chrono::ChContactContainerNSC Class Reference

Description

Class representing a container of many non-smooth contacts.

Implemented using linked lists of ChContactNSC objects (that is, contacts between two ChContactable objects, with 3 reactions). It might also contain ChContactNSCrolling objects (extended versions of ChContactNSC, with 6 reactions, that account also for rolling and spinning resistance), but also for '6dof vs 6dof' contactables.

#include <ChContactContainerNSC.h>

Inheritance diagram for chrono::ChContactContainerNSC:
Collaboration diagram for chrono::ChContactContainerNSC:

Public Types

typedef ChContactNSC< ChContactable_1vars< 6 >, ChContactable_1vars< 6 > > ChContactNSC_6_6
 
typedef ChContactNSC< ChContactable_1vars< 6 >, ChContactable_1vars< 3 > > ChContactNSC_6_3
 
typedef ChContactNSC< ChContactable_1vars< 3 >, ChContactable_1vars< 3 > > ChContactNSC_3_3
 
typedef ChContactNSC< ChContactable_3vars< 3, 3, 3 >, ChContactable_1vars< 3 > > ChContactNSC_333_3
 
typedef ChContactNSC< ChContactable_3vars< 3, 3, 3 >, ChContactable_1vars< 6 > > ChContactNSC_333_6
 
typedef ChContactNSC< ChContactable_3vars< 3, 3, 3 >, ChContactable_3vars< 3, 3, 3 > > ChContactNSC_333_333
 
typedef ChContactNSC< ChContactable_3vars< 6, 6, 6 >, ChContactable_1vars< 3 > > ChContactNSC_666_3
 
typedef ChContactNSC< ChContactable_3vars< 6, 6, 6 >, ChContactable_1vars< 6 > > ChContactNSC_666_6
 
typedef ChContactNSC< ChContactable_3vars< 6, 6, 6 >, ChContactable_3vars< 3, 3, 3 > > ChContactNSC_666_333
 
typedef ChContactNSC< ChContactable_3vars< 6, 6, 6 >, ChContactable_3vars< 6, 6, 6 > > ChContactNSC_666_666
 
typedef ChContactNSCrolling< ChContactable_1vars< 6 >, ChContactable_1vars< 6 > > ChContactNSCrolling_6_6
 

Public Member Functions

 ChContactContainerNSC (const ChContactContainerNSC &other)
 
virtual ChContactContainerNSCClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual int GetNcontacts () const override
 Report the number of added contacts.
 
virtual void RemoveAllContacts () override
 Remove (delete) all contained contact data.
 
virtual void BeginAddContact () override
 The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar). More...
 
virtual void AddContact (const collision::ChCollisionInfo &cinfo, std::shared_ptr< ChMaterialSurface > mat1, std::shared_ptr< ChMaterialSurface > mat2) override
 Add a contact between two collision shapes, storing it into this container. More...
 
virtual void AddContact (const collision::ChCollisionInfo &cinfo) override
 Add a contact between two collision shapes, storing it into this container. More...
 
virtual void EndAddContact () override
 The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar). More...
 
virtual void ReportAllContacts (std::shared_ptr< ReportContactCallback > callback) override
 Scan all the contacts and for each contact executes the OnReportContact() function of the provided callback object.
 
virtual int GetDOC_d () override
 Report the number of scalar unilateral constraints. More...
 
virtual void Update (double mtime, bool update_assets=true) override
 Update state of this contact container: compute jacobians, violations, etc. More...
 
virtual void ComputeContactForces () override
 Compute contact forces on all contactable objects in this container. More...
 
virtual ChVector GetContactableForce (ChContactable *contactable) override
 Return the resultant contact force acting on the specified contactable object.
 
virtual ChVector GetContactableTorque (ChContactable *contactable) override
 Return the resultant contact torque acting on the specified contactable object.
 
virtual void IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
 From item's reaction forces to global reaction vector. More...
 
virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
 From global reaction vector to item's reaction forces. More...
 
virtual void IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
 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) override
 Takes the term C, scale and adds to Qc at given offset: Qc += c*C. 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) override
 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) override
 After a solver solution, fetch values from variables and constraints into vectors: More...
 
virtual void InjectConstraints (ChSystemDescriptor &mdescriptor) override
 Tell to a system descriptor that there are constraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.
 
virtual void ConstraintsBiReset () override
 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) override
 Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsLoadJacobians () override
 Adds the current jacobians in encapsulated ChConstraints.
 
virtual void ConstraintsFetch_react (double factor=1) override
 Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow de-serialization of transient data from archives. More...
 
