrain.h>
Public Member Functions | |
FEADeformableTerrain (ChSystem *system) | |
Construct a default FEADeformableSoil. More... | |
virtual double | GetHeight (const ChVector<> &loc) const override |
Get the terrain height below the specified location. | |
virtual chrono::ChVector | GetNormal (const ChVector<> &loc) const override |
Get the terrain normal at the point below the specified location. | |
virtual float | GetCoefficientFriction (const ChVector<> &loc) const override |
Get the terrain coefficient of friction at the point below the specified location. More... | |
void | SetSoilParametersFEA (double rho, double Emod, double nu, double yield_stress, double hardening_slope, double friction_angle, double dilatancy_angle) |
Set the properties of the Drucker-Prager FEA soil. More... | |
void | Initialize (const ChVector<> &start_point, const ChVector<> &terrain_dimension, const ChVector< int > &terrain_discretization) |
Initialize the terrain system (flat). More... | |
std::shared_ptr< fea::ChMesh > | GetMesh () const |
Get the underlying FEA mesh. | |
Public Member Functions inherited from chrono::vehicle::ChTerrain | |
virtual void | Synchronize (double time) |
Update the state of the terrain system at the specified time. | |
virtual void | Advance (double step) |
Advance the state of the terrain system by the specified duration. | |
virtual void | GetProperties (const ChVector<> &loc, double &height, ChVector<> &normal, float &friction) const |
Get all terrain characteristics at the point below the specified location. | |
void | RegisterHeightFunctor (std::shared_ptr< HeightFunctor > functor) |
Specify the functor object to provide the terrain height at given locations. More... | |
void | RegisterNormalFunctor (std::shared_ptr< NormalFunctor > functor) |
Specify the functor object to provide the terrain normal at given locations. More... | |
void | RegisterFrictionFunctor (std::shared_ptr< FrictionFunctor > functor) |
Specify the functor object to provide the coefficient of friction at given locations. | |
Additional Inherited Members | |
Protected Attributes inherited from chrono::vehicle::ChTerrain | |
std::shared_ptr< HeightFunctor > | m_height_fun |
functor for location-dependent terrain height | |
std::shared_ptr< NormalFunctor > | m_normal_fun |
functor for location-dependent terrain normal | |
std::shared_ptr< FrictionFunctor > | m_friction_fun |
functor for location-dependent coefficient of friction | |
Constructor & Destructor Documentation
◆ FEADeformableTerrain()
chrono::vehicle::FEADeformableTerrain::FEADeformableTerrain | ( | ChSystem * | system | ) |
Construct a default FEADeformableSoil.
The user is responsible for calling various Set methods before Initialize.
- Parameters
-
[in,out] system pointer to the containing system);
Member Function Documentation
◆ GetCoefficientFriction()
|
overridevirtual |
Get the terrain coefficient of friction at the point below the specified location.
This coefficient of friction value may be used by certain tire models to modify the tire characteristics, but it will have no effect on the interaction of the terrain with other objects (including tire models that do not explicitly use it). For FEADeformableTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value of 0.8.
Reimplemented from chrono::vehicle::ChTerrain.
◆ Initialize()
void chrono::vehicle::FEADeformableTerrain::Initialize | ( | const ChVector<> & | start_point, |
const ChVector<> & | terrain_dimension, | ||
const ChVector< int > & | terrain_discretization | ||
) |
Initialize the terrain system (flat).
This version creates a flat array of points.
- Parameters
-
[in] start_point Base point to build terrain box [in] terrain_dimension terrain dimensions in the 3 directions [in] terrain_discretization Number of finite elements in the 3 directions
◆ SetSoilParametersFEA()
void chrono::vehicle::FEADeformableTerrain::SetSoilParametersFEA | ( | double | rho, |
double | Emod, | ||
double | nu, | ||
double | yield_stress, | ||
double | hardening_slope, | ||
double | friction_angle, | ||
double | dilatancy_angle | ||
) |
Set the properties of the Drucker-Prager FEA soil.
- Parameters
-
[in] rho Soil density [in] Emod Soil modulus of elasticity [in] nu Soil Poisson ratio [in] yield_stress Soil yield stress, for plasticity [in] hardening_slope Soil hardening slope, for plasticity [in] friction_angle Soil internal friction angle [in] dilatancy_angle Soil dilatancy angle
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/terrain/FEADeformableTerrain.h
- /builds/uwsbel/chrono/src/chrono_vehicle/terrain/FEADeformableTerrain.cpp