Description

Base class for a deformable tire model.

#include <ChDeformableTire.h>

Inheritance diagram for chrono::vehicle::ChDeformableTire:
Collaboration diagram for chrono::vehicle::ChDeformableTire:

Public Types

enum  ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
 Type of the mesh contact surface.
 
- Public Types inherited from chrono::vehicle::ChTire
enum  CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
 

Public Member Functions

 ChDeformableTire (const std::string &name)
 Construct a deformable tire with the specified name.
 
virtual double GetTireMass () const override final
 Return the tire mass.
 
virtual ChVector3d GetTireInertia () const override final
 Return the tire moments of inertia (in the tire centroidal frame).
 
void SetContactSurfaceType (ContactSurfaceType type)
 Set the type of contact surface.
 
ContactSurfaceType GetContactSurfaceType () const
 
void SetContactNodeRadius (double radius)
 Set radius of contact nodes. More...
 
double GetContactNodeRadius () const
 
void SetContactFaceThickness (double thickness)
 Set thickness of contact faces (radius of swept sphere). More...
 
double GetContactFaceThickness () const
 
std::shared_ptr< ChContactMaterialSMCGetContactMaterial () const
 Get the tire contact material. More...
 
void EnablePressure (bool val)
 Enable/disable tire pressure (default: true).
 
bool IsPressureEnabled () const
 
void EnableContact (bool val)
 Enable/disable tire contact (default: true).
 
bool IsContactEnabled () const
 
void EnableRimConnection (bool val)
 Enable/disable tire-rim connection (default: true).
 
bool IsRimConnectionEnabled () const
 
ChVisualShapeFEAGetMeshVisualization () const
 Get a handle to the mesh visualization.
 
std::shared_ptr< fea::ChMeshGetMesh () const
 Get the underlying FEA mesh.
 
std::shared_ptr< fea::ChContactSurfaceGetContactSurface () const
 Get the mesh contact surface. More...
 
std::shared_ptr< ChLoadContainerGetLoadContainer () const
 Get the load container associated with this tire.
 
virtual double GetRimRadius () const =0
 Get the rim radius (inner tire radius).
 
virtual TerrainForce ReportTireForce (ChTerrain *terrain) const override
 Report the tire force and moment. More...
 
virtual TerrainForce ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
 Get the tire force and moment expressed in the tire frame. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override final
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the rigid tire subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
void SetStepsize (double val)
 Set the value of the integration step size for the underlying dynamics (if applicable). More...
 
double GetStepsize () const
 Get the current value of the integration step size.
 
void SetCollisionType (CollisionType collision_type)
 Set the collision type for tire-terrain interaction. More...
 
void SetPressure (double pressure)
 Set the internal tire pressure [Pa]. More...
 
double GetPressure () const
 Get the internal tire pressure [Pa].
 
virtual double GetRadius () const =0
 Get the tire radius.
 
virtual double GetWidth () const =0
 Get the tire width.
 
double GetSlipAngle () const
 Return the tire slip angle calculated based on the current state of the associated wheel body. More...
 
double GetLongitudinalSlip () const
 Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...
 
double GetCamberAngle () const
 Return the tire camber angle calculated based on the current state of the associated wheel body. More...
 
virtual double GetDeflection () const
 Report the tire deflection.
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with tire visualization mesh. More...
 
virtual void Synchronize (double time, const ChTerrain &terrain)
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this tire by the specified time step.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
const std::string & GetName () const
 Get the name identifier for this subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
bool IsInitialized () const
 Return flag indicating whether or not the part is fully constructed.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

virtual double GetDefaultPressure () const =0
 Return the default tire pressure.
 
virtual std::vector< std::shared_ptr< fea::ChNodeFEAbase > > GetConnectedNodes () const =0
 Return list of nodes connected to the rim.
 
virtual void CreateMesh (const ChFrameMoving<> &wheel_frame, VehicleSide side)=0
 Create the FEA nodes and elements. More...
 
virtual void CreatePressureLoad ()=0
 Create the ChLoad for applying pressure to the tire. More...
 
virtual void CreateContactSurface ()=0
 Create the contact surface for the tire mesh. More...
 
virtual void CreateRimConnections (std::shared_ptr< ChBody > wheel)=0
 Create the tire-rim connections. More...
 
virtual void CreateContactMaterial ()=0
 Create the SMC contact material.
 
virtual double GetAddedMass () const override final
 Get the mass added to the associated spindle body. More...
 
virtual ChVector3d GetAddedInertia () const override final
 Get the inertia added to the associated spindle body. More...
 
virtual void InitializeInertiaProperties () override final
 Return the tire mass.
 
virtual void UpdateInertiaProperties () override final
 Return the tire moments of inertia (in the tire centroidal frame).
 
virtual void Initialize (std::shared_ptr< ChWheel > wheel) override
 Initialize this tire by associating it to the specified wheel.
 
virtual TerrainForce GetTireForce () const override final
 Get the tire force and moment. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 Construct a tire subsystem with given name.
 
void CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
 Calculate kinematics quantities based on the given state of the associated wheel body. More...
 
double GetOffset () const
 Get offset from spindle center. More...
 
std::shared_ptr< ChVisualShapeTriangleMeshAddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
 Add mesh visualization to the body associated with this tire (a wheel spindle body). More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 
void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
 Export the list of bodies to the specified JSON document.
 
void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
 Export the list of shafts to the specified JSON document.
 
void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
 Export the list of joints to the specified JSON document.
 
void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
 Export the list of shaft couples to the specified JSON document.
 
void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
 Export the list of markers to the specified JSON document.
 
void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
 Export the list of translational springs to the specified JSON document.
 
void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
 Export the list of rotational springs to the specified JSON document.
 
void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
 Export the list of body-body loads to the specified JSON document.
 

Protected Attributes

std::shared_ptr< fea::ChMeshm_mesh
 tire mesh
 
std::shared_ptr< ChLoadContainerm_load_container
 load container (for pressure load)
 
std::vector< std::shared_ptr< fea::ChLinkNodeFrame > > m_connections
 tire-wheel point connections
 
std::vector< std::shared_ptr< fea::ChLinkNodeSlopeFrame > > m_connectionsD
 tire-wheel direction connections
 
std::vector< std::shared_ptr< ChLinkMateFix > > m_connectionsF
 tire-wheel fix connection (point+rotation)
 
bool m_connection_enabled
 enable tire connections to rim
 
bool m_pressure_enabled
 enable internal tire pressure
 
bool m_contact_enabled
 enable tire-terrain contact
 
ContactSurfaceType m_contact_type
 type of contact surface model (node cloud or mesh)
 
double m_contact_node_radius
 node radius (for node cloud contact surface)
 
double m_contact_face_thickness
 face thickness (for mesh contact surface)
 
std::shared_ptr< ChContactMaterialSMCm_contact_mat
 tire contact material
 
std::shared_ptr< ChVisualShapeFEAm_visualization
 tire mesh visualization
 
- Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheelm_wheel
 associated wheel subsystem
 
double m_stepsize
 tire integration step size (if applicable)
 
double m_pressure
 internal tire pressure
 
CollisionType m_collision_type
 method used for tire-terrain collision
 
std::string m_vis_mesh_file
 name of OBJ file for visualization of this tire (may be empty)
 
double m_slip_angle
 
double m_longitudinal_slip
 
double m_camber_angle
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_initialized
 specifies whether ot not the part is fully constructed
 
bool m_output
 specifies whether or not output is generated for this subsystem
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector3d EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
 Utility function for estimating the tire moments of inertia. More...
 
- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
 Perform disc-terrain collision detection, using the specified method. More...
 
static void ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &areaDep)
 Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More...
 
static bool DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
 Perform disc-terrain collision detection. More...
 
static bool DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu)
 Perform disc-terrain collision detection considering the curvature of the road surface. More...
 
static bool DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
 Collsion algorithm based on a paper of J. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 

Member Function Documentation

◆ CreateContactSurface()

virtual void chrono::vehicle::ChDeformableTire::CreateContactSurface ( )
protectedpure virtual

Create the contact surface for the tire mesh.

A derived class must create a contact surface and add it to the underlying mesh.

Implemented in chrono::vehicle::ChANCFTire, chrono::vehicle::ChFEATire, and chrono::vehicle::ChReissnerTire.

◆ CreateMesh()

virtual void chrono::vehicle::ChDeformableTire::CreateMesh ( const ChFrameMoving<> &  wheel_frame,
VehicleSide  side 
)
protectedpure virtual

Create the FEA nodes and elements.

The wheel rotational axis is assumed to be the Y axis.

Parameters
[in]wheel_frameframe of associated wheel
[in]sideleft/right vehicle side

Implemented in chrono::vehicle::hmmwv::HMMWV_ANCFTire, chrono::vehicle::FEATire, chrono::vehicle::ANCFTire, chrono::vehicle::ReissnerTire, and chrono::vehicle::hmmwv::HMMWV_ReissnerTire.

◆ CreatePressureLoad()

virtual void chrono::vehicle::ChDeformableTire::CreatePressureLoad ( )
protectedpure virtual

Create the ChLoad for applying pressure to the tire.

A derived class must create a load and add it to the underlying load container.

Implemented in chrono::vehicle::ChANCFTire, chrono::vehicle::ChFEATire, and chrono::vehicle::ChReissnerTire.

◆ CreateRimConnections()

virtual void chrono::vehicle::ChDeformableTire::CreateRimConnections ( std::shared_ptr< ChBody wheel)
protectedpure virtual

Create the tire-rim connections.

A derived class must create the various constraints between the tire and the provided wheel body and add them to the underlying system.

Parameters
[in]wheelassociated wheel body

Implemented in chrono::vehicle::ChANCFTire, chrono::vehicle::ChFEATire, and chrono::vehicle::ChReissnerTire.

◆ GetAddedInertia()

virtual ChVector3d chrono::vehicle::ChDeformableTire::GetAddedInertia ( ) const
inlinefinaloverrideprotectedvirtual

Get the inertia added to the associated spindle body.

Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body moments of inertia by the amount reported by this function.

Implements chrono::vehicle::ChTire.

◆ GetAddedMass()

virtual double chrono::vehicle::ChDeformableTire::GetAddedMass ( ) const
inlinefinaloverrideprotectedvirtual

Get the mass added to the associated spindle body.

Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body mass by the amount repoirted by this function.

Implements chrono::vehicle::ChTire.

◆ GetContactMaterial()

std::shared_ptr<ChContactMaterialSMC> chrono::vehicle::ChDeformableTire::GetContactMaterial ( ) const
inline

Get the tire contact material.

Note that this is not set until after tire initialization.

◆ GetContactSurface()

std::shared_ptr< ChContactSurface > chrono::vehicle::ChDeformableTire::GetContactSurface ( ) const

Get the mesh contact surface.

If contact is not enabled, an empty shared pointer is returned.

◆ GetTireForce()

TerrainForce chrono::vehicle::ChDeformableTire::GetTireForce ( ) const
finaloverrideprotectedvirtual

Get the tire force and moment.

A ChDeformableTire always returns zero forces and moments since tire forces are implicitly applied to the associated wheel through the tire-wheel connections.

Implements chrono::vehicle::ChTire.

◆ ReportTireForce()

TerrainForce chrono::vehicle::ChDeformableTire::ReportTireForce ( ChTerrain terrain) const
overridevirtual

Report the tire force and moment.

This generalized force encapsulates the tire-terrain forces, as well as the weight of the tire itself and is calculated as the resultant of all reaction forces and torques in the tire-wheel connections, as applied at the wheel body center of mass. The force and moment are expressed in the global frame.

Implements chrono::vehicle::ChTire.

◆ ReportTireForceLocal()

TerrainForce chrono::vehicle::ChDeformableTire::ReportTireForceLocal ( ChTerrain terrain,
ChCoordsys<> &  tire_frame 
) const
overridevirtual

Get the tire force and moment expressed in the tire frame.

Currently NOT IMPLEMENTED.

Implements chrono::vehicle::ChTire.

◆ SetContactFaceThickness()

void chrono::vehicle::ChDeformableTire::SetContactFaceThickness ( double  thickness)
inline

Set thickness of contact faces (radius of swept sphere).

This value is relevant only for TRIANGLE_MESH contact surface type.

◆ SetContactNodeRadius()

void chrono::vehicle::ChDeformableTire::SetContactNodeRadius ( double  radius)
inline

Set radius of contact nodes.

This value is relevant only for NODE_CLOUD contact surface type.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChDeformableTire.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChDeformableTire.cpp