Description

Interface for objects that generate contacts.

A derived class must add all its variable sets (of ChVariable type) to the list managed by this class.

#include <ChContactable.h>

Inheritance diagram for chrono::ChContactable:

[legend]

Public Types
enum	Type { Type::UNKNOWN, Type::ONE_1, Type::ONE_2, Type::ONE_3, Type::ONE_4, Type::ONE_5, Type::ONE_6, Type::TWO_33, Type::TWO_66, Type::THREE_333, Type::THREE_666 }
	Contactable type (based on number of variables objects and their DOFs). More...

Public Member Functions
virtual Type	GetContactableType () const =0
	Return the proper contactable Type. More...

void	AddCollisionModel (std::shared_ptr< ChCollisionModel > model)
	Add the collision model.

void	AddCollisionShape (std::shared_ptr< ChCollisionShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add a collision shape. More...

std::shared_ptr< ChCollisionModel >	GetCollisionModel () const
	Access the collision model.

virtual bool	IsContactActive ()=0
	Indicate whether or not the object must be considered in collision detection.

virtual ChConstraintTuple *	CreateConstraintTuple ()=0
	Create a constraint tuple with the appropriate number of variables for this contactable object. More...

virtual int	GetContactableNumCoordsPosLevel ()=0
	Get the number of DOFs affected by this object (position part).

virtual int	GetContactableNumCoordsVelLevel ()=0
	Get the number of DOFs affected by this object (speed part).

virtual void	ContactableGetStateBlockPosLevel (ChState &x)=0
	Get all the DOFs packed in a single vector (position part).

virtual void	ContactableGetStateBlockVelLevel (ChStateDelta &w)=0
	Get all the DOFs packed in a single vector (speed part).

virtual void	ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new)=0
	Increment the provided state of this object by the given state-delta increment. More...

virtual ChVector3d	GetContactPoint (const ChVector3d &loc_point, const ChState &state_x)=0
	Express the local point in absolute frame, for the given state position.

virtual ChVector3d	GetContactPointSpeed (const ChVector3d &loc_point, const ChState &state_x, const ChStateDelta &state_w)=0
	Get the absolute speed of a local point attached to the contactable. More...

virtual ChVector3d	GetContactPointSpeed (const ChVector3d &abs_point)=0
	Get the absolute speed of point abs_point if attached to the surface.

virtual ChFrame	GetCollisionModelFrame ()=0
	Return the frame of the associated collision model relative to the contactable object. More...

virtual void	ContactForceLoadResidual_F (const ChVector3d &F, const ChVector3d &T, const ChVector3d &abs_point, ChVectorDynamic<> &R)=0
	Apply the given force & torque at the given location and load into the global generalized force vector. More...

virtual void	ContactComputeQ (const ChVector3d &F, const ChVector3d &T, const ChVector3d &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset)=0
	Compute a contiguous vector of generalized forces Q from a given force & torque at the given point. More...

virtual double	GetContactableMass ()=0
	Return the mass of the contactable object. More...

virtual ChPhysicsItem *	GetPhysicsItem ()=0
	Return the contactable object as a ChPhysicsItem. More...

void	SetUserData (const std::shared_ptr< void > &data)
	Set user-data associated with this contactable.

bool	HasData () const
	Check if this contactable has associated user-data.

template<typename T >
std::shared_ptr< T >	GetUserData () const
	Get the user-data using static cast to a known type.

virtual void	ComputeJacobianForContactPart (const ChVector3d &abs_point, ChMatrix33<> &contact_plane, ChConstraintTuple jacobian_tuple_N, ChConstraintTuple jacobian_tuple_U, ChConstraintTuple *jacobian_tuple_V, bool second)=0
	Compute the Jacobian part(s) for this contactable item. More...

virtual void	ComputeJacobianForRollingContactPart (const ChVector3d &abs_point, ChMatrix33<> &contact_plane, ChConstraintTuple jacobian_tuple_N, ChConstraintTuple jacobian_tuple_U, ChConstraintTuple *jacobian_tuple_V, bool second)
	Compute the rolling Jacobian part(s) for this contactable item. More...

void	ArchiveOut (ChArchiveOut &archive_out)
	Method to allow serialization of transient data to archives.

void	ArchiveIn (ChArchiveIn &archive_in)
	Method to allow deserialization of transient data from archives.

Protected Attributes
std::shared_ptr< ChCollisionModel >	collision_model
	collision model for the contactable object

std::vector< ChVariables * >	m_contactable_variables
	variables associated with the contactable object

std::shared_ptr< void >	m_data
	arbitrary user-data

Friends
class	ChContactSMC

Member Enumeration Documentation

◆ Type

enum chrono::ChContactable::Type

strong

Contactable type (based on number of variables objects and their DOFs).

Enumerator
UNKNOWN	unknown contactable type
ONE_1	1 variable with 1 DOF
ONE_2	1 variable with 2 DOFs
ONE_3	1 variable with 3 DOFs (e.g., ChNodeFEAxyz)
ONE_4	1 variable with 4 DOFs
ONE_5	1 variable with 5 DOFs
ONE_6	1 variable with 6 DOFs (e.g., ChBody, ChParticle, ChNodeFEAxyzrot)
TWO_33	2 variables, each with 3 DOFs (e.g., segments between 2 ChNodeFEAxyz nodes)
TWO_66	2 variables, each with 6 DOFs (e.g., triangle between 2 ChNodeFEAxyzrot nodes)
THREE_333	3 variables, each with 3 DOFs (e.g., triangle between 3 ChNodeFEAxyz nodes)
THREE_666	3 variables, each with 6 DOFs (e.g., triangle between 3 ChNodeFEAxyzrot nodes)

Member Function Documentation

◆ AddCollisionShape()

void chrono::ChContactable::AddCollisionShape	(	std::shared_ptr< ChCollisionShape >	shape,
		const ChFrame<> &	frame = `ChFrame<>()`
	)

Add a collision shape.

