Description

Class which defines a contact surface for FEA elements, using a mesh of triangles.

Differently from ChContactSurfaceNodeCloud, this also captures the node-vs-face and edge-vs-edge cases, but has a higher computational overhead.

#include <ChContactSurfaceMesh.h>

Inheritance diagram for chrono::fea::ChContactSurfaceMesh:

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Collaboration diagram for chrono::fea::ChContactSurfaceMesh:

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Public Member Functions
	ChContactSurfaceMesh (std::shared_ptr< ChContactMaterial > material, ChMesh *mesh=nullptr)

void	AddFace (std::shared_ptr< ChNodeFEAxyz > node1, std::shared_ptr< ChNodeFEAxyz > node2, std::shared_ptr< ChNodeFEAxyz > node3, std::shared_ptr< ChNodeFEAxyz > edge_node1, std::shared_ptr< ChNodeFEAxyz > edge_node2, std::shared_ptr< ChNodeFEAxyz > edge_node3, bool owns_node1, bool owns_node2, bool owns_node3, bool owns_edge1, bool owns_edge2, bool owns_edge3, double sphere_swept=0.0)
	Add the face specified by the three specified XYZ nodes to this collision mesh. More...

void	AddFace (std::shared_ptr< ChNodeFEAxyzrot > node1, std::shared_ptr< ChNodeFEAxyzrot > node2, std::shared_ptr< ChNodeFEAxyzrot > node3, std::shared_ptr< ChNodeFEAxyzrot > edge_node1, std::shared_ptr< ChNodeFEAxyzrot > edge_node2, std::shared_ptr< ChNodeFEAxyzrot > edge_node3, bool owns_node1, bool owns_node2, bool owns_node3, bool owns_edge1, bool owns_edge2, bool owns_edge3, double sphere_swept=0.0)
	Add the face specified by the three given XYZROT nodes to this collision mesh. More...

void	AddFacesFromBoundary (const ChMesh &mesh, double sphere_swept=0.0, bool ccw=true, bool include_cable_elements=true, bool include_beam_elements=true)
	Utility function to add all boundary faces of the specified FEA mesh to this collision surface. More...

void	ConstructFromTrimesh (std::shared_ptr< ChTriangleMeshConnected > trimesh, double sphere_swept=0.0)
	Construct a contact surface from a triangular mesh. More...

virtual ChAABB	GetAABB () const override
	Get the current axis-aligned bounding box.

std::vector< std::shared_ptr< ChContactTriangleXYZ > > &	GetTrianglesXYZ ()
	Get the list of triangles.

std::vector< std::shared_ptr< ChContactTriangleXYZRot > > &	GetTrianglesXYZRot ()
	Get the list of triangles for nodes with rotational dofs.

unsigned int	GetNumTriangles () const
	Get the number of triangles.

unsigned int	GetNumVertices () const
	Get the number of vertices.

virtual void	SyncCollisionModels () const override

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const override

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const override

void	OutputSimpleMesh (std::vector< ChVector3d > &vert_pos, std::vector< ChVector3d > &vert_vel, std::vector< ChVector3i > &triangles, std::vector< ChVector3b > &owns_node, std::vector< ChVector3b > &owns_edge) const
	Utility function for exporting the contact mesh in a pointer-less manner. More...

Public Member Functions inherited from chrono::fea::ChContactSurface
	ChContactSurface (std::shared_ptr< ChContactMaterial > material, ChPhysicsItem *mesh=nullptr)

ChPhysicsItem *	GetPhysicsItem ()
	Get the owner physics item (e.g., an FEA mesh).

void	SetPhysicsItem (ChPhysicsItem *physics_item)
	Set the owner physics item (e.g., an FEA mesh).

void	DisableSelfCollisions (int family)
	Disable self-collisions (default: enabled). More...

std::shared_ptr< ChContactMaterial > &	GetMaterialSurface ()
	Get the surface contact material.

Additional Inherited Members
Protected Attributes inherited from chrono::fea::ChContactSurface
std::shared_ptr< ChContactMaterial >	m_material
	contact material properties

ChPhysicsItem *	m_physics_item
	associated physics item (e.g., an FEA mesh)

bool	m_self_collide
	include self-collisions?

int	m_collision_family
	collision family (if no self-collisions)

Member Function Documentation

◆ AddFace() [1/2]

void chrono::fea::ChContactSurfaceMesh::AddFace	(	std::shared_ptr< ChNodeFEAxyz >	node1,
		std::shared_ptr< ChNodeFEAxyz >	node2,
		std::shared_ptr< ChNodeFEAxyz >	node3,
		std::shared_ptr< ChNodeFEAxyz >	edge_node1,
		std::shared_ptr< ChNodeFEAxyz >	edge_node2,
		std::shared_ptr< ChNodeFEAxyz >	edge_node3,
		bool	owns_node1,
		bool	owns_node2,
		bool	owns_node3,
		bool	owns_edge1,
		bool	owns_edge2,
		bool	owns_edge3,
		double	sphere_swept = `0.0`
	)

Add the face specified by the three specified XYZ nodes to this collision mesh.

Parameters

node1	face node1
node2	face node2
node3	face node3
edge_node1	edge node 1 (nullptr if no wing node)
edge_node2	edge node 2 (nullptr if no wing node)
edge_node3	edge node 3 (nullptr if no wing node)
owns_node1	this collision face owns node1
owns_node2	this collision face owns node2
owns_node3	this collision face owns node3
owns_edge1	this collision face owns edge1
owns_edge2	this collision face owns edge2
owns_edge3	this collision face owns edge3
sphere_swept	thickness (radius of sweeping sphere)

◆ AddFace() [2/2]

void chrono::fea::ChContactSurfaceMesh::AddFace	(	std::shared_ptr< ChNodeFEAxyzrot >	node1,
		std::shared_ptr< ChNodeFEAxyzrot >	node2,
		std::shared_ptr< ChNodeFEAxyzrot >	node3,
		std::shared_ptr< ChNodeFEAxyzrot >	edge_node1,
		std::shared_ptr< ChNodeFEAxyzrot >	edge_node2,
		std::shared_ptr< ChNodeFEAxyzrot >	edge_node3,
		bool	owns_node1,
		bool	owns_node2,
		bool	owns_node3,
		bool	owns_edge1,
		bool	owns_edge2,
		bool	owns_edge3,
		double	sphere_swept = `0.0`
	)

Add the face specified by the three given XYZROT nodes to this collision mesh.

Parameters

node1	face node1
node2	face node2
node3	face node3
edge_node1	edge node 1 (nullptr if no wing node)
edge_node2	edge node 2 (nullptr if no wing node)
edge_node3	edge node 3 (nullptr if no wing node)
owns_node1	this collision face owns node1
owns_node2	this collision face owns node2
owns_node3	this collision face owns node3
owns_edge1	this collision face owns edge1
owns_edge2	this collision face owns edge2
owns_edge3	this collision face owns edge3
sphere_swept	thickness (radius of sweeping sphere)

◆ AddFacesFromBoundary()

void chrono::fea::ChContactSurfaceMesh::AddFacesFromBoundary	(	const ChMesh &	mesh,
		double	sphere_swept = `0.0`,
		bool	ccw = `true`,
		bool	include_cable_elements = `true`,
		bool	include_beam_elements = `true`
	)

Utility function to add all boundary faces of the specified FEA mesh to this collision surface.

The function scans all the finite elements already added in the parent ChMesh and adds the faces that are not shared (ie. the faces on the boundary 'skin'). For shells, the argument 'ccw' indicates whether the face vertices are provided in a counter-clockwise (default) or clockwise order(because shells collisions are oriented and might work only from the "outer" side). Currently supported elements that generate boundary skin:

solids:
- ChElementTetrahedron: all solid tetrahedrons
- ChElementHexahedron: all solid hexahedrons
shells:
- ChElementShellANCF_3423 ANCF: shells (only one side)
- ChElementShellANCF_3443 ANCF: shells (only one side)
- ChElementShellANCF_3833 ANCF: shells (only one side)
- ChElementShellReissner: Reissner 4-nodes shells (only one side)
beams:
- ChElementCableANCF: ANCF beams (as sphere-swept lines, i.e. sequence of capsules)
- ChElementBeamEuler: Euler-Bernoulli beams (as sphere-swept lines, i.e. sequence of capsules)

Parameters

mesh	FEA mesh
sphere_swept	radius of swept sphere
ccw	indicate counterclockwise vertex ordering
include_cable_elements	create contact triangles for cable elements
include_beam_elements	create contact triangles for beam elements

◆ ConstructFromTrimesh()

void chrono::fea::ChContactSurfaceMesh::ConstructFromTrimesh	(	std::shared_ptr< ChTriangleMeshConnected >	trimesh,
		double	sphere_swept = `0.0`
	)

Construct a contact surface from a triangular mesh.

FEA nodes are created at the mesh vertex locations.

◆ OutputSimpleMesh()

void chrono::fea::ChContactSurfaceMesh::OutputSimpleMesh	(	std::vector< ChVector3d > &	vert_pos,
		std::vector< ChVector3d > &	vert_vel,
		std::vector< ChVector3i > &	triangles,
		std::vector< ChVector3b > &	owns_node,
		std::vector< ChVector3b > &	owns_edge
	)		const

Utility function for exporting the contact mesh in a pointer-less manner.

The mesh is specified as a set of 3D vertex points (with associated velocities) and a set of faces (indices into the vertex array). In addition, ownership of nodes and edges among the consitutent triangles is returned in 'owns_node' and 'owns_edge'.

Parameters

vert_pos	mesh vertices (absolute xyz positions)
vert_vel	vertex velocities (absolute xyz velocities)
triangles	triangle faces (indices in vertex array)
owns_node	node ownership for each triangular face
owns_edge	edge ownership for each triangular face

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

/builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceMesh.h
/builds/uwsbel/chrono/src/chrono/fea/ChContactSurfaceMesh.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ AddFace() [1/2]

◆ AddFace() [2/2]

◆ AddFacesFromBoundary()

◆ ConstructFromTrimesh()

◆ OutputSimpleMesh()