chrono::fea::ChContactNodeXYZROTsphere Class Reference
Description
Proxy to FEA nodes for collisions, with spheres associated to nodes, for point-cloud type of collisions.
#include <ChContactSurfaceNodeCloud.h>
Inheritance diagram for chrono::fea::ChContactNodeXYZROTsphere:
Collaboration diagram for chrono::fea::ChContactNodeXYZROTsphere:
Public Member Functions | |
| ChContactNodeXYZROTsphere (ChNodeFEAxyzrot *node=nullptr, ChContactSurface *contact_surface=nullptr) | |
 Public Member Functions inherited from chrono::fea::ChContactNodeXYZROT | |
| ChContactNodeXYZROT (ChNodeFEAxyzrot *node=nullptr, ChContactSurface *contact_surface=nullptr) | |
| ChNodeFEAxyzrot * | GetNode () |
| Access the FEA node to whom this is is a proxy. | |
| void | SetNode (ChNodeFEAxyzrot *node) |
| Set the FEA node to whom this is a proxy. | |
| ChContactSurface * | GetContactSurface () const |
| Get the contact surface container. | |
| void | SetContactSurface (ChContactSurface *contact_surface) |
| Set the contact surface container. | |
| virtual ChContactable::eChContactableType | GetContactableType () const override |
| This must return the proper eChContactableType enum, for allowing a faster collision dispatcher in ChContactContainer classes (this enum will be used instead of slow dynamic_cast<> to infer the type of ChContactable, if possible) | |
| virtual ChVariables * | GetVariables1 () override |
| Access variables. | |
| virtual bool | IsContactActive () override |
| Tell if the object must be considered in collision detection. | |
| virtual int | GetContactableNumCoordsPosLevel () override |
| Get the number of DOFs affected by this object (position part). | |
| virtual int | GetContactableNumCoordsVelLevel () override |
| Get the number of DOFs affected by this object (speed part). | |
| virtual void | ContactableGetStateBlockPosLevel (ChState &x) override |
| Get all the DOFs packed in a single vector (position part). | |
| virtual void | ContactableGetStateBlockVelLevel (ChStateDelta &w) override |
| Get all the DOFs packed in a single vector (speed part). | |
| virtual void | ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override |
| 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) override |
| 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) override |
| Get the absolute speed of a local point attached to the contactable. More... | |
| virtual ChVector3d | GetContactPointSpeed (const ChVector3d &abs_point) override |
| Get the absolute speed of point abs_point if attached to the surface. | |
| virtual ChFrame | GetCollisionModelFrame () override |
| Return the frame of the associated collision model relative to the contactable object. | |
| virtual void | ContactForceLoadResidual_F (const ChVector3d &F, const ChVector3d &T, const ChVector3d &abs_point, ChVectorDynamic<> &R) override |
| Apply the force & torque, expressed in absolute reference, to the coordinates of the variables. | |
| virtual void | ContactComputeQ (const ChVector3d &F, const ChVector3d &T, const ChVector3d &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override |
| Compute a contiguous vector of generalized forces Q from a given force & torque at the given point. More... | |
| virtual void | ComputeJacobianForContactPart (const ChVector3d &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override |
| Compute the jacobian(s) part(s) for this contactable item. More... | |
| virtual double | GetContactableMass () override |
| This can be useful in some SMC code: | |
| virtual ChPhysicsItem * | GetPhysicsItem () override |
| This is only for backward compatibility. | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceNodeCloud.h
- /builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceNodeCloud.cpp