If this item does not have a collision model, one is created.

◆ ComputeJacobianForContactPart()

virtual void chrono::ChContactable::ComputeJacobianForContactPart	(	const ChVector3d &	abs_point,
		ChMatrix33<> &	contact_plane,
		ChConstraintTuple *	jacobian_tuple_N,
		ChConstraintTuple *	jacobian_tuple_U,
		ChConstraintTuple *	jacobian_tuple_V,
		bool	second
	)

pure virtual

Compute the Jacobian part(s) for this contactable item.

For example, if the contactable is a ChBody, this should update the corresponding 1x6 Jacobian. Required for NSC contact formulation.

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

◆ ComputeJacobianForRollingContactPart()

virtual void chrono::ChContactable::ComputeJacobianForRollingContactPart	(	const ChVector3d &	abs_point,
		ChMatrix33<> &	contact_plane,
		ChConstraintTuple *	jacobian_tuple_N,
		ChConstraintTuple *	jacobian_tuple_U,
		ChConstraintTuple *	jacobian_tuple_V,
		bool	second
	)

inlinevirtual

Compute the rolling Jacobian part(s) for this contactable item.

Required for NSC contact formulation.

Reimplemented in chrono::ChParticle.

◆ ContactableIncrementState()

virtual void chrono::ChContactable::ContactableIncrementState	(	const ChState &	x,
		const ChStateDelta &	dw,
		ChState &	x_new
	)

pure virtual

Increment the provided state of this object by the given state-delta increment.

Compute: x_new = x + dw.

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

◆ ContactComputeQ()

virtual void chrono::ChContactable::ContactComputeQ	(	const ChVector3d &	F,
		const ChVector3d &	T,
		const ChVector3d &	point,
		const ChState &	state_x,
		ChVectorDynamic<> &	Q,
		int	offset
	)

pure virtual

Compute a contiguous vector of generalized forces Q from a given force & torque at the given point.

Used for computing stiffness matrix (square force jacobian) by backward differentiation. The force F and its application point are specified in the global frame, while the torque T is specified in the global frame too. Each object must set the entries in Q corresponding to its variables, starting at the specified offset. If needed, the object states must be extracted from the provided state position. Required for SMC contact formulation.

Parameters

F	force
T	torque
point	application point
state_x	global state vector
Q	generalized force vector
offset	index offset

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

◆ ContactForceLoadResidual_F()

virtual void chrono::ChContactable::ContactForceLoadResidual_F	(	const ChVector3d &	F,
		const ChVector3d &	T,
		const ChVector3d &	abs_point,
		ChVectorDynamic<> &	R
	)

pure virtual

Apply the given force & torque at the given location and load into the global generalized force vector.

The force F and its application point are specified in the absolute reference frame, while the torque T is specified in the global frame too. Each object must update the entries in R corresponding to its variables. Required for SMC contact formulation.

Parameters

F	force
T	torque
abs_point	application point
R	global generalized force vector

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

◆ CreateConstraintTuple()

virtual ChConstraintTuple* chrono::ChContactable::CreateConstraintTuple ( )

pure virtual

Create a constraint tuple with the appropriate number of variables for this contactable object.

Required for NSC contact formulation.

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

◆ GetCollisionModelFrame()

virtual ChFrame chrono::ChContactable::GetCollisionModelFrame ( )

pure virtual

Return the frame of the associated collision model relative to the contactable object.

ChCollisionModel might call this to get the position of the contact model (when rigid) and sync it.

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactNodeXYZ, chrono::fea::ChContactSegmentXYZ, and chrono::ChParticle.

◆ GetContactableMass()

virtual double chrono::ChContactable::GetContactableMass ( )

pure virtual

Return the mass of the contactable object.

Required for SMC contact formulation.

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::ChParticle, and chrono::fea::ChContactNodeXYZ.

◆ GetContactableType()

virtual Type chrono::ChContactable::GetContactableType ( ) const

pure virtual

Return the proper contactable Type.

Used for the collision dispatcher in ChContactContainer classes.

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

◆ GetContactPointSpeed()

virtual ChVector3d chrono::ChContactable::GetContactPointSpeed	(	const ChVector3d &	loc_point,
		const ChState &	state_x,
		const ChStateDelta &	state_w
	)

pure virtual

Get the absolute speed of a local point attached to the contactable.

The given point is assumed to be expressed in the local frame of this object. This function must use the provided states.

Implemented in chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

◆ GetPhysicsItem()

virtual ChPhysicsItem* chrono::ChContactable::GetPhysicsItem ( )

pure virtual

Return the contactable object as a ChPhysicsItem.

Provided only for backward compatibility. In newer code, the reference to a ChPhysicsItem should not be usedr.

Implemented in chrono::ChBody, chrono::fea::ChContactTriangleXYZRot, chrono::fea::ChContactSegmentXYZRot, chrono::fea::ChContactNodeXYZRot, chrono::fea::ChContactTriangleXYZ, chrono::fea::ChContactSegmentXYZ, chrono::fea::ChContactNodeXYZ, and chrono::ChParticle.

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

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

Description

Public Types

Public Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ Type

Member Function Documentation

◆ AddCollisionShape()

◆ ComputeJacobianForContactPart()

◆ ComputeJacobianForRollingContactPart()

◆ ContactableIncrementState()

◆ ContactComputeQ()

◆ ContactForceLoadResidual_F()

◆ CreateConstraintTuple()

◆ GetCollisionModelFrame()

◆ GetContactableMass()

◆ GetContactableType()

◆ GetContactPointSpeed()

◆ GetPhysicsItem()