chrono::ChContactContainer Class Referenceabstract

Description

Class representing a container of many contacts.

#include <ChContactContainer.h>

Inheritance diagram for chrono::ChContactContainer:
Collaboration diagram for chrono::ChContactContainer:

Classes

class  AddContactCallback
 Class to be used as a callback interface for some user defined action to be taken each time a contact is added to the container. More...
 
class  ReportContactCallback
 Class to be used as a callback interface for some user defined action to be taken for each contact (already added to the container, maybe with already computed forces). More...
 

Public Member Functions

 ChContactContainer (const ChContactContainer &other)
 
virtual unsigned int GetNumContacts () const =0
 Get the number of added contacts.
 
virtual void RemoveAllContacts ()=0
 Remove (delete) all contained contact data.
 
virtual void BeginAddContact ()
 The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar). More...
 
virtual void AddContact (const ChCollisionInfo &cinfo, std::shared_ptr< ChContactMaterial > mat1, std::shared_ptr< ChContactMaterial > mat2)=0
 Add a contact between two collision shapes, storing it into this container. More...
 
virtual void AddContact (const ChCollisionInfo &cinfo)=0
 Add a contact between two collision shapes, storing it into this container. More...
 
virtual void EndAddContact ()
 The collision system will call EndAddContact() after adding all contacts (for example with AddContact() or similar).
 
virtual void RegisterAddContactCallback (std::shared_ptr< AddContactCallback > callback)
 Specify a callback object to be used each time a contact point is added to the container. More...
 
virtual std::shared_ptr< AddContactCallbackGetAddContactCallback ()
 Get the callback object to be used each time a contact point is added to the container.
 
virtual void ReportAllContacts (std::shared_ptr< ReportContactCallback > callback)
 Scan all the contacts and for each contact executes the OnReportContact() function of the provided callback object.
 
virtual void ComputeContactForces ()
 Compute contact forces on all contactable objects in this container.
 
virtual ChVector3d GetContactableForce (ChContactable *contactable)=0
 Return the resultant contact force acting on the specified contactable object.
 
virtual ChVector3d GetContactableTorque (ChContactable *contactable)=0
 Return the resultant contact torque acting on the specified contactable object.
 
virtual void ArchiveOut (ChArchiveOut &archive_out)
 Method for serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &archive_in)
 Method for de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
virtual ChPhysicsItemClone () const override
 "Virtual" copy constructor (covariant return type).
 
ChSystemGetSystem () 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< ChVisualModelGetVisualModel () 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< ChVisualShapeGetVisualShape (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< ChVisualShapeFEAGetVisualShapeFEA (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 bool IsCollisionEnabled () const
 Tell if the object is subject to collision. More...
 
virtual void AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
 Add to the provided collision system any collision models managed by this physics item. More...
 
virtual void RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
 Remove from the provided collision system any collision models managed by this physics item. More...
 
virtual void SyncCollisionModels ()
 Synchronize the position and bounding box of any collsion models managed by this physics item.
 
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 Setup ()
 Perform setup operations. More...
 
virtual void Update (double time, bool update_assets=true)
 Perform any updates necessary at the current phase during the solution process. 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 void ForceToRest ()
 Set zero speed (and zero accelerations) in state, without changing the position. More...
 
virtual unsigned int GetNumCoordsPosLevel ()
 Get the number of coordinates at the position level. More...
 
virtual unsigned int GetNumCoordsVelLevel ()
 Get the number of coordinates at the velocity level. More...
 
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 IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
 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)
 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)
 From item's state acceleration to global acceleration vector. More...
 
virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)
 From global acceleration vector to item's state acceleration. More...
 
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 IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
 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)
 Computes Dt = x_new - x, using vectors at specified offsets. More...
 
virtual void IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c)
 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)
 Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More...
 
virtual void IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c)
 Adds the lumped mass to a Md vector, representing a mass diagonal matrix. 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 += c*Cq'*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 IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)
 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)
 After a solver solution, fetch values from variables and constraints into vectors: More...
 
virtual void InjectVariables (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChVariable objects associated with this item.
 
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 InjectKRMMatrices (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChKRMBlock objects associated with this item.
 
virtual void LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
 Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...
 
virtual void VariablesFbReset ()
 Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.
 
virtual void VariablesFbLoadForces (double factor=1)
 Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.
 
virtual void VariablesQbLoadSpeed ()
 Initialize the 'qb' part of the ChVariables with the current value of speeds. More...
 
virtual void VariablesFbIncrementMq ()
 Adds M*q (masses multiplied current 'qb') to Fb, ex. More...
 
virtual void VariablesQbSetSpeed (double step=0)
 Fetches the item speed (ex. More...
 
virtual void VariablesQbIncrementPosition (double step)
 Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...
 
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 ()
 

Protected Member Functions

template<class Tcont >
void SumAllContactForces (std::list< Tcont * > &contactlist, std::unordered_map< ChContactable *, ForceTorque > &contactforces)
 Utility function to accumulate contact forces from a specified list of contacts. More...
 
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 

Protected Attributes

std::shared_ptr< AddContactCallbackadd_contact_callback
 
ReportContactCallbackreport_contact_callback
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::shared_ptr< ChVisualModelInstancevis_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

◆ AddContact() [1/2]

virtual void chrono::ChContactContainer::AddContact ( const ChCollisionInfo cinfo)
pure virtual

Add a contact between two collision shapes, storing it into this container.

The collision info object is assumed to contain valid pointers to the two colliding shapes. A composite contact material is created from their material properties.

Implemented in chrono::ChContactContainerSMC, chrono::ChContactContainerNSC, chrono::ChContactContainerMulticoreSMC, and chrono::ChContactContainerMulticoreNSC.

◆ AddContact() [2/2]

virtual void chrono::ChContactContainer::AddContact ( const ChCollisionInfo cinfo,
std::shared_ptr< ChContactMaterial mat1,
std::shared_ptr< ChContactMaterial mat2 
)
pure virtual

Add a contact between two collision shapes, storing it into this container.

A compositecontact material is created from the two given materials. In this case, the collision info object may have null pointers to collision shapes.

Implemented in chrono::ChContactContainerSMC, chrono::ChContactContainerNSC, chrono::ChContactContainerMulticoreSMC, and chrono::ChContactContainerMulticoreNSC.

◆ BeginAddContact()

virtual void chrono::ChContactContainer::BeginAddContact ( )
inlinevirtual

The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar).

By default it deletes all previous contacts. More efficient implementations might reuse contacts if possible.

Reimplemented in chrono::ChContactContainerSMC, chrono::ChContactContainerNSC, chrono::ChContactContainerMulticore, chrono::ChContactContainerMulticoreSMC, and chrono::ChContactContainerMulticoreNSC.

◆ RegisterAddContactCallback()

virtual void chrono::ChContactContainer::RegisterAddContactCallback ( std::shared_ptr< AddContactCallback callback)
inlinevirtual

Specify a callback object to be used each time a contact point is added to the container.

Note that derived classes may not support this. If supported, the OnAddContact() method of the provided callback object will be called for each contact pair to allow modifying the composite material properties.

Reimplemented in chrono::ChContactContainerMulticore.

◆ SumAllContactForces()

template<class Tcont >
void chrono::ChContactContainer::SumAllContactForces ( std::list< Tcont * > &  contactlist,
std::unordered_map< ChContactable *, ForceTorque > &  contactforces 
)
inlineprotected

Utility function to accumulate contact forces from a specified list of contacts.

This function is templated by the contact type (assumed to be derived from ChContactTuple). Contact forces are accumulated in a map keyed by the contactable objects. Derived ChContactContainer classes can use this utility (processing their various lists of contacts) to cache information used for reporting through GetContactableForce and GetContactableTorque.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/physics/ChContactContainer.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChContactContainer.cpp