Description

Base class for contact between two generic ChContactable objects.

#include <ChContact.h>

Inheritance diagram for chrono::ChContact:

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Collaboration diagram for chrono::ChContact:

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Public Member Functions
void	Reset_cinfo (ChContactable obj_A, ChContactable obj_B, const ChCollisionInfo &cinfo)
	Reinitialize geometric information for this contact for reuse. More...

ChContactable *	GetObjA ()
	Get the colliding object A, with point P1.

ChContactable *	GetObjB ()
	Get the colliding object B, with point P2.

ChCoordsys	GetContactCoords () const
	Get the contact coordinate system, expressed in absolute frame. More...

const ChMatrix33 &	GetContactPlane () const
	Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact. More...

const ChVector3d &	GetContactP1 () const
	Get the contact point 1, in absolute coordinates.

const ChVector3d &	GetContactP2 () const
	Get the contact point 2, in absolute coordinates.

const ChVector3d &	GetContactNormal () const
	Get the contact normal, in absolute coordinates.

double	GetContactDistance () const
	Get the contact distance.

double	GetEffectiveCurvatureRadius () const
	Get the effective radius of curvature.

virtual ChVector3d	GetContactForce () const
	Get the contact force, if computed, in contact coordinate system.

virtual ChVector3d	GetContactTorque () const
	Get the contact torque, if computed, in contact coordinate system.

virtual void	ContIntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)

virtual void	ContIntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)

virtual void	ContIntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)

virtual void	ContIntLoadConstraint_C (const unsigned int off_L, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)

virtual void	ContIntLoadResidual_F (ChVectorDynamic<> &R, const double c)

virtual void	ContInjectKRMmatrices (ChSystemDescriptor &mdescriptor)

virtual void	ContKRMmatricesLoad (double Kfactor, double Rfactor)

virtual void	ContIntToDescriptor (const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)

virtual void	ContIntFromDescriptor (const unsigned int off_L, ChVectorDynamic<> &L)

virtual void	InjectConstraints (ChSystemDescriptor &descriptor)

virtual void	ConstraintsBiReset ()

virtual void	ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false)

virtual void	ConstraintsFetch_react (double factor)

Protected Member Functions
	ChContact (ChContactContainer contact_container, ChContactable obj_A, ChContactable *obj_B)

Protected Attributes
ChContactContainer *	container
	associated contact container

ChContactable *	objA
	first ChContactable object in the pair

ChContactable *	objB
	second ChContactable object in the pair

ChVector3d	p1
	max penetration point on geo1, after refining, in abs space

ChVector3d	p2
	max penetration point on geo2, after refining, in abs space

ChVector3d	normal
	normal, on surface of master reference (geo1)

ChMatrix33	contact_plane
	the plane of contact (X is normal direction)

double	norm_dist
	penetration distance (negative if going inside) after refining

double	eff_radius
	effective radius of curvature at contact

Member Function Documentation

◆ ContIntFromDescriptor()

virtual void chrono::ChContact::ContIntFromDescriptor	(	const unsigned int	off_L,
		ChVectorDynamic<> &	L
	)

inlinevirtual

Parameters

off_L	offset in L
L	the L vector

◆ ContIntLoadConstraint_C()

virtual void chrono::ChContact::ContIntLoadConstraint_C	(	const unsigned int	off_L,
		ChVectorDynamic<> &	Qc,
		const double	c,
		bool	do_clamp,
		double	recovery_clamp
	)

inlinevirtual

Parameters

off_L	offset in Qc residual
Qc	result: the Qc residual, Qc += c*C
c	a scaling factor
do_clamp	apply clamping to c*C?
recovery_clamp	value for min/max clamping of c*C

◆ ContIntLoadResidual_CqL()

virtual void chrono::ChContact::ContIntLoadResidual_CqL	(	const unsigned int	off_L,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	L,
		const double	c
	)

inlinevirtual

Parameters

off_L	offset in L multipliers
R	result: the R residual, R += cCq'L
L	the L vector
c	a scaling factor

◆ ContIntToDescriptor()

virtual void chrono::ChContact::ContIntToDescriptor	(	const unsigned int	off_L,
		const ChVectorDynamic<> &	L,
		const ChVectorDynamic<> &	Qc
	)

inlinevirtual

Parameters

off_L	offset in L, Qc
L	the L vector
Qc	the Qc vector

◆ GetContactCoords()

ChCoordsys chrono::ChContact::GetContactCoords ( ) const

Get the contact coordinate system, expressed in absolute frame.

This represents the 'main' reference of the link: reaction forces are expressed in this coordinate system. Its origin is point P2. (It is the coordinate system of the contact plane and normal)

◆ GetContactPlane()

const ChMatrix33& chrono::ChContact::GetContactPlane ( ) const

inline

Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact.

In detail, the X versor (the 1s column of the matrix) represents the direction of the contact normal.

◆ Reset_cinfo()

void chrono::ChContact::Reset_cinfo	(	ChContactable *	obj_A,
		ChContactable *	obj_B,
		const ChCollisionInfo &	cinfo
	)

Reinitialize geometric information for this contact for reuse.

Parameters

obj_A	contactable object A
obj_B	contactable object B
cinfo	data for the contact pair

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

/builds/uwsbel/chrono/src/chrono/physics/ChContact.h
/builds/uwsbel/chrono/src/chrono/physics/ChContact.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ ContIntFromDescriptor()

◆ ContIntLoadConstraint_C()

◆ ContIntLoadResidual_CqL()

◆ ContIntToDescriptor()

◆ GetContactCoords()

◆ GetContactPlane()

◆ Reset_cinfo()