Description

Granular terrain model.

This class implements a rectangular patch of granular terrain with spherical particles. Boundary conditions (model of a container bin) are imposed through a custom collision detection object.

#include <GranularTerrain.h>

Inheritance diagram for chrono::vehicle::GranularTerrain:

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Collaboration diagram for chrono::vehicle::GranularTerrain:

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Public Member Functions
	GranularTerrain (ChSystem *system)
	Construct a default GranularTerrain. More...

void	SetContactMaterial (std::shared_ptr< ChContactMaterial > material)
	Set contact material (must be consistent with the containing system).

std::shared_ptr< ChContactMaterial >	GetContactMaterial () const
	Get the current contact material.

void	SetCollisionEnvelope (double envelope)
	Set outward collision envelope. More...

void	SetMinNumParticles (unsigned int min_num_particles)
	Set the minimum number of particles to be generated (default: 0).

void	EnableVerbose (bool val)
	Enable/disable verbose output (default: false).

void	EnableRoughSurface (int num_spheres_x, int num_spheres_y)
	Enable creation of particles fixed to bottom container. More...

void	EnableMovingPatch (std::shared_ptr< ChBody > body, double buffer_distance, double shift_distance, const ChVector3d &init_vel=ChVector3d())
	Enable moving patch and set parameters. More...

void	EnableVisualization (bool val)
	Enable/disable visualization of boundaries (default: false).

bool	IsVisualizationEnabled () const

std::shared_ptr< ChBody >	GetGroundBody ()
	Return a handle to the ground body.

void	Initialize (const ChVector3d &center, double length, double width, unsigned int num_layers, double radius, double density, const ChVector3d &init_vel=ChVector3d())
	Initialize the granular terrain system. More...

virtual void	Synchronize (double time) override
	Update the state of the terrain system at the specified time.

double	GetPatchFront () const
	Get current front boundary location (in positive X direction).

double	GetPatchRear () const
	Get current rear boundary location (in negative X direction).

double	GetPatchLeft () const
	Get left boundary location (in positive Y direction).

double	GetPatchRight () const
	Get right boundary location (in negative Y direction).

double	GetPatchBottom () const
	Get bottom boundary location.

bool	PatchMoved () const
	Report if the patch was moved during the last call to Synchronize().

unsigned int	GetNumParticles () const
	Get the number of particles.

virtual double	GetHeight (const ChVector3d &loc) const override
	Get the terrain height below the specified location. More...

virtual chrono::ChVector3d	GetNormal (const ChVector3d &loc) const override
	Get the terrain normal at the point below the specified location.

virtual float	GetCoefficientFriction (const ChVector3d &loc) const override
	Get the terrain coefficient of friction at the point below the specified location. More...

Public Member Functions inherited from chrono::vehicle::ChTerrain
virtual void	Advance (double step)
	Advance the state of the terrain system by the specified duration.

virtual void	GetProperties (const ChVector3d &loc, double &height, ChVector3d &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.

Friends
class	BoundaryContact

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

◆ GranularTerrain()

chrono::vehicle::GranularTerrain::GranularTerrain ( ChSystem * system )

Construct a default GranularTerrain.

The user is responsible for calling various Set methods before Initialize.

Parameters

[in] system pointer to the containing multibody system

Member Function Documentation

◆ EnableMovingPatch()

void chrono::vehicle::GranularTerrain::EnableMovingPatch	(	std::shared_ptr< ChBody >	body,
		double	buffer_distance,
		double	shift_distance,
		const ChVector3d &	init_vel = `ChVector3d()`
	)

Enable moving patch and set parameters.

Parameters

body	monitored body
buffer_distance	look-ahead distance
shift_distance	chunk size of relocated particles
init_vel	initial particle velocity

◆ EnableRoughSurface()

void chrono::vehicle::GranularTerrain::EnableRoughSurface	(	int	num_spheres_x,
		int	num_spheres_y
	)

Enable creation of particles fixed to bottom container.

Parameters

num_spheres_x	number of fixed spheres in X direction
num_spheres_y	number of fixed spheres in Y direction

◆ GetCoefficientFriction()

float chrono::vehicle::GranularTerrain::GetCoefficientFriction ( const ChVector3d & loc ) const

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 GranularTerrain, this function defers to the user-provided functor object of type ChTerrain::FrictionFunctor, if one was specified. Otherwise, it returns the constant value specified through SetContactFrictionCoefficient.

Reimplemented from chrono::vehicle::ChTerrain.

◆ GetHeight()

double chrono::vehicle::GranularTerrain::GetHeight ( const ChVector3d & loc ) const

overridevirtual

Get the terrain height below the specified location.

This function returns the highest point over all granular particles.

Reimplemented from chrono::vehicle::ChTerrain.

◆ Initialize()

void chrono::vehicle::GranularTerrain::Initialize	(	const ChVector3d &	center,
		double	length,
		double	width,
		unsigned int	num_layers,
		double	radius,
		double	density,
		const ChVector3d &	init_vel = `ChVector3d()`
	)

Initialize the granular terrain system.

The granular material is created in successive layers within the specified volume, using the specified generator, until the number of particles exceeds the specified minimum value (see SetMinNumParticles). The initial particle locations are obtained with Poisson Disk sampling, using the given minimum separation distance.

Parameters

[in]	center	center of bottom
[in]	length	patch dimension in X direction
[in]	width	patch dimension in Y direction
[in]	num_layers	number of layers
[in]	radius	particle radius
[in]	density	particle density
[in]	init_vel	particle initial velocity

◆ SetCollisionEnvelope()

void chrono::vehicle::GranularTerrain::SetCollisionEnvelope ( double envelope )

inline

Set outward collision envelope.

This value is used for the internal custom collision detection for imposing boundary conditions. Note that if the underlying system is of SMC type (i.e., using a penalty-based contact method), the envelope is automatically set to 0. For NSC systems (i.e., when using a complementarity-based contact method), if the envelope is not specified, the default value is 5% of the particle radius.

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

/builds/uwsbel/chrono/src/chrono_vehicle/terrain/GranularTerrain.h
/builds/uwsbel/chrono/src/chrono_vehicle/terrain/GranularTerrain.cpp

Description

Public Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ GranularTerrain()

Member Function Documentation

◆ EnableMovingPatch()

◆ EnableRoughSurface()

◆ GetCoefficientFriction()

◆ GetHeight()

◆ Initialize()

◆ SetCollisionEnvelope()