- Public Member Functions inherited from chrono::ChContactContainer
 ChContactContainer (const ChContactContainer &other)
 
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.
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
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)
 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 GetCollide () const
 Tell if the object is subject to collision. More...
 
virtual void SyncCollisionModels ()
 If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item.
 
virtual void AddCollisionModelsToSystem ()
 If this physical item contains one or more collision models, add them to the system's collision engine.
 
virtual void RemoveCollisionModelsFromSystem ()
 If this physical item contains one or more collision models, remove them from the system's collision engine.
 
virtual void GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax)
 Get the entire AABB axis-aligned bounding box of the object. More...
 
virtual void GetCenter (ChVector<> &mcenter)
 Get a symbolic 'center' of the object. More...
 
virtual void StreamINstate (ChStreamInBinary &mstream)
 Method to deserialize only the state (position, speed) Must be implemented by child classes.
 
virtual void StreamOUTstate (ChStreamOutBinary &mstream)
 Method to serialize only the state (position, speed) Must be implemented by child classes.
 
virtual void Setup ()
 This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh)
 
virtual void Update (bool update_assets=true)
 As above, but does not require updating of time-dependent data. More...
 
virtual void SetNoSpeedNoAcceleration ()
 Set zero speed (and zero accelerations) in state, without changing the position. More...
 
virtual int GetDOF ()
 Get the number of scalar coordinates (variables), if any, in this item. More...
 
virtual int GetDOF_w ()
 Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More...
 
virtual int GetDOC ()
 Get the number of scalar constraints, if any, in this item.
 
virtual int GetDOC_c ()
 Get the number of scalar constraints, if any, in this item (only bilateral constr.) Children classes might override this.
 
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 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 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 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 InjectVariables (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.
 
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 InjectKRMmatrices (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.
 
virtual void KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor)
 Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
int GetIdentifier () const
 Gets the numerical identifier of the object.
 
void SetIdentifier (int id)
 Sets the numerical identifier of the object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
const char * GetName () const
 Gets the name of the object as C Ascii null-terminated string -for reading only!
 
void SetName (const char myname[])
 Sets the name of this object, as ascii string.
 
std::string GetNameString () const
 Gets the name of the object as C Ascii null-terminated string.
 
void SetNameString (const std::string &myname)
 Sets the name of this object, as std::string.
 
void MFlagsSetAllOFF (int &mflag)
 
void MFlagsSetAllON (int &mflag)
 
void MFlagSetON (int &mflag, int mask)
 
void MFlagSetOFF (int &mflag, int mask)
 
int MFlagGet (int &mflag, int mask)
 
virtual std::string & ArchiveContainerName ()
 

Protected Attributes

std::list< ChContactNSC_6_6 * > contactlist_6_6
 
std::list< ChContactNSC_6_3 * > contactlist_6_3
 
std::list< ChContactNSC_3_3 * > contactlist_3_3
 
std::list< ChContactNSC_333_3 * > contactlist_333_3
 
std::list< ChContactNSC_333_6 * > contactlist_333_6
 
std::list< ChContactNSC_333_333 * > contactlist_333_333
 
std::list< ChContactNSC_666_3 * > contactlist_666_3
 
std::list< ChContactNSC_666_6 * > contactlist_666_6
 
std::list< ChContactNSC_666_333 * > contactlist_666_333
 
std::list< ChContactNSC_666_666 * > contactlist_666_666
 
std::list< ChContactNSCrolling_6_6 * > contactlist_6_6_rolling
 
int n_added_6_6
 
int n_added_6_3
 
int n_added_3_3
 
int n_added_333_3
 
int n_added_333_6
 
int n_added_333_333
 
int n_added_666_3
 
int n_added_666_6
 
int n_added_666_333
 
int n_added_666_666
 
int n_added_6_6_rolling
 
std::list< ChContactNSC_6_6 * >::iterator lastcontact_6_6
 
std::list< ChContactNSC_6_3 * >::iterator lastcontact_6_3
 
std::list< ChContactNSC_3_3 * >::iterator lastcontact_3_3
 
std::list< ChContactNSC_333_3 * >::iterator lastcontact_333_3
 
std::list< ChContactNSC_333_6 * >::iterator lastcontact_333_6
 
std::list< ChContactNSC_333_333 * >::iterator lastcontact_333_333
 
std::list< ChContactNSC_666_3 * >::iterator lastcontact_666_3
 
std::list< ChContactNSC_666_6 * >::iterator lastcontact_666_6
 
std::list< ChContactNSC_666_333 * >::iterator lastcontact_666_333
 
std::list< ChContactNSC_666_666 * >::iterator lastcontact_666_666
 
std::list< ChContactNSCrolling_6_6 * >::iterator lastcontact_6_6_rolling
 
std::unordered_map< ChContactable *, ForceTorque > contact_forces
 
- Protected Attributes inherited from chrono::ChContactContainer
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
 the time of simulation for the object
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::ChContactContainer
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...
 

Member Function Documentation

◆ AddContact() [1/2]

void chrono::ChContactContainerNSC::AddContact ( const collision::ChCollisionInfo cinfo)
overridevirtual

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.

Implements chrono::ChContactContainer.

◆ AddContact() [2/2]

void chrono::ChContactContainerNSC::AddContact ( const collision::ChCollisionInfo cinfo,
std::shared_ptr< ChMaterialSurface mat1,
std::shared_ptr< ChMaterialSurface mat2 
)
overridevirtual

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.

Implements chrono::ChContactContainer.

◆ ArchiveIN()

void chrono::ChContactContainerNSC::ArchiveIN ( ChArchiveIn marchive)
overridevirtual

Method to allow de-serialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChContactContainer.

◆ BeginAddContact()

void chrono::ChContactContainerNSC::BeginAddContact ( )
overridevirtual

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

Instead of simply deleting all list of the previous contacts, this optimized implementation rewinds the link iterator to begin and tries to reuse previous contact objects until possible, to avoid too much allocation/deallocation.

Reimplemented from chrono::ChContactContainer.

◆ ComputeContactForces()

void chrono::ChContactContainerNSC::ComputeContactForces ( )
overridevirtual

Compute contact forces on all contactable objects in this container.

This function caches contact forces in a map.

Reimplemented from chrono::ChContactContainer.

◆ ConstraintsFetch_react()

void chrono::ChContactContainerNSC::ConstraintsFetch_react ( double  factor = 1)
overridevirtual

Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.

Mostly used after the solver provided the solution in ChConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.

Reimplemented from chrono::ChPhysicsItem.

◆ EndAddContact()

void chrono::ChContactContainerNSC::EndAddContact ( )
overridevirtual

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

This optimized version purges the end of the list of contacts that were not reused (if any).

Reimplemented from chrono::ChContactContainer.

◆ GetDOC_d()

virtual int chrono::ChContactContainerNSC::GetDOC_d ( )
inlineoverridevirtual

Report the number of scalar unilateral constraints.

Note: friction constraints aren't exactly unilaterals, but they are still counted.

Reimplemented from chrono::ChPhysicsItem.

◆ IntFromDescriptor()

void chrono::ChContactContainerNSC::IntFromDescriptor ( const unsigned int  off_v,
ChStateDelta v,
const unsigned int  off_L,
ChVectorDynamic<> &  L 
)
overridevirtual

After a solver solution, fetch values from variables and constraints into vectors:

Parameters
off_voffset for v
vvector to where the q 'unknowns' term of the variables will be copied
off_Loffset for L
Lvector to where L 'lagrangian ' term of the constraints will be copied

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadConstraint_C()

void chrono::ChContactContainerNSC::IntLoadConstraint_C ( const unsigned int  off,
ChVectorDynamic<> &  Qc,
const double  c,
bool  do_clamp,
double  recovery_clamp 
)
overridevirtual

Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

Parameters
offoffset in Qc residual
Qcresult: the Qc residual, Qc += c*C
ca scaling factor
do_clampapply clamping to c*C?
recovery_clampvalue for min/max clamping of c*C

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_CqL()

void chrono::ChContactContainerNSC::IntLoadResidual_CqL ( const unsigned int  off_L,
ChVectorDynamic<> &  R,
const ChVectorDynamic<> &  L,
const double  c 
)
overridevirtual

Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

Parameters
off_Loffset in L multipliers
Rresult: the R residual, R += c*Cq'*L
Lthe L vector
ca scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGatherReactions()

void chrono::ChContactContainerNSC::IntStateGatherReactions ( const unsigned int  off_L,
ChVectorDynamic<> &  L 
)
overridevirtual

From item's reaction forces to global reaction vector.

Parameters
off_Loffset in L vector
LL vector of reaction forces

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatterReactions()

void chrono::ChContactContainerNSC::IntStateScatterReactions ( const unsigned int  off_L,
const ChVectorDynamic<> &  L 
)
overridevirtual

From global reaction vector to item's reaction forces.

Parameters
off_Loffset in L vector
LL vector of reaction forces

Reimplemented from chrono::ChPhysicsItem.

◆ IntToDescriptor()

void chrono::ChContactContainerNSC::IntToDescriptor ( const unsigned int  off_v,
const ChStateDelta v,
const ChVectorDynamic<> &  R,
const unsigned int  off_L,
const ChVectorDynamic<> &  L,
const ChVectorDynamic<> &  Qc 
)
overridevirtual

Prepare variables and constraints to accommodate a solution:

Parameters
off_voffset for v and R
vvector copied into the q 'unknowns' term of the variables
Rvector copied into the F 'force' term of the variables
off_Loffset for L and Qc
Lvector copied into the L 'lagrangian ' term of the constraints
Qcvector copied into the Qb 'constraint' term of the constraints

Reimplemented from chrono::ChPhysicsItem.

◆ Update()

void chrono::ChContactContainerNSC::Update ( double  mtime,
bool  update_assets = true 
)
overridevirtual

Update state of this contact container: compute jacobians, violations, etc.

and store results in inner structures of contacts.

Reimplemented from chrono::ChPhysicsItem.


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