chrono Namespace Reference

Description

Main namespace for the Chrono package.

Namespaces
	AssemblyAnalysis
	Enumerations for assembly analysis types.
	bt_utils
	Utilities for Bullet-based collision detection.
	cascade
	Namespace with classes for the CASCADE module.
	copter
	Namespace with classes for the Copter models.
	curiosity
	Namespace with classes for the Curiosity model.
	fea
	Namespace for FEA classes.
	fmi2
	Namespace with classes for the FMI module (FMI 2.0 support).
	fmi3
	Namespace with classes for the FMI module (FMI 3.0 support).
	fsi
	Namespace with classes for the FSI module.
	gpu
	Namespace with classes for the Gpu module.
	irrlicht
	Namespace with classes for the Irrlicht module.
	mc_utils
	Utilities for Chrono multicore collision detection.
	modal
	Namespace with classes for the modal module.
	opengl
	Namespace with classes for the OpenGL module.
	parsers
	Namespace with classes for the Parsers module.
	particlefactory
	Namespace for classes that generate flows of particles.
	postprocess
	Namespace with classes for the POSTPROCESS module.
	robosimian
	Namespace with classes for the RoboSimian model.
	ros
	Namespace for Chrono::ROS.
	sensor
	Namespace for Chrono::Sensor.
	synchrono
	Namespace for SynChrono.
	turtlebot
	Namespace with classes for the Turtlebot model.
	utils
	Chrono core utilities.
	vehicle
	Namespace with classes for the VEHICLE module.
	viper
	Namespace with classes for the Viper model.
	vsg3d
	Namespace with classes for the VSG module.

Classes
struct	AngleAxis
	Representation of a rotation as angle-axis. More...
struct	AngleSet
	Representation of an Euler/Cardan angle set. More...
class	cbtArcArcCollisionAlgorithm
	Custom override of the default Bullet algorithm for 2Darc-2Darc collision. More...
class	cbtArcSegmentCollisionAlgorithm
	Custom override of the default Bullet algorithm for 2Dsegment-2Darc collision. More...
class	cbtCapsuleBoxCollisionAlgorithm
	Custom override of the default Bullet algorithm for capsule-box collision. More...
class	cbtCEtriangleShapeCollisionAlgorithm
	Custom override of the default Bullet algorithm for triangle-triangle collision. More...
class	cbtCylshellBoxCollisionAlgorithm
	Custom override of the default Bullet algorithm for cylshell-box collision. More...
class	cbtSegmentSegmentCollisionAlgorithm
	Custom override of the default Bullet algorithm for segment-segment collision. More...
class	cbtSphereCylinderCollisionAlgorithm
	Custom override of the default Bullet algorithm for sphere-cylinder collision. More...
class	cbtVector3CH
	Utility class to convert a Chrono ChVector3d into a Bullet vector3. More...
class	Ch3DOFContainer
	Base class for containers of elements with 3 degrees of freedom (fluid nodes, rigid particles). More...
struct	ChAABB
	Axis-aligned bounding box. More...
class	ChArchive
	Base class for archives with pointers to shared objects. More...
class	ChArchiveIn
	Base class for deserializing from archives. More...
class	ChArchiveInBinary
	Deserialization from binary stream. More...
class	ChArchiveInJSON
	This is a class for deserializing from JSON archives. More...
class	ChArchiveInXML
	This is a class for deserializing from XML archives. More...
class	ChArchiveOut
	Base class for serializing into archives. More...
class	ChArchiveOutBinary
	Serialization to binary stream. More...
class	ChArchiveOutJSON
	Serialize objects using JSON format. More...
class	ChArchiveOutXML
	Serialize objects using JSON format. More...
class	ChAssembly
	Class for assemblies of physical items. More...
class	ChAssemblyAnalysis
	Class for assembly analysis. More...
class	ChBasisToolsBSpline
	Tools for evaluating basis functions for B-splines, parametrized with parameter u (as lines) These bases are often called "N" in literature. More...
class	ChBasisToolsBSplineSurfaces
	Tools for evaluating basis functions for tensor-product surface B-splines, parametrized with parameters u,v (as lines) These bases are often called "R" in literature. More...
class	ChBasisToolsNurbs
	Tools for evaluating basis functions for NURBS, parametrized with parameter u (as lines) These bases are often called "R" in literature. More...
class	ChBasisToolsNurbsSurfaces
	Tools for evaluating basis functions for tensor-product surface NURBS, parametrized with parameter u,v (as lines) These bases are often called "R" in literature. More...
class	ChBezierCurve
	Definition of a piece-wise cubic Bezier approximation of a 3D curve. More...
class	ChBezierCurveTracker
	Definition of a tracker on a ChBezierCurve path. More...
class	ChBody
	Class for Rigid Bodies. More...
class	ChBodyAuxRef
	Class for Rigid Bodies with an auxiliary Reference Frame. More...
class	ChBodyEasyBox
	Create rigid bodies with a box shape. More...
class	ChBodyEasyClusterOfSpheres
	Create rigid bodies with a shape made of a cluster of spheres. More...
class	ChBodyEasyConvexHull
	Create rigid bodies with a convex hull shape. More...
class	ChBodyEasyConvexHullAuxRef
	Create rigid body with a convex hull shape, with a reference frame distinct from the centroidal frame. More...
class	ChBodyEasyCylinder
	Create rigid bodies with a cylinder shape. More...
class	ChBodyEasyEllipsoid
	Create rigid bodies with an ellipsoid shape. More...
class	ChBodyEasyMesh
	Create rigid bodies with a mesh shape, with a reference frame distinct from the centroidal frame. More...
class	ChBodyEasySphere
	Create rigid bodies with a spherical shape. More...
class	ChBodyFrame
	Class for objects that represent moving frames in space and contain state variables. More...
class	ChBox
	A box geometric object for collisions and visualization. More...
class	ChBroadphase
	Class for performing broad-phase collision detection. More...
class	ChCamera
	Class for defining a camera point of view with basic settings. More...
class	ChCapsule
	A capsule geometric object for collision and visualization. More...
class	ChCastingMap
	Stores type-casting functions between different type pairs, allowing to pick them at runtime from std::type_index or classname Converting pointers between different classes is usually possible by standard type casting, given that the source and destination class types are known at compile time. This class allows to typecast between class types that are known only at runtime. The requirement is that the typecasting function has to be prepared in advance (i.e. at compile time), when the types are still known. For each potential conversion an instance of ChCastingMap has to be declared, together with its typecasting function. This procedure is simplified by the macros CH_UPCASTING(FROM, TO) and CH_UPCASTING_SANITIZED(FROM, TO, UNIQUETAG) When the conversion should take place the following can be called: ConversionMap::Convert(std::string("source_classname"), std::string("destination_classname"), <void* to object>) More...
class	ChClassFactory
	A class factory. More...
class	ChClassRegistration
	Macro to create a ChDetect_ArchiveInConstructor. More...
class	ChClassRegistrationBase
	Base class for all registration data of classes whose objects can be created via a class factory. More...
class	ChCLI
	Wrapper for cxxopts. More...
class	ChCollisionData
	Global data for the custom Chrono multicore collision system. More...
class	ChCollisionInfo
	Class defining basic geometric information for collision pairs. More...
class	ChCollisionModel
	Class defining the geometric model for collision detection. More...
class	ChCollisionModelBullet
	Class defining the Bullet geometric model for collision detection. More...
class	ChCollisionModelMulticore
	Geometric model for the custom multicore Chrono collision system. More...
class	ChCollisionPair
	Class for storing information about a collision point. More...
class	ChCollisionShape
	Class defining a collision shape. More...
class	ChCollisionShapeArc2D
	Collision 2D arc shape. More...
class	ChCollisionShapeBarrel
	Collision barrel shape. More...
class	ChCollisionShapeBox
	Collision box shape. More...
class	ChCollisionShapeCapsule
	Collision capsule shape. More...
class	ChCollisionShapeCone
	Collision cone shape. More...
class	ChCollisionShapeConvexHull
	Collision convex hull shape. More...
class	ChCollisionShapeCylinder
	Collision cylinder shape. More...
class	ChCollisionShapeCylindricalShell
	Collision cylindrical shell shape. More...
class	ChCollisionShapeEllipsoid
	Collision ellipsoid shape. More...
class	ChCollisionShapeMeshTriangle
	Collision shape representing a triangle in a connected mesh. More...
class	ChCollisionShapePath2D
	Collision 2D path shape. More...
class	ChCollisionShapePoint
	Collision point shape. More...
class	ChCollisionShapeRoundedBox
	Collision rounded-box shape. More...
class	ChCollisionShapeRoundedCylinder
	Collision rounded-cylinder shape. More...
class	ChCollisionShapeSegment
	Collision segment shape. More...
class	ChCollisionShapeSegment2D
	Collision 2D segment shape. More...
class	ChCollisionShapeSphere
	Collision sphere shape. More...
class	ChCollisionShapeTriangle
	Collision triangle shape. More...
class	ChCollisionShapeTriangleMesh
	Collision mesh shape. More...
class	ChCollisionSystem
	Base class for generic collision engine. More...
class	ChCollisionSystemBullet
	Collision engine based on the Bullet library. More...
class	ChCollisionSystemChronoMulticore
	Chrono custom multicore collision system. More...
class	ChCollisionSystemMulticore
	Chrono multicore collision system. More...
class	ChColor
	Definition of a visual color. More...
class	ChCone
	A conical geometric object for collisions and visualization. More...
class	ChConstantDistribution
	Class for a distribution with a single 'value' that has probability 1.0. More...
class	ChConstraint
	Base class for representing constraints (bilateral or unilateral). More...
class	ChConstraintBilateral
	Bilateral (joint) constraints. More...
class	ChConstraintNgeneric
	Constraint between N objects of type ChVariables(). More...
class	ChConstraintRigidRigid
	Unilateral (contact) constraints. More...
class	ChConstraintThree
	This class is inherited by the base ChConstraint(), which does almost nothing. More...
class	ChConstraintThreeBBShaft
	Constraint between two bodies (2x6dof in space) and a 1D dof (a shaft). More...
class	ChConstraintThreeGeneric
	Constraint between three objects of type ChVariables(), with generic number of scalar variables each. More...
class	ChConstraintTuple_1vars
	This is a container for 'half' of a constraint, and contains a tuple of 1 or 2 or 3 differently-sized jacobian chunks. More...
class	ChConstraintTuple_2vars
	Case of tuple with reference to 2 ChVariable objects: More...
class	ChConstraintTuple_3vars
	Case of tuple with reference to 3 ChVariable objects: More...
class	ChConstraintTuple_4vars
	Case of tuple with reference to 4 ChVariable objects: More...
class	ChConstraintTwo
	This class implements the functionality for a constraint between a COUPLE of TWO objects of type ChVariables(), and defines two constraint matrices, whose column number automatically matches the number of elements in variables vectors. More...
class	ChConstraintTwoBodies
	Constraint between two objects of type ChVariablesBody. More...
class	ChConstraintTwoGeneric
	This class implements the functionality for a constraint between a COUPLE of TWO objects of type ChVariables(), with generic number of scalar variables each (ex.ChVariablesGeneric() or ChVariablesBody() ) and defines two constraint matrices, whose column number automatically matches the number of elements in variables vectors. More...
class	ChConstraintTwoGenericBoxed
	This class is inherited from the base ChConstraintTwoGeneric, which can be used for most pairwise constraints, and adds the feature that the multiplier must be l_min < l < l_max that is, the multiplier is 'boxed'. More...
class	ChConstraintTwoTuples
	This constraint is built on top of two ChConstraintTuple objects, each with a tuple of 1 or 2 or 3 differently-sized jacobian chunks. More...
class	ChConstraintTwoTuplesContactN
	Normal reaction between two objects, each represented by a tuple of ChVariables objects. More...
class	ChConstraintTwoTuplesFrictionT
	Base class for friction constraints between two objects, each represented by a tuple of ChVariables objects. More...
class	ChConstraintTwoTuplesFrictionTall
	This is enough to use dynamic_casting<> to detect all template types from ChConstraintTwoTuplesFrictionT. More...
class	ChConstraintTwoTuplesRollingN
	Normal reaction between two objects, each represented by a tuple of ChVariables objects. More...
class	ChConstraintTwoTuplesRollingNall
	This is enough to use dynamic_casting<> to detect all template types from ChConstraintTwoTuplesRollingN. More...
class	ChConstraintTwoTuplesRollingT
	Base class for friction constraints between two objects, each represented by a tuple of ChVariables objects. More...
class	ChConstraintTwoTuplesRollingTall
	This is enough to use dynamic_casting<> to detect all template types from ChConstraintTwoTuplesRollingT. More...
class	ChContactable
	Interface for objects that generate contacts. More...
class	ChContactContainer
	Class representing a container of many contacts. More...
class	ChContactContainerMulticore
	Class representing a container of many contacts, implemented as a linked list of contact tuples. More...
class	ChContactContainerMulticoreNSC
	Specialization of the multicore contact container for NSC contacts. More...
class	ChContactContainerMulticoreSMC
	Specialization of the multicore contact container for SMC contacts. More...
class	ChContactContainerNSC
	Class representing a container of many non-smooth contacts. More...
class	ChContactContainerSMC
	Class representing a container of many smooth (penalty) contacts. More...
class	ChContactMaterial
	Base class for specifying material properties for contact force generation. More...
class	ChContactMaterialComposite
	Base class for composite material for a contact pair. More...
class	ChContactMaterialCompositeNSC
	Composite NSC material data for a contact pair. More...
class	ChContactMaterialCompositeSMC
	Composite SMC material data for a contact pair. More...
class	ChContactMaterialCompositionStrategy
	Base class for material composition strategy. More...
class	ChContactMaterialData
	Material information for a collision shape. More...
class	ChContactMaterialNSC
	Material data for a collision surface for use with non-smooth (complementarity) contact method. More...
class	ChContactMaterialSMC
	Material data for a collision surface for use with smooth (penalty) contact method. More...
class	ChContactNSC
	Class for non-smooth contact between two generic ChContactable objects. More...
class	ChContactNSCrolling
	Class for non-smooth contact between two generic ChContactable objects. More...
class	ChContactSMC
	Class for smooth (penalty-based) contact between two generic contactable objects. More...
class	ChContactTuple
	Base class for contact between two generic ChContactable objects. More...
class	ChContinuumDistribution
	Class that can be used to generate sample numbers according to a probability distribution. More...
class	ChConvexDecomposition
	Base interface class for convex decomposition. More...
class	ChConvexDecompositionHACD
	Class for wrapping the HACD convex decomposition code by Khaled Mamou. More...
class	ChConvexDecompositionHACDv2
	Class for wrapping the HACD convex decomposition code revisited by John Ratcliff. More...
class	ChConveyor
	Class for conveyor belt. More...
class	ChCoordsys
	Representation of a transform with translation and rotation. More...
class	ChCubicSpline
	Implementation of 1-D piece-wise cubic spline curves. More...
class	ChCylinder
	A cylindrical geometric object for collisions and visualization. More...
class	ChDefaultContactForceTorqueSMC
	Default implementation of the SMC normal and tangential force calculation. More...
class	ChDirectSolverLS
	Base class for sparse direct linear solvers. More...
class	ChDirectSolverLScomplex
	Base class for sparse direct linear solvers with complex coefficients. More...
class	ChDiscreteDistribution
	Class that can be used to generate sample numbers according to a discrete probability distribution. More...
class	ChDistribution
	Base class for all random distributions. More...
class	ChEllipsoid
	An ellipsoid geometric object for collisions and such. More...
class	ChEnumMapperBase
	Class for mapping enums to ChNameValue pairs that contain a 'readable' ascii string of the selected enum. More...
class	ChExplicitTimestepper
	Base properties for explicit solvers. More...
class	ChExternalDynamicsDAE
	Physics element that carries its own dynamics, described as an index-3 DAE IVP of the form: More...
class	ChExternalDynamicsODE
	Physics element that carries its own dynamics, described as an ODE IVP of the form: More...
class	ChExternalFmu
	Chrono physics item that wraps a model exchange FMU. More...
class	ChFeeder
	Class for feeders like vibrating bowls, conveyor belts. More...
class	ChFluidContainer
	Container of fluid particles. More...
class	ChFmMatrix34
	Special MBD 3x4 matrix [Fm(q)], as in [Fp(q)] * [Fm(q)]' = [A(q)]. More...
class	ChFmuWrapper
	Abstract interface to a model exchange FMU. More...
class	ChForce
	Forces are objects which must be attached to rigid bodies in order to apply torque or force to such body. More...
class	ChFpMatrix34
	Special MBD 3x4 matrix [Fp(q)], as in [Fp(q)] * [Fm(q)]' = [A(q)]. More...
class	ChFrame
	Representation of a 3D transform. More...
class	ChFrameMoving
	Representation of a moving 3D. More...
class	ChFseqNode
	Node for the list of functions in a ChFunctionSequence object. More...
class	ChFunction
	Interface base class for scalar functions. More...
class	ChFunctionBSpline
	B-Spline motion function. More...
class	ChFunctionConst
	Function returnin a constant value. More...
class	ChFunctionConstAcc
	Constant acceleration function. More...
class	ChFunctionConstJerk
	Ramp function composed by seven segments with constant jerk. More...
class	ChFunctionCycloidal
	Cycloidal step function. More...
class	ChFunctionDerivative
	Derivative of a function. More...
class	ChFunctionFillet3
	Cubic fillet function. More...
class	ChFunctionIntegral
	Integral of a function. More...
class	ChFunctionInterp
	Interpolation function. More...
class	ChFunctionLambda
	Lambda function wrapper Allows the usage of C++ lambda functions as ChFunction objects. More...
class	ChFunctionMirror
	Mirror function. More...
class	ChFunctionOperator
	Operation between functions: More...
class	ChFunctionPoly
	Polynomial function. More...
class	ChFunctionPoly23
	Cubic smooth step. More...
class	ChFunctionPoly345
	Polynomial step function y = h * (10*(x/w)^3 - 15*(x/w)^4 + 6*(x/w)^5) where: More...
class	ChFunctionPosition
	Interface base class for scalar->vector functions. More...
class	ChFunctionPositionLine
	A motion function p=f(s) where p(t) is defined with a ChLine geometry object, ex. More...
class	ChFunctionPositionSetpoint
	A motion function p=f(s) where p(t) is an externally-provided sample, as a ZERO_ORDER_HOLD (zero order hold) of FIRST_ORDER_HOLD (first order). More...
class	ChFunctionPositionXYZFunctions
	A motion function p=f(s) where p(t) is defined with three independent ChFunction objects, each for px, py, pz component. More...
class	ChFunctionRamp
	Ramp function. More...
class	ChFunctionRepeat
	Repeat function: y = __/__/__/ More...
class	ChFunctionRotation
	Interface base class for scalar->quaternion functions of the type: More...
class	ChFunctionRotationABCFunctions
	A rotation function q=f(s) where q(s) is defined with three ChFunction objects, each per an an angle in an intrinsic triplets of angles (e.g. More...
class	ChFunctionRotationAxis
	A rotation function q=f(s) where q(s) is defined with axis V and angle alpha, assuming fixed axis of rotation V and a angle of rotation alpha about that axis, expressed with a ChFunction object alpha=alpha(s). More...
class	ChFunctionRotationBSpline
	A rotation function q=f(s) that interpolates n rotations using a "quaternion B-Spline" of generic order. More...
class	ChFunctionRotationSetpoint
	A rotation q=f(s) provided from a rotation sample, continuously updated by the user, behaving as a ZERO_ORDER_HOLD (zero order hold) of FIRST_ORDER_HOLD (first order). More...
class	ChFunctionRotationSQUAD
	A rotation function q=f(s) that interpolates n rotations using a SQUAD spherical quadrangle interpolation between quaternions. More...
class	ChFunctionSequence
	Sequence function: y = sequence_of_functions(f1(y), f2(y), f3(y)) All other function types can be inserted into this. More...
class	ChFunctionSetpoint
	Function that returns Y from an externally-provided value, as a ZERO_ORDER_HOLD (zero order hold) block. More...
class	ChFunctionSetpointCallback
	Interface for functions that uses a callback to return a Y value, as a ZERO_ORDER_HOLD (zero order hold) block. More...
class	ChFunctionSine
	Sine function y = A*sin(2*PI*f + phase)`. More...
class	ChFunctionSineStep
	Sinusoidal ramp between two (x,y) points p1 and p2. More...
class	ChFunctorArchiveIn
	Functor to call the ArchiveIn function for unrelated classes that implemented them. More...
class	ChGeometry
	Base class for geometric objects used for collisions and visualization. More...
class	ChGlMatrix34
	Special MBD 3x4 matrix [Gl(q)], as in local angular speed conversion. More...
class	ChGlyphs
	Class for referencing a set of 'glyphs', that are simple symbols such as arrows or points to be drawn for showing vector directions etc. More...
class	ChGwMatrix34
	Special MBD 3x4 matrix [Gw(q)], as in absolute angular speed conversion. More...
class	ChHydraulicActuator2
	Hydraulic actuator using a circuit with 2 volumes. More...
class	ChHydraulicActuator3
	Hydraulic actuator using a circuit with 3 volumes. More...
class	ChHydraulicActuatorBase
	Base class for a hydraulic actuator. More...
class	ChHydraulicCylinder
	ChHydraulicCylinder - a simple hydraulic cylinder Schematic: More...
class	ChHydraulicDirectionalValve4x3
	ChHydraulicDirectionalValve4x3 - a computational model of 4/3 directional valve Schematic: More...
class	ChHydraulicThrottleValve
	ChHydraulicThrottleValve - a semi-empirical model of a throttle valve Schematic: More...
class	ChImplicitIterativeTimestepper
	Base properties for implicit solvers. More...
class	ChImplicitTimestepper
	Base class for implicit solvers (double inheritance) More...
class	ChIndexedNodes
	Interface class for clusters of points that can be accessed with an index. More...
class	ChIndexedParticles
	Interface class for clusters of particles that can be accessed with an index. More...
class	ChInertiaUtils
	Class with some static functions that can be used to make computations with inertia tensors. More...
class	ChIntegrable
	Interface class for all objects that support time integration. More...
class	ChIntegrableIIorder
	Special subcase: II-order differential system. More...
class	ChIntegrand1D
	Base class for 1D integrand T = f(x) to be used in ChQuadrature. More...
class	ChIntegrand2D
	Base class for 2D integrand T = f(x,y) to be used in ChQuadrature. More...
class	ChIntegrand3D
	Base class for 3D integrand T = f(x,y,z) to be used in ChQuadrature. More...
class	ChIterativeSolver
	Base class for iterative solvers. More...
class	ChIterativeSolverLS
	Base class for Chrono solvers based on Eigen iterative linear solvers. More...
class	ChIterativeSolverMulticore
	Base class for all iterative solvers. More...
class	ChIterativeSolverMulticoreNSC
	Wrapper class for all complementarity solvers. More...
class	ChIterativeSolverMulticoreSMC
	Iterative solver for SMC (penalty-based) problems. More...
class	ChIterativeSolverVI
	Base class for iterative solvers aimed at solving complementarity problems arising from QP optimization problems. More...
class	ChKRMBlock
	Sparse blocks loaded into the KRM global matrix, associated with a set of variables. More...
class	ChLine
	Base class for all geometric objects representing lines in 3D space. More...
class	ChLineArc
	Geometric object representing an arc or a circle in 3D space. More...
class	ChLineBezier
	Geometric object representing a piecewise cubic Bezier curve in 3D. More...
class	ChLineBSpline
	Geometric object representing a Bspline spline. More...
class	ChLineCam
	Geometric object describing the profile of a cam. More...
class	ChLineNurbs
	Geometric object representing a NURBS spline. More...
class	ChLinePath
	Geometric object representing an sequence of other ChLine objects, The ChLine objects are assumed to be properly concatenated and to have C0 continuity. More...
class	ChLinePoly
	Geometric object representing a polygonal line in 3D space, controlled by control points. More...
class	ChLineSegment
	Geometric object representing a segment in 3D space with two end points. More...
class	ChLink
	Base class for joints between two ChBodyFrame objects. More...
class	ChLinkBase
	Base class for all types of constraints in the 3D space. More...
class	ChLinkBushing
	Link with up to 6-degree-of-freedom linear compliance between rigid bodies. More...
class	ChLinkDistance
	Fixed distance constraint between two points on two ChBodyFrame objects. More...
class	ChLinkForce
	Class for forces in link joints of type ChLinkLock. More...
class	ChLinkLimit
	Class for limits in ChLinkLock joints. More...
class	ChLinkLock
	Base class for joints implemented using the "lock" formulation. More...
class	ChLinkLockAlign
	Align joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockBrake
	Link representing a brake between two rigid bodies, including the sticking effect. More...
class	ChLinkLockClearance
	A class for the custom fast simulation of revolute joints with clearance. More...
class	ChLinkLockCylindrical
	Cylindrical joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockFree
	Free joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockGear
	Gear link between two rigid bodies. More...
class	ChLinkLockLinActuator
	Linear actuator between two markers on two rigid bodies The distance between the two markers changes in time following a user-provided function. More...
class	ChLinkLockLock
	6-dof locked joint, with the link-lock formulation. More...
class	ChLinkLockOldham
	Oldham joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockParallel
	Parallel joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPerpend
	Perpendicularity joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPlanar
	Plane-plane joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPointLine
	Point-line joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPointPlane
	Point-plane joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPointSpline
	ChLinkLockPointSpline class. More...
class	ChLinkLockPrismatic
	Prismatic joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockPulley
	Class to create pulleys on two rigid bodies, connected by a belt. More...
class	ChLinkLockRevolute
	Revolute joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockRevolutePrismatic
	RevolutePrismatic joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockScrew
	Screw joint between two rigid bodies. More...
class	ChLinkLockSpherical
	Spherical joint, with the 'ChLinkLock' formulation. More...
class	ChLinkLockTrajectory
	ChLinkLockTrajectory class. More...
class	ChLinkMarkers
	Class for links which connect two 'markers'. More...
class	ChLinkMask
	Mask structure for N scalar constraint equations between two bodies. More...
class	ChLinkMaskLF
	Specialized ChLinkMask class, for constraint equations of the ChLinkLock link. More...
class	ChLinkMate
	Base class for constraints between two frames attached to two bodies. More...
class	ChLinkMateCylindrical
	Mate constraint of coaxial type. More...
class	ChLinkMateDistanceZ
	Mate constraining distance of origin of frame 2 respect to Z axis of frame 1. More...
class	ChLinkMateFix
	Mate constraint to completely fix relative motion of two frames. More...
class	ChLinkMateGeneric
	Generic mate constraint. More...
class	ChLinkMateOrthogonal
	Mate constraint of orthogonal type. More...
class	ChLinkMateParallel
	Mate constraint of parallel type. More...
class	ChLinkMatePlanar
	Mate constraint of plane-to-plane type. More...
class	ChLinkMatePrismatic
	Mate constraint of prismatic type. More...
class	ChLinkMateRackPinion
	Rack-pinion link between two body frames. More...
class	ChLinkMateRevolute
	Mate constraint of revolute type. More...
class	ChLinkMateSpherical
	Mate constraint of spherical type. More...
class	ChLinkMotionImposed
	A joint to enforce position and rotation between two frames on two bodies, using six rheonomic constraints. More...
class	ChLinkMotor
	Base class for all "motor" constraints between two frames on two bodies. More...
class	ChLinkMotorLinear
	Base class for all linear "motor" constraints between two frames on two bodies. More...
class	ChLinkMotorLinearDriveline
	Couples the relative translation of two bodies (along Z direction of the link frames) with the rotation of a 1D shaft. More...
class	ChLinkMotorLinearForce
	A linear motor that applies a force between two frames on two bodies along Z axis. More...
class	ChLinkMotorLinearPosition
	A linear motor that enforces the position z(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorLinearSpeed
	A linear motor that enforces the speed v(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorRotation
	Base class for all rotational "motor" constraints between two frames on two bodies. More...
class	ChLinkMotorRotationAngle
	A motor that enforces the rotation angle r(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorRotationDriveline
	Couple for the relative rotation of two bodies (along the link frame Z direction) with the rotation of a 1D shaft. More...
class	ChLinkMotorRotationSpeed
	A motor that enforces the angular speed w(t) between two frames on two bodies, using a rheonomic constraint. More...
class	ChLinkMotorRotationTorque
	A motor that applies a torque between two frames on two bodies. More...
class	ChLinkRevolute
	Class for modeling a revolute joint between two two ChBodyFrame objects. More...
class	ChLinkRevoluteSpherical
	Composite revolute-spherical joint between two two bodies. More...
class	ChLinkRevoluteTranslational
	Class for modeling a composite revolute-translational joint between two ChBodyFrame objects. More...
class	ChLinkRSDA
	Class for rotational spring-damper-actuator (RSDA) with the torque specified through a functor object. More...
class	ChLinkTSDA
	Class for translational spring-damper-actuator (TSDA) with the force optionally specified through a functor object. More...
class	ChLinkUniversal
	Class for modeling a universal joint between two two ChBodyFrame objects. More...
class	ChLoad
	Load acting on a single ChLoadable item, via ChLoader objects. More...
class	ChLoadable
	Interface for objects that can be subject to loads (forces) Forces can be distributed on UV surfaces, or lines, etc.,so look also the more detailed children classes. More...
class	ChLoadableU
	Interface for objects that can be subject to line loads, distributed along U coordinate of the object. More...
class	ChLoadableUV
	Interface for objects that can be subject to area loads, distributed along UV coordinates of the object. More...
class	ChLoadableUVW
	Interface for objects that can be subject to volume loads, distributed along UVW coordinates of the object. More...
class	ChLoadBase
	Base class for loads. More...
class	ChLoadBodyBody
	Base class for wrench loads (a force + a torque) acting between two bodies. More...
class	ChLoadBodyBodyBushingGeneric
	Load for a visco-elastic translational/rotational bushing acting between two bodies. More...
class	ChLoadBodyBodyBushingMate
	Load for a visco-elastic translational/rotational bushing acting between two bodies. More...
class	ChLoadBodyBodyBushingPlastic
	Load for a visco-elasto-plastic bushing acting between two bodies. More...
class	ChLoadBodyBodyBushingSpherical
	Load for a visco-elastic bushing acting between two bodies. More...
class	ChLoadBodyBodyTorque
	Load representing a torque applied between two bodies. More...
class	ChLoadBodyForce
	Load representing a concentrated force acting on a rigid body. More...
class	ChLoadBodyInertia
	Load for adding mass and inertia to a body. More...
class	ChLoadBodyMesh
	Loads applied to a triangle mesh associated with a ChBody, as a cluster of forces operating on the rigid body. More...
class	ChLoadBodyTorque
	Load representing a torque applied to a rigid body. More...
class	ChLoadContainer
	A container of ChLoad objects. More...
class	ChLoadCustom
	Loads acting on a single ChLoadable item. More...
class	ChLoadCustomMultiple
	Loads acting on multiple ChLoadable items. More...
class	ChLoader
	Loads applied to a single ChLoadable object. More...
class	ChLoaderForceOnSurface
	Simple surface loader: a constant force vector, applied to a point on a u,v surface. More...
class	ChLoaderGravity
	Commonly used volume loader: constant gravitational load. More...
class	ChLoaderNodeXYZ
	Loader for a constant force applied at a XYZ node. More...
class	ChLoaderPressure
	Commonly used surface loader: constant pressure load, a 3D per-area force aligned with the surface normal. More...
class	ChLoaderU
	Loaders for ChLoadableU objects (which support line loads). More...
class	ChLoaderUatomic
	Loader for ChLoadableU objects (which support line loads), for concentrated loads. More...
class	ChLoaderUdistributed
	Loader for ChLoadableU objects (which support line loads), for loads of distributed type. More...
class	ChLoaderUV
	Loaders for ChLoadableUV objects (which support surface loads). More...
class	ChLoaderUVatomic
	Loaders for ChLoadableUV objects (which support surface loads), for concentrated loads. More...
class	ChLoaderUVdistributed
	Loaders for ChLoadableUV objects (which support surface loads), for loads of distributed type. More...
class	ChLoaderUVW
	Loaders for ChLoadableUVW objects (which support volume loads). More...
class	ChLoaderUVWatomic
	Loaders for ChLoadableUVW objects (which support volume loads), for concentrated loads. More...
class	ChLoaderUVWdistributed
	Loaders for ChLoadableUVW objects (which support volume loads), for loads of distributed type. More...
class	ChLoadJacobians
	Utility class for storing Jacobian matrices. More...
class	ChLoadNodeXYZ
	Force at XYZ node (ready to use load). More...
class	ChLoadNodeXYZBody
	Base class for loads representing a concentrated force acting between a ChNodeXYZ and a ChBody Users should inherit from this and implement a custom ComputeForce(). More...
class	ChLoadNodeXYZBodyBushing
	Load representing a XYZ bushing between a ChNodeXYZ and a ChBody application point, with given with spring stiffness as a ChFunction of displacement, for each X,Y,Z direction along the auxiliary frame at the attachment point. More...
class	ChLoadNodeXYZBodySpring
	Load representing a spring between a ChNodeXYZ and a ChBody. More...
class	ChLoadNodeXYZForce
	Base class for loads representing a concentrated force acting on a ChNodeXYZ. More...
class	ChLoadNodeXYZForceAbs
	Load representing a concentrated force acting on a ChNodeXYZ. More...
class	ChLoadNodeXYZNodeXYZ
	Base class for loads representing a concentrated force acting between two ChNodeXYZ. More...
class	ChLoadNodeXYZNodeXYZBushing
	Load representing an XYZ bushing between two ChNodeXYZ. More...
class	ChLoadNodeXYZNodeXYZSpring
	Load representing a spring between two ChNodeXYZ. More...
class	ChLumpingParms
	Helper class for lumping parameters. More...
class	ChMarker
	Markers are auxiliary reference frames attached to a rigid body and moving with the body. More...
class	ChMatlabEngine
	Class for accessing the Matlab engine with a C++ wrapper. More...
class	ChMatrix33
	Definition of a 3x3 fixed-size matrix to represent 3D rotations and inertia tensors. More...
class	ChMulticoreDataManager
	Global data manager for Chrono::Multicore. More...
class	ChMumpsEngine
	Wrapper class for the MUMPS direct linear solver. More...
class	ChNameValue
	Class to manage name-value pairs for serialization/deserialization. More...
class	ChNarrowphase
	Class for performing narrowphase collision detection. More...
class	ChNodeBase
	Class for a node, that has some degrees of freedom. More...
class	ChNodeXYZ
	Class for a single 'point' node, that has 3 DOF degrees of freedom and a mass. More...
class	ChNonlinearSolver
	Solver for systems of nonlinear equations. More...
class	ChNormalDistribution
	Class that generates the Gauss Normal distribution (the 'bell' distribution). More...
class	ChObj
	Base class for all Chrono objects. More...
class	ChObjectExplorer
	A helper class to provide some basic mechanism of C++ reflection (introspection). More...
class	ChOMP
	Dummy no-op functions in case that no parallel multithreading via OpenMP is available. More...
class	CHOMPmutex
	Dummy no-op mutex in case that no parallel multithreading via OpenMP is available. More...
struct	CHOMPscopedLock
	Exception-safe wrapper to a mutex: it automatically locks the mutex as soon as the wrapper is created, and releases the mutex when the wrapper is deleted (you simply put the wrapper in a code section delimited by {} parentheses, so it is deleted by the compiler when exiting the scope of the section or in case of premature exit because of an exception throw) More...
class	ChOutputASCII
	Output objects structure to a human-readable ASCII format. More...
class	ChParticle
	Class for a single particle clone in the ChParticleCloud cluster. More...
class	ChParticleBase
	Base class for a single particle to be used in ChIndexedParticles containers. More...
class	ChParticleCloud
	Class for clusters of 'clone' particles, that is many rigid objects with the same shape and mass. More...
class	ChParticleContainer
	Container of rigid particles (3 DOF). More...
class	ChPhysicsItem
	Base class for physics items that are part of a simulation. More...
class	ChProjectConstraints
	Functor class for performing projection on the hyper-cone. More...
class	ChProjectNone
	Functor class for performing a single cone projection. More...
class	ChProperty
	Base class for properties to attach to vertices or particles as arrays of data. More...
class	ChPropertyColor
	Data is an array of colors. More...
class	ChPropertyQuaternion
	Data is an array of quaternions (for rotations) More...
class	ChPropertyScalar
	Data is an array of floats. More...
class	ChPropertyT
	Templated property: a generic array of items of type T. More...
class	ChPropertyVector
	Data is an array of vectors. More...
class	ChProximityContainer
	Class representing the interface for containers of proximity pairs, that is pairs of collision models that have been obtained from the broadphase collision. More...
class	ChQuadrature
	Gauss-Legendre quadrature in 1D, 2D, or 3D. More...
class	ChQuadratureTables
	Polynomial roots and weights for the Gauss-Legendre quadrature. More...
class	ChQuadratureTablesTetrahedron
	Polynomial roots and weights for quadrature over a tetrahedron. More...
class	ChQuadratureTablesTriangle
	Polynomial roots and weights for quadrature over a triangle. More...
class	ChQuaternion
	Class defining quaternion objects, that is four-dimensional numbers. More...
class	ChRayTest
	Class for performing ray intersection tests. More...
class	ChRealtimeStepTimer
	Class for a timer which attempts to enforce soft real-time. More...
class	ChRoundedBox
	A rounded box (sphere-swept box) geometric object for collisions and visualization. More...
class	ChRoundedCylinder
	A rounded cylinder (sphere-swept cylinder) geometric object for collision and visualization. More...
class	ChSchurProduct
	Functor class for calculating the Schur product of the matrix of unilateral constraints. More...
class	ChSchurProductBilateral
	Functor class for performing the Schur product of the matrix of bilateral constraints. More...
class	ChShaft
	Class for one-degree-of-freedom mechanical parts with associated inertia (mass or moment of rotational inertia). More...
class	ChShaftBodyRotation
	Constraint between a 3D ChBody object and a ChShaft object that represents a 1D rotational DOF. More...
class	ChShaftBodyTranslation
	Constraint between a 3D ChBody object and a ChShaft object that represents a 1D translational DOF. More...
class	ChShaftsAppliedTorque
	Class for defining a user-defined torque between two one-degree-of-freedom parts. More...
class	ChShaftsClutch
	Class for defining a clutch or a brake (1D model) between two one-degree-of-freedom parts. More...
class	ChShaftsCouple
	Base class for defining constraints between a couple of two one-degree-of-freedom parts. More...
class	ChShaftsElasticGear
	Elastic gear coupling between two shafts. More...
class	ChShaftsFreewheel
	Class for defining a 'freewheel' (a 1D model of a ratchet wheel) between two one-degree-of-freedom parts. More...
class	ChShaftsGear
	Class for defining a 'transmission ratio' (a 1D gear) between two one-degree-of-freedom parts. More...
class	ChShaftsGearbox
	Class for defining a gearbox. More...
class	ChShaftsGearboxAngled
	Class for defining a gearbox with 1D input and 1D output, but with different directions in 3D space. More...
class	ChShaftsLoad
	Base class for defining loads between a couple of two one-degree-of-freedom parts. More...
class	ChShaftsMotor
	Base class for all motors between two 1D elements of ChShaft class. More...
class	ChShaftsMotorLoad
	Motor to apply a load between two shafts. More...
class	ChShaftsMotorPosition
	Motor to enforce the relative position r(t) between two shafts, using a rheonomic constraint. More...
class	ChShaftsMotorSpeed
	Motor to enforce the relative speed w(t) between two shafts, using a rheonomic constraint. More...
class	ChShaftsPlanetary
	Class for defining a planetary gear between three one-degree-of-freedom parts. More...
class	ChShaftsThermalEngine
	Class for defining a thermal engine between two one-degree-of-freedom parts/ The first shaft is the 'crankshaft' to whom the torque is applied, the second is the motor block, that receives the negative torque. More...
class	ChShaftsTorque
	Base class for all classes defining a torque between two one-degree-of-freedom parts. More...
class	ChShaftsTorqueConverter
	Class for defining a torque converter between two one-degree-of-freedom parts. More...
class	ChShaftsTorsionSpring
	Class for defining a torsional spring-damper between two 1D parts. More...
class	ChShaftsTorsionSpringDamper
	Class for defining a torsional spring-damper between two 1D parts. More...
class	ChSharedMassBody
	Reference to a single mass property shared by multiple ChVariablesBodySharedMass objects. More...
class	ChSolver
	Base class for all Chrono solvers (for linear problems or complementarity problems). More...
class	ChSolverADMM
	An iterative solver based on modified version of ADMM Alternating Direction Method of Multipliers. More...
class	ChSolverAPGD
	An iterative solver based on Nesterov's Projected Gradient Descent. More...
class	ChSolverBB
	An iterative solver based on modified Krylov iteration of spectral projected gradients with Barzilai-Borwein. More...
class	ChSolverBiCGSTAB
	BiCGSTAB iterative solver. More...
class	ChSolverComplexPardisoMKL
	Sparse complex Pardiso direct solver. More...
class	ChSolverGMRES
	GMRES iterative solver. More...
class	ChSolverLS
	Base class for solvers aimed at solving linear systems. More...
class	ChSolverMatlab
	Class for using a Matlab linear solver from Chrono programs. More...
class	ChSolverMINRES
	MINRES iterative solver. More...
class	ChSolverMulticore
	Base class for all Chrono::Multicore solvers. More...
class	ChSolverMulticoreAPGD
	Accelerated Projected Gradient Descent (APGD) solver. More...
class	ChSolverMulticoreAPGDREF
	Accelerated Projected Gradient Descent (APGD) solver. Reference implementation. More...
class	ChSolverMulticoreBB
	Barzilai-Borwein solver. More...
class	ChSolverMulticoreCG
	Conjugate gradient solver. More...
class	ChSolverMulticoreGS
	Gauss Seidel solver. More...
class	ChSolverMulticoreJacobi
	Jacobi solver. More...
class	ChSolverMulticoreMinRes
	MINRES solver. More...
class	ChSolverMulticoreSPGQP
	Spectral Projected Gradient solver. More...
class	ChSolverMumps
	Interface to the MUMPS parallel sparse direct solver. More...
class	ChSolverPardisoMKL
	Interface to the Intel MKL Pardiso parallel sparse direct solver. More...
class	ChSolverPJacobi
	An iterative solver for VI based on projective fixed point method (projected Jacobi). More...
class	ChSolverPMINRES
	An iterative solver based on modified Krylov iteration of MINRES type with gradient projections (similar to nonlinear CG with Polyak-Ribiere). More...
class	ChSolverPSOR
	An iterative solver based on projective fixed point method, with overrelaxation and immediate variable update as in SOR methods. More...
class	ChSolverPSSOR
	An iterative solver based on symmetric projective fixed point method, with overrelaxation and immediate variable update as in SSOR methods. More...
class	ChSolverSparseComplexLU
	Sparse complex LU direct solver. More...
class	ChSolverSparseComplexQR
	Sparse complex QR direct solver. More...
class	ChSolverSparseLU
	Sparse LU direct solver. More...
class	ChSolverSparseQR
	Sparse QR direct solver. More...
class	ChSolverVI
	Base class for solvers aimed at solving complementarity problems arising from QP optimization problems. More...
class	ChSparsityPatternLearner
	Utility class for extracting sparsity patter from a sparse matrix. More...
class	ChSphere
	A spherical geometric object for collisions and visualization. More...
class	ChStarMatrix33
	Special MBD 3x3 "star" matrix, , representing vector cross products. More...
class	ChStarMatrix44
	Special MBD 4x4 "star" matrix, representing quaternion cross product. More...
class	ChState
	Class for state of time-integrable objects. More...
class	ChStateDelta
	Class for incremental form of state of time-integrable objects. More...
class	ChStaticAnalysis
	Base class for static analysis. More...
class	ChStaticLinearAnalysis
	Linear static analysis. More...
class	ChStaticNonLinearAnalysis
	Nonlinear static analysis. More...
class	ChStaticNonLinearIncremental
	Nonlinear static analysis where the user can define external load(s) that will be incremented gradually during the solution process. More...
class	ChStaticNonLinearRheonomicAnalysis
	Nonlinear static analysis for a mechanism that is rotating/moving in steady state. More...
class	ChStrainTensor
	Class for strain tensors, in compact Voight notation that is with 6 components in a column. More...
class	ChStressTensor
	Class for stress tensors, in compact Voight notation that is with 6 components in a column. More...
class	ChSurface
	Base class for all geometric objects representing bi-parametric surfaces in 3D space. More...
class	ChSurfaceNurbs
	Geometric object representing a NURBS surface. More...
class	ChSystem
	Chrono Simulation System. More...
class	ChSystemDescriptor
	Base class for collecting objects inherited from ChConstraint, ChVariables and optionally ChKRMBlock. More...
class	ChSystemDescriptorMulticore
	System descriptor for Chrono::Multicore. More...
class	ChSystemMulticore
	Base class for Chrono::Multicore systems. More...
class	ChSystemMulticoreNSC
	Multicore system using non-smooth contact (complementarity-based) method. More...
class	ChSystemMulticoreSMC
	Multicore system using smooth contact (penalty-based) method. More...
class	ChSystemNSC
	Class for a physical system in which contact is modeled using a non-smooth (complementarity-based) method. More...
class	ChSystemSMC
	Class for a physical system in which contact is modeled using a smooth (penalty-based) method. More...
class	ChTexture
	Class for defining a texture. More...
class	ChTimer
	Chrono wrappers for the high-resolution timer. More...
class	ChTimerMulticore
	Utility class for managing a collection of timer objects. More...
class	ChTimestepper
	Base class for timesteppers, i.e., time integrators that can advance a system state. More...
class	ChTimestepperEulerExpl
	Euler explicit timestepper. More...
class	ChTimestepperEulerExplIIorder
	Euler explicit timestepper customized for II order. More...
class	ChTimestepperEulerImplicit
	Performs a step of Euler implicit for II order systems. More...
class	ChTimestepperEulerImplicitLinearized
	Performs a step of Euler implicit for II order systems using the Anitescu/Stewart/Trinkle single-iteration method, that is a bit like an implicit Euler where one performs only the first Newton corrector iteration. More...
class	ChTimestepperEulerImplicitProjected
	Performs a step of Euler implicit for II order systems using a semi implicit Euler without constraint stabilization, followed by a projection. More...
class	ChTimestepperEulerSemiImplicit
	Euler semi-implicit timestepper. More...
class	ChTimestepperHeun
	Performs a step of a Heun explicit integrator. It is like a 2nd Runge Kutta. More...
class	ChTimestepperHHT
	Implementation of the HHT implicit integrator for II order systems. More...
class	ChTimestepperIIorder
	Base class for 2nd order timesteppers, i.e., a time integrator for a ChIntegrableIIorder. More...
class	ChTimestepperIorder
	Base class for 1st order timesteppers, that is a time integrator for a ChIntegrable. More...
class	ChTimestepperLeapfrog
	Performs a step of a Leapfrog explicit integrator. More...
class	ChTimestepperNewmark
	Performs a step of Newmark constrained implicit for II order DAE systems. More...
class	ChTimestepperRungeKuttaExpl
	Performs a step of a 4th order explicit Runge-Kutta integration scheme. More...
class	ChTimestepperTrapezoidal
	Performs a step of trapezoidal implicit for II order systems. More...
class	ChTimestepperTrapezoidalLinearized
	Performs a step of trapezoidal implicit linearized for II order systems. More...
class	ChTimestepperTrapezoidalLinearized2
	Performs a step of trapezoidal implicit linearized for II order systems. More...
class	ChTriangle
	A triangle geometric shape for collisions and visualization. More...
class	ChTriangleMesh
	Base class for triangle meshes. More...
class	ChTriangleMeshConnected
	A triangle mesh with connectivity info: vertices can be shared between faces. More...
class	ChTriangleMeshSoup
	A basic triangle mesh: just a list of triangles (no edge connectivity info). More...
class	ChUniformDistribution
	Class for a distribution with uniform probability between a lower 'min' value and upper 'max' value. More...
class	ChValue
	Class to handle C++ values of generic type using type erasure and functors. More...
class	ChVariables
	Base class for representing objects that introduce 'variables' and their associated mass submatrices. More...
class	ChVariablesBody
	Specialized class for representing a 6-DOF 3D rigid body, with mass matrix and associated variables. More...
class	ChVariablesBodyOwnMass
	Specialized class for representing a 6-DOF 3D rigid body, with mass matrix and associated variables. More...
class	ChVariablesBodySharedMass
	Specialized class for representing a 6-DOF 3D rigid body, with mass matrix and associated variables. More...
class	ChVariablesGeneric
	Specialized class for representing a N-DOF item for a system, that is an item with mass matrix and associate variables. More...
class	ChVariablesGenericDiagonalMass
	Specialized class for representing a N-DOF item for a system, that is an item with a diagonal mass matrix and associated variables. More...
class	ChVariablesNode
	Specialized class for representing a 3-DOF item for a system, that is a 3D point node, with mass matrix and associate variables (a 3 element vector, ex.speed) More...
class	ChVariablesShaft
	Specialized class for representing a 1-DOF item for a system, that is a shaft, with inertia and associated variable (rotational speed) More...
class	ChVariableTupleCarrier_1vars
	This is a set of 'helper' classes that make easier to manage the templated structure of the tuple constraints. More...
class	ChVector2
	Definition of a general purpose 2d vector. More...
class	ChVector3
	Definition of general purpose 3d vector variables, such as points in 3D. More...
class	ChVisualMaterial
	Definition of a visual material. More...
class	ChVisualModel
	Base class for a visual model which encapsulates a set of visual shapes. More...
class	ChVisualModelInstance
	A visual model instance encodes a potentially shared visual model and its owning physics item. More...
class	ChVisualShape
	Base class for a visualization asset for rendering (run-time or post processing). More...
class	ChVisualShapeBarrel
	Class for referencing a barrel shape (a lathed arc) that can be visualized in some way. More...
class	ChVisualShapeBox
	Class for a box shape that can be visualized in some way. More...
class	ChVisualShapeCapsule
	Class for referencing a capsule shape that can be visualized in some way. More...
class	ChVisualShapeCone
	Class for referencing a cone shape that can be visualized in some way. More...
class	ChVisualShapeCylinder
	Class for referencing a cylinder shape that can be visualized in some way. More...
class	ChVisualShapeEllipsoid
	Class for referencing an ellipsoid shape that can be visualized in some way. More...
class	ChVisualShapeFEA
	FEA mesh visualization. More...
class	ChVisualShapeLine
	Class for referencing a ChLine that can be visualized in some way. More...
class	ChVisualShapeModelFile
	Class for referencing a Wavefront OBJ file containing a shape that can be visualized in some way. More...
class	ChVisualShapePath
	Class for referencing a ChLinePath that can be visualized in some way. More...
class	ChVisualShapePointPoint
	Base class for visualization of some deformable line shape between two moving points related to the parent ChPhysicsItem. More...
class	ChVisualShapeRotSpring
	Shape representing a rotational spring. More...
class	ChVisualShapeRoundedBox
	Class for referencing a rounded box shape that can be visualized in some way. More...
class	ChVisualShapeRoundedCylinder
	Class for referencing a rounded cylinder shape that can be visualized in some way. More...
class	ChVisualShapeSegment
	Shape for visualizing a line segment between two moving points related to the parent ChPhysicsItem. More...
class	ChVisualShapeSphere
	A spherical geometric object for collisions and visualization. More...
class	ChVisualShapeSpring
	Shape for visualizing a coil spring between two moving points related to the parent ChPhysicsItem. More...
class	ChVisualShapeSurface
	Class for referencing a ChSurface u,v, parametric surface that can be visualized in some way. More...
class	ChVisualShapeTriangleMesh
	Class for referencing a triangle mesh shape that can be visualized in some way. More...
class	ChVisualSystem
	Base class for a Chrono run-time visualization system. More...
class	ChVoightTensor
	Base class for stress and strain tensors, in compact Voight notation. More...
class	ChVolume
	Base class for all geometric objects representing tri-parametric surfaces in 3D space. More...
class	ChWeibullDistribution
	Class that generates a Weibull distribution. More...
struct	ChWrench
	Definition of a wrench (force + torque). More...
class	ChZhangDistribution
	Class that generates the Zhang distribution, a modified exponential distribution. More...
class	collision_measures
	Collision_measures. More...
class	collision_settings
	Chrono::Multicore collision_settings. More...
class	ConvexBase
	Base class for convex contact shapes. More...
class	ConvexShape
	Convex contact shape. More...
class	ConvexShapeCustom
	Custom contact shape. More...
class	ConvexShapeSphere
	Sphere contact shape. More...
class	ConvexShapeTetrahedron
	Tetrahedron contact shape. More...
class	ConvexShapeTriangle
	Triangle contact shape. More...
class	HeightColorCallback
	Predefined particle cloud dynamic coloring based on particle height. More...
struct	host_container
	Structure of arrays containing simulation data. More...
class	measures_container
	Aggregate of collision and solver measures. More...
struct	MPM_Settings
	Settings for the Material Point Method. More...
class	quaternion
	Chrono multicore quaternion class. More...
class	real2
	Chrono::Multicore pair (2-dimensional vector). More...
class	real3
	Chrono::Multicore triplet (3-dimensional vector). More...
class	real4
	Chrono multicore qudruple (4-dimensional array). More...
class	settings_container
	Aggregate of all settings for Chrono::Multicore. More...
struct	shape_container
	Structure of arrays containing rigid collision shape information. More...
class	solver_measures
	Solver measures. More...
class	solver_settings
	Chrono::Multicore solver_settings. More...
struct	state_container
	Structure of arrays containing state data. More...
struct	TimerData
	Wrapper class for a timer object. More...

Typedefs
typedef std::shared_ptr< ChVisualMaterial >	ChVisualMaterialSharedPtr
typedef thrust::pair< real3, real3 >	bbox
typedef int	shape_type
	Readibility type definition.
typedef ChCoordsys< double >	ChCoordsysd
	Alias for double-precision coordinate systems. More...
typedef ChCoordsys< float >	ChCoordsysf
	Alias for single-precision coordinate systems. More...
typedef ChFrame< double >	ChFramed
	Alias for double-precision coordinate frames. More...
typedef ChFrame< float >	ChFramef
	Alias for double-precision coordinate frames. More...
template<typename T = double>
using	ChMatrixDynamic = Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >
	Dense matrix with dynamic size (i.e., with unknown at compile time) and row-major storage. More...
template<typename T , int M, int N>
using	ChMatrixNM = Eigen::Matrix< T, M, N, Eigen::RowMajor >
	Dense matrix with fixed size (known at compile time) and row-major storage. More...
template<typename T = double>
using	ChMatrixDynamic_col = Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor >
	Dense matrix with dynamic size (i.e., with unknown at compile time) and column-major storage. More...
template<typename T , int M, int N>
using	ChMatrixNM_col = Eigen::Matrix< T, M, N, Eigen::ColMajor >
	Dense matrix with fixed size (known at compile time) and column-major storage. More...
template<typename T >
using	ChMatrix66 = ChMatrixNM< T, 6, 6 >
	Alias for a 6x6 matrix templated by coefficient type (row-major storage).
using	ChMatrix66d = ChMatrix66< double >
	Alias for a 6x6 matrix of doubles.
using	ChMatrix66f = ChMatrix66< float >
	Alias for a 6x6 matrix of floats.
template<typename T = double>
using	ChVectorDynamic = Eigen::Matrix< T, Eigen::Dynamic, 1, Eigen::ColMajor >
	Column vector with dynamic size (i.e., with size unknown at compile time). More...
template<typename T = double>
using	ChRowVectorDynamic = Eigen::Matrix< T, 1, Eigen::Dynamic, Eigen::RowMajor >
	Row vector with dynamic size (i.e., with size unknown at compile time). More...
template<typename T , int N>
using	ChVectorN = Eigen::Matrix< T, N, 1 >
	Column vector with fixed size (known at compile time). More...
template<typename T , int N>
using	ChRowVectorN = Eigen::Matrix< T, 1, N, Eigen::RowMajor >
	Row vector with fixed size (known at compile time). More...
template<typename T = double>
using	ChArray = Eigen::Array< T, Eigen::Dynamic, 1, Eigen::ColMajor >
	General-purpose column array with dynamic size. More...
template<typename T , int N>
using	ChArrayN = Eigen::Array< T, N, 1 >
	Column array with fixed size (known at compile time). More...
using	ChMatrixRef = Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > >
	Reference to a dense matrix expression, with double coefficients. More...
using	ChMatrixConstRef = const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > &
	Constant reference to a dense matrix expression, with double coefficients. More...
using	ChVectorRef = Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor > >
	Reference to a column vector expression, with double coefficients. More...
using	ChVectorConstRef = const Eigen::Ref< const Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor > > &
	Constant reference to a column vector expression, with double coefficients. More...
using	ChRowVectorRef = Eigen::Ref< Eigen::Matrix< double, 1, Eigen::Dynamic, Eigen::RowMajor > >
	Reference to a row vector expression, with double coefficients. More...
using	ChRowVectorConstRef = const Eigen::Ref< const Eigen::Matrix< double, 1, Eigen::Dynamic, Eigen::RowMajor > > &
	Constant reference to a row vector expression, with double coefficients. More...
template<typename T = double>
using	ChArrayRef = Eigen::Ref< Eigen::Array< T, Eigen::Dynamic, Eigen::ColMajor > > &
	Reference to an array expression, templated by coefficient type. More...
template<typename T = double>
using	ChArrayConstRef = const Eigen::Ref< const Eigen::Array< T, Eigen::Dynamic, 1, Eigen::ColMajor > > &
	Constant reference to an array expression, templated by coefficient type. More...
using	ChSparseMatrix = Eigen::SparseMatrix< double, Eigen::RowMajor, int >
	Sparse matrix representation. More...
using	ChMatrix33d = ChMatrix33< double >
	Alias for a 3x3 matrix of doubles.
using	ChMatrix33f = ChMatrix33< float >
	Alias for a 3x3 matrix of floats.
template<typename T = double>
using	ChMatrix34 = Eigen::Matrix< T, 3, 4, Eigen::RowMajor >
	3x4 dense matrix (fixed-size, row-major ordering)
template<typename T = double>
using	ChMatrix43 = Eigen::Matrix< T, 4, 3, Eigen::ColMajor >
	4x3 dense matrix (fixed-size, row-major ordering)
template<typename T = double>
using	ChMatrix44 = Eigen::Matrix< T, 4, 4, Eigen::RowMajor >
	4x4 dense matrix (fixed-size, row-major ordering)
typedef ChQuaternion< double >	ChQuaterniond
	Alias for double-precision quaternions. More...
typedef ChQuaternion< float >	ChQuaternionf
	Alias for single-precision quaternions. More...
typedef ChVector2< double >	ChVector2d
	Alias for double-precision vectors. More...
typedef ChVector2< float >	ChVector2f
	Alias for single-precision vectors. More...
typedef ChVector2< int >	ChVector2i
	Alias for integer vectors. More...
typedef ChVector2< bool >	ChVector2b
	Alias for bool vectors. More...
typedef ChVector3< double >	ChVector3d
	Alias for double-precision vectors. More...
typedef ChVector3< float >	ChVector3f
	Alias for single-precision vectors. More...
typedef ChVector3< int >	ChVector3i
	Alias for integer vectors. More...
typedef ChVector3< bool >	ChVector3b
	Alias for bool vectors. More...
typedef ChWrench< double >	ChWrenchd
	Alias for double-precision wrenches.
typedef ChWrench< float >	ChWrenchf
	Alias for single-precision wrenches.
typedef double	real
typedef std::shared_ptr< ChContactMaterial >	ChContactMaterialSharedPtr
typedef ChVectorN< double, 2 >	Vec2
typedef ChVectorN< double, 3 >	Vec3

Enumerations
enum	CameraVerticalDir { Y, Z }
	Vertical direction.
enum	RotRepresentation {   RotRepresentation::ANGLE_AXIS, RotRepresentation::ROTATION_VECTOR, RotRepresentation::EULER_ANGLES_ZXZ, RotRepresentation::CARDAN_ANGLES_ZXY,   RotRepresentation::CARDAN_ANGLES_ZYX, RotRepresentation::CARDAN_ANGLES_XYZ, RotRepresentation::RODRIGUES }
	Definitions of various rotation representations for conversions. More...
enum	ChAxis { ChAxis::X, ChAxis::Y, ChAxis::Z }
	Enumeration for the 3 frame directions. More...
enum	ChContactMethod { ChContactMethod::NSC, ChContactMethod::SMC }
	Enumeration of contact methods. More...
enum	ChCausalityType {   parameter, calculatedParameter, input, output,   local, independent }
enum	ChVariabilityType {   constant, fixed, tunable, discrete,   continuous }
enum	VisualizationType {   VisualizationType::NONE, VisualizationType::PRIMITIVES, VisualizationType::MESH, VisualizationType::MODEL_FILE,   VisualizationType::COLLISION }
	Body visualization mode. More...
enum	SolverType {   SolverType::STEEPEST_DESCENT, SolverType::GRADIENT_DESCENT, SolverType::CONJUGATE_GRADIENT, SolverType::CONJUGATE_GRADIENT_SQUARED,   SolverType::BICONJUGATE_GRADIENT, SolverType::BICONJUGATE_GRADIENT_STAB, SolverType::MINIMUM_RESIDUAL, SolverType::QUASI_MINIMUM_RESIDUAL,   SolverType::APGD, SolverType::APGDREF, SolverType::JACOBI, SolverType::GAUSS_SEIDEL,   SolverType::PDIP, SolverType::BB, SolverType::SPGQP }
	Iterative solver type. More...
enum	SolverMode { SolverMode::NORMAL, SolverMode::SLIDING, SolverMode::SPINNING, SolverMode::BILATERAL }
	Enumeration for solver mode. More...
enum	SystemType { SystemType::SYSTEM_NSC, SystemType::SYSTEM_SMC }
	Enumeration for system type. More...
enum	BilateralType {   BODY_BODY, SHAFT_SHAFT, SHAFT_SHAFT_SHAFT, SHAFT_BODY,   SHAFT_SHAFT_BODY, UNKNOWN }
	Enumeration for bilateral constraint types. More...
enum	LoggingLevel {   LoggingLevel::LOG_NONE, LoggingLevel::LOG_INFO, LoggingLevel::LOG_TRACE, LoggingLevel::LOG_WARNING,   LoggingLevel::LOG_ERROR }
	Supported Logging Levels. More...

Functions
ChVector3f &	FetchOrAllocate (std::vector< ChVector3f > &mvector, unsigned int &id)
void	TriangleNormalsReset (std::vector< ChVector3d > &normals, std::vector< int > &accumul)
void	TriangleNormalsCompute (ChVector3i norm_indexes, ChVector3i vert_indexes, std::vector< ChVector3d > &vertexes, std::vector< ChVector3d > &normals, std::vector< int > &accumul)
void	TriangleNormalsSmooth (std::vector< ChVector3d > &normals, std::vector< int > &accumul)
int	addContactPoint (const cbtVector3 &pc, int iface, const cbtVector3 &hdims, const cbtTransform &X_box, cbtManifoldResult *resultOut)
int	addContactPoint (const cbtVector3 &p, const cbtVector3 &c, const cbtVector3 &a, const cbtScalar h, const cbtScalar r, const cbtTransform &X_box, cbtManifoldResult *resultOut)
int	GetIndex (ChVector3d vertex, std::vector< ChVector3d > &vertexOUT, double tol)
void	FuseMesh (std::vector< ChVector3d > &vertexIN, std::vector< ChVector3i > &triangleIN, std::vector< ChVector3d > &vertexOUT, std::vector< ChVector3i > &triangleOUT, double tol=0.0)
void	TransformToCOG (ChBody *body, const ChVector3d &pos, const ChMatrix33<> &rot, ChFrame<> &frame)
void	DrawHemisphere (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, const ChColor &color)
void	DrawSphere (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, const ChColor &color)
void	DrawBox (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, const ChVector3d &hdim, const ChColor &color)
void	DrawCylinder (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, double hlen, const ChColor &color)
void	DrawCone (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, double hlen, const ChColor &color)
void	DrawCapsule (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, double hlen, const ChColor &color)
int	GridCoord (real x, real inv_bin_edge, real minimum)
int	GridHash (int x, int y, int z, const vec3 &bins_per_axis)
real3	GetCenter (const ConvexBase *Shape)
void	FindCenter (const ConvexBase *shapeA, const ConvexBase *shapeB, simplex &portal)
void	MPRSupport (const ConvexBase *shapeA, const ConvexBase *shapeB, const real3 &n, const real &envelope, support &s)
void	ExpandPortal (simplex &portal)
real3	PortalDir (const simplex &portal)
void	FindPos (const simplex &portal, real3 &point)
int	portalEncapsulesOrigin (const simplex &portal, const real3 &n)
int	portalCanEncapsuleOrigin (const simplex &portal, const real3 &n)
int	portalReachTolerance (const simplex &portal, const real3 &n)
real	Vec3Dist2 (const real3 a, const real3 b)
real	Vec3PointSegmentDist2 (const real3 &P, const real3 &x0, const real3 &b, real3 &witness)
real	Vec3PointSegmentDist2 (const real3 &P, const real3 &x0, const real3 &b)
real	Vec3PointTriDist2 (const real3 &P, const real3 &x0, const real3 &B, const real3 &C, real3 &witness)
real	Vec3PointTriDist2 (const real3 &P, const real3 &V0, const real3 &V1, const real3 &V2)
void	FindPenetration (const ConvexBase *shapeA, const ConvexBase *shapeB, const real &envelope, simplex &portal, real &depth, real3 &n, real3 &point)
void	FindPenetrationTouch (const ConvexBase *shapeA, const ConvexBase *shapeB, simplex &portal, real &depth, real3 &n, real3 &point)
void	FindPenetrationSegment (const ConvexBase *shapeA, const ConvexBase *shapeB, simplex &portal, real &depth, real3 &n, real3 &point)
bool	FindPortal (const ConvexBase *shapeA, const ConvexBase *shapeB, const real &envelope, simplex &portal, real3 &n)
int	DiscoverPortal (const ConvexBase *shapeA, const ConvexBase *shapeB, const real &envelope, simplex &portal)
int	RefinePortal (const ConvexBase *shapeA, const ConvexBase *shapeB, const real &envelope, simplex &portal)
bool	MPRContact (const ConvexBase *shapeA, const ConvexBase *shapeB, const real &envelope, real3 &returnNormal, real3 &point, real &depth)
void	MPRGetPoints (const ConvexBase *shapeA, const ConvexBase *shapeB, const real &envelope, real3 &N, real3 p0, real3 &p1, real3 &p2)
bool	sphere_sphere (const real3 &pos1, const real &radius1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)
bool	capsule_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)
bool	cylinder_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)
bool	roundedcyl_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real &srad1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)
bool	box_sphere (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)
bool	roundedbox_sphere (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real &srad1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)
bool	triangle_sphere (const real3 &A1, const real3 &B1, const real3 &C1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)
int	capsule_capsule (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const quaternion &rot2, const real &radius2, const real &hlen2, const real &separation, real3 *norm, real *depth, real3 *pt1, real3 *pt2, real *eff_radius)
int	box_capsule (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 &pos2, const quaternion &rot2, const real &radius2, const real &hlen2, const real &separation, real3 *norm, real *depth, real3 *pt1, real3 *pt2, real *eff_radius)
int	box_cylshell (const real3 &pos1, const quaternion &rot1, const real3 &hdims, const real3 &pos2, const quaternion &rot2, const real &radius, const real &hlen, const real &separation, real3 *norm, real *depth, real3 *pt1, real3 *pt2, real *eff_radius)
int	box_box (const real3 &posT, const quaternion &rotT, const real3 &hdimsT, const real3 &posO, const quaternion &rotO, const real3 &hdimsO, const real &separation, real3 *norm, real *depth, real3 *ptT, real3 *ptO, real *eff_radius)
int	triangle_box (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 *v2, const real &separation, real3 *norm, real *depth, real3 *pt1, real3 *pt2, real *eff_radius)
bool	sphere_ray (const real3 &pos, const real &radius, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
bool	aabb_ray (const real3 &hdims, const real3 &start, const real3 &end, real &t, real3 &loc, real3 &normal)
bool	box_ray (const real3 &pos, const quaternion &rot, const real3 &hdims, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
bool	cylsurf_ray (const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
bool	hemisphere_ray (int cap, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
bool	disk_ray (int cap, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
bool	capsule_ray (const real3 &pos, const quaternion &rot, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
bool	cylinder_ray (const real3 &pos, const quaternion &rot, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
bool	triangle_ray (const real3 &A, const real3 &B, const real3 &C, const real3 &start, const real3 &end, real3 &normal, real &mindist2)
void *	aligned_malloc (size_t size, size_t alignment)
void	aligned_free (void *ptr)
template<typename T , typename std::enable_if<!std::is_polymorphic< T >::value >::type * = nullptr>
void *	getVoidPointer (T *ptr)
	Type-erase pointer-to-object after making sure that it is pointing to the proper address Casting to void* through a static_cast leads to different results: More...
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChCoordsys< Real > &cs)
	Insertion of coordsys to output stream.
template<class Real >
ChVector3< Real >	operator* (const ChCoordsys< Real > &Fa, const ChVector3< Real > &Fb)
	The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChVector. More...
template<class Real >
ChCoordsys< Real >	operator* (const ChVector3< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChCoordsys. More...
template<class Real >
ChVector3< Real >	operator>> (const ChVector3< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChVector. More...
template<class Real >
ChCoordsys< Real >	operator>> (const ChCoordsys< Real > &Fa, const ChVector3< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChCoordsys. More...
template<class Real >
ChQuaternion< Real >	operator* (const ChCoordsys< Real > &Fa, const ChQuaternion< Real > &Fb)
	The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChCoordsys quat_B is a ChQuaternion Returns a ChQuaternion. More...
template<class Real >
ChCoordsys< Real >	operator* (const ChQuaternion< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChCoordsys. More...
template<class Real >
ChQuaternion< Real >	operator>> (const ChQuaternion< Real > &Fa, const ChCoordsys< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChQuaternion. More...
template<class Real >
ChCoordsys< Real >	operator>> (const ChCoordsys< Real > &Fa, const ChQuaternion< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChCoordsys frame_B is a ChQuaternion Returns a ChCoordsys. More...
template<class Real >
ChCoordsys< Real >	operator* (const ChFrame< Real > &Fa, const ChCoordsys< Real > &Cb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChCoordsys. More...
template<class Real >
ChFrame< Real >	operator* (const ChCoordsys< Real > &Ca, const ChFrame< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChCoordsys< Real >	operator>> (const ChCoordsys< Real > &Ca, const ChFrame< Real > &Fb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChCoordsys. More...
template<class Real >
ChFrame< Real >	operator>> (const ChFrame< Real > &Fa, const ChCoordsys< Real > &Cb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChFrame. More...
template<class Real >
ChVector3< Real >	operator* (const ChFrame< Real > &Fa, const ChVector3< Real > &vb)
	The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChFrame vector_B is a ChVector Returns a ChVector. More...
template<class Real >
ChFrame< Real >	operator* (const ChVector3< Real > &va, const ChFrame< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChVector3< Real >	operator>> (const ChVector3< Real > &va, const ChFrame< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChVector. More...
template<class Real >
ChFrame< Real >	operator>> (const ChFrame< Real > &Fa, const ChVector3< Real > &vb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrame. More...
template<class Real >
ChQuaternion< Real >	operator* (const ChFrame< Real > &Fa, const ChQuaternion< Real > &qb)
	The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChFrame quat_B is a ChQuaternion Returns a ChQuaternion. More...
template<class Real >
ChFrame< Real >	operator* (const ChQuaternion< Real > &qa, const ChFrame< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChQuaternion< Real >	operator>> (const ChQuaternion< Real > &qa, const ChFrame< Real > &Fb)
	The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChQuaternion. More...
template<class Real >
ChFrame< Real >	operator>> (const ChFrame< Real > &Fa, const ChQuaternion< Real > &qb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrame frame_B is a ChQuaternion Returns