Description

Proxy to FEA nodes with 3 xyz + 3 rot coords, to grant them the features needed for collision detection.

#include <ChContactSurfaceNodeCloud.h>

Inheritance diagram for chrono::fea::ChContactNodeXYZRot:

Collaboration diagram for chrono::fea::ChContactNodeXYZRot:

Public Member Functions
	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.

const ChVector3d &	GetPos () const
	Get the current position.

ChContactSurface *	GetContactSurface () const
	Get the contact surface container.

void	SetContactSurface (ChContactSurface *contact_surface)
	Set the contact surface container.

virtual ChContactable::Type	GetContactableType () const override
	Return the proper contactable Type. More...

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

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, ChConstraintTuple jacobian_tuple_N, ChConstraintTuple jacobian_tuple_U, ChConstraintTuple *jacobian_tuple_V, bool second) override
	Compute the jacobian(s) part(s) for this contactable item. More...

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

virtual ChPhysicsItem *	GetPhysicsItem () override
	This is only for backward compatibility.

Public Member Functions inherited from chrono::ChContactable
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.

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	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.

Additional Inherited Members
Public Types inherited from chrono::ChContactable
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...

Protected Attributes inherited from chrono::ChContactable
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

Member Function Documentation

◆ ComputeJacobianForContactPart()

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

overridevirtual

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

For example, if the contactable is a ChBody, this should update the corresponding 1x6 jacobian.

Implements chrono::ChContactable.

◆ ContactableIncrementState()

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

inlineoverridevirtual

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

Compute: x_new = x + dw.

Implements chrono::ChContactable.

◆ ContactComputeQ()

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

inlineoverridevirtual

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 and its application point are specified in the global frame. 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.

Implements chrono::ChContactable.

◆ CreateConstraintTuple()

virtual ChConstraintTuple* chrono::fea::ChContactNodeXYZRot::CreateConstraintTuple ( )

inlineoverridevirtual

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

Required for NSC contact formulation.

Implements chrono::ChContactable.

◆ GetContactableMass()

virtual double chrono::fea::ChContactNodeXYZRot::GetContactableMass ( )

inlineoverridevirtual

Return the mass of the contactable object.

Required for SMC contact formulation.

Implements chrono::ChContactable.

◆ GetContactableType()

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

inlineoverridevirtual

Return the proper contactable Type.

Used for the collision dispatcher in ChContactContainer classes.

Implements chrono::ChContactable.

◆ GetContactPointSpeed()

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

inlineoverridevirtual

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.

Implements chrono::ChContactable.

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

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ ComputeJacobianForContactPart()

◆ ContactableIncrementState()

◆ ContactComputeQ()

◆ CreateConstraintTuple()

◆ GetContactableMass()

◆ GetContactableType()

◆ GetContactPointSpeed()