Description

Callback interface for user-defined custom contact between road wheels and track shoes.

#include <ChTrackContactManager.h>

Inheritance diagram for chrono::vehicle::ChTrackCustomContact:

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Collaboration diagram for chrono::vehicle::ChTrackCustomContact:

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Public Member Functions
virtual bool	OverridesIdlerContact () const
	Indicate if overriding contact forces with idlers. More...

virtual bool	OverridesWheelContact () const
	Indicate if overriding contact forces with road wheels. More...

virtual bool	OverridesGroundContact () const
	Indicate if overriding contact forces with ground. More...

virtual void	ComputeIdlerContactForce (const ChCollisionInfo &cinfo, std::shared_ptr< ChBody > idlerBody, std::shared_ptr< ChBody > shoeBody, ChVector3d &forceShoe)
	For the given collision between an idler and a track shoe, compute the contact force on the track shoe at the contact point. More...

virtual void	ComputeWheelContactForce (const ChCollisionInfo &cinfo, std::shared_ptr< ChBody > wheelBody, std::shared_ptr< ChBody > shoeBody, ChVector3d &forceShoe)
	For the given collision between a road-wheel and a track shoe, compute the contact force on the track shoe at the contact point. More...

virtual void	ComputeGroundContactForce (const ChCollisionInfo &cinfo, std::shared_ptr< ChBody > groundBody, std::shared_ptr< ChBody > shoeBody, ChVector3d &forceShoe)
	For the given collision between ground and a track shoe, compute the contact force on the track shoe at the contact point. More...

Public Member Functions inherited from chrono::ChLoadContainer
	ChLoadContainer (const ChLoadContainer &other)

virtual ChLoadContainer *	Clone () const override
	"Virtual" copy constructor (covariant return type).

void	Add (std::shared_ptr< ChLoadBase > newload)
	Add a load to the container list of loads. More...

std::vector< std::shared_ptr< ChLoadBase > > &	GetLoadList ()
	Direct access to the load vector.

size_t	GetNumLoads () const
	Return the number of loads in this container.

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) override
	Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor) override
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...

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

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

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

ChSystem *	GetSystem () const
	Get the pointer to the parent ChSystem().

virtual void	SetSystem (ChSystem *m_system)
	Set the pointer to the parent ChSystem(). More...

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () const
	Access the visualization model (if any). More...

void	AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add the specified visual shape to the visualization model. More...

std::shared_ptr< ChVisualShape >	GetVisualShape (unsigned int i) const
	Access the specified visualization shape in the visualization model (if any). More...

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
	Add the specified FEA visualization object to the visualization model. More...

std::shared_ptr< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this physics item. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a ChCamera to this physical item. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this physics item.

virtual bool	IsActive () const
	Return true if the object is active and included in dynamics.

virtual bool	IsCollisionEnabled () const
	Tell if the object is subject to collision. More...

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
	Add to the provided collision system any collision models managed by this physics item. More...

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
	Remove from the provided collision system any collision models managed by this physics item. More...

virtual void	SyncCollisionModels ()
	Synchronize the position and bounding box of any collsion models managed by this physics item.

virtual ChAABB	GetTotalAABB () const
	Get the axis-aligned bounding box (AABB) of this object. More...

virtual ChVector3d	GetCenter () const
	Get a symbolic 'center' of the object. More...

virtual void	Update (bool update_assets=true)
	Perform an update using the current time.

void	UpdateVisualModel ()
	Utility function to update only the associated visual assets (if any).

virtual void	ForceToRest ()
	Set zero speed (and zero accelerations) in state, without changing the position. More...

virtual unsigned int	GetNumCoordsPosLevel ()
	Get the number of coordinates at the position level. More...

virtual unsigned int	GetNumCoordsVelLevel ()
	Get the number of coordinates at the velocity level. More...

virtual unsigned int	GetNumConstraints ()
	Get the number of scalar constraints.

virtual unsigned int	GetNumConstraintsBilateral ()
	Get the number of bilateral scalar constraints.

virtual unsigned int	GetNumConstraintsUnilateral ()
	Get the number of unilateral scalar constraints.

unsigned int	GetOffset_x ()
	Get offset in the state vector (position part)

unsigned int	GetOffset_w ()
	Get offset in the state vector (speed part)

unsigned int	GetOffset_L ()
	Get offset in the lagrangian multipliers.

void	SetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_L (const unsigned int moff)
	Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.

virtual void	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
	From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void	IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update)
	From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void	IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a)
	From item's state acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)
	From global acceleration vector to item's state acceleration. More...

virtual void	IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
	From item's reaction forces to global reaction vector. More...

virtual void	IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
	From global reaction vector to item's reaction forces. More...

virtual void	IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
	Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void	IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv)
	Computes Dt = x_new - x, using vectors at specified offsets. More...

virtual void	IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
	Takes the term Cq'L, scale and adds to R at given offset: R += cCq'*L. More...

virtual void	IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)
	Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...

virtual void	IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c)
	Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...

virtual void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)
	Prepare variables and constraints to accommodate a solution: More...

virtual void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L)
	After a solver solution, fetch values from variables and constraints into vectors: More...

virtual void	InjectVariables (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChVariable objects associated with this item.

virtual void	InjectConstraints (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChConstraint objects associated with this item.

virtual void	LoadConstraintJacobians ()
	Compute and load current Jacobians in encapsulated ChConstraint objects.

virtual void	VariablesFbReset ()
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1)
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed ()
	Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void	VariablesFbIncrementMq ()
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbSetSpeed (double step=0)
	Fetches the item speed (ex. More...

virtual void	VariablesQbIncrementPosition (double step)
	Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual void	ConstraintsBiReset ()
	Sets to zero the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)
	Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Ct (double factor=1)
	Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Qc (double factor=1)
	Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsFbLoadForces (double factor=1)
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void	ConstraintsFetch_react (double factor=1)
	Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

virtual std::string &	ArchiveContainerName ()

Friends
class	ChTrackedVehicle

Additional Inherited Members
Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystem *	system
	parent system

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

unsigned int	offset_L
	offset in vector of lagrangian multipliers

Protected Attributes inherited from chrono::ChObj
double	ChTime
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

Member Function Documentation

◆ ComputeGroundContactForce()

virtual void chrono::vehicle::ChTrackCustomContact::ComputeGroundContactForce	(	const ChCollisionInfo &	cinfo,
		std::shared_ptr< ChBody >	groundBody,
		std::shared_ptr< ChBody >	shoeBody,
		ChVector3d &	forceShoe
	)

inlinevirtual

For the given collision between ground and a track shoe, compute the contact force on the track shoe at the contact point.

The first contactable in 'cinfo' is the ground body and the second contactable is the track shoe body. The return force is assumed to be expressed in the absolute reference frame.

Parameters

[in]	cinfo	geometric information for the collision pair
[in]	groundBody	ground body in collision
[in]	shoeBody	track shoe body in collision
[out]	forceShoe	force on track shoe at contact point, in abs. frame

◆ ComputeIdlerContactForce()

virtual void chrono::vehicle::ChTrackCustomContact::ComputeIdlerContactForce	(	const ChCollisionInfo &	cinfo,
		std::shared_ptr< ChBody >	idlerBody,
		std::shared_ptr< ChBody >	shoeBody,
		ChVector3d &	forceShoe
	)

inlinevirtual

For the given collision between an idler and a track shoe, compute the contact force on the track shoe at the contact point.

The first contactable in 'cinfo' is the idler body and the second contactable is the track shoe body. The return force is assumed to be expressed in the absolute reference frame.

Parameters

[in]	cinfo	geometric information for the collision pair
[in]	idlerBody	idler body in collision
[in]	shoeBody	track shoe body in collision
[out]	forceShoe	force on track shoe at contact point, in abs. frame

◆ ComputeWheelContactForce()

virtual void chrono::vehicle::ChTrackCustomContact::ComputeWheelContactForce	(	const ChCollisionInfo &	cinfo,
		std::shared_ptr< ChBody >	wheelBody,
		std::shared_ptr< ChBody >	shoeBody,
		ChVector3d &	forceShoe
	)

inlinevirtual

For the given collision between a road-wheel and a track shoe, compute the contact force on the track shoe at the contact point.

The first contactable in 'cinfo' is the road-wheel body and the second contactable is the track shoe body. The return force is assumed to be expressed in the absolute reference frame.

Parameters

[in]	cinfo	geometric information for the collision pair
[in]	wheelBody	road-wheel body in collision
[in]	shoeBody	track shoe body in collision
[out]	forceShoe	force on track shoe at contact point, in abs. frame

◆ OverridesGroundContact()

virtual bool chrono::vehicle::ChTrackCustomContact::OverridesGroundContact ( ) const

inlinevirtual

Indicate if overriding contact forces with ground.

If returning true, the derived class must provide an override of ComputeGroundContactForce.

◆ OverridesIdlerContact()

virtual bool chrono::vehicle::ChTrackCustomContact::OverridesIdlerContact ( ) const

inlinevirtual

Indicate if overriding contact forces with idlers.

If returning true, the derived class must provide an override of ComputeIdlerContactForce.

◆ OverridesWheelContact()

virtual bool chrono::vehicle::ChTrackCustomContact::OverridesWheelContact ( ) const

inlinevirtual

Indicate if overriding contact forces with road wheels.

If returning true, the derived class must provide an override of ComputeWheelContactForce.

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

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackContactManager.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/ChTrackContactManager.cpp

Description

Public Member Functions

Friends

Additional Inherited Members

Member Function Documentation

◆ ComputeGroundContactForce()

◆ ComputeIdlerContactForce()

◆ ComputeWheelContactForce()

◆ OverridesGroundContact()

◆ OverridesIdlerContact()

◆ OverridesWheelContact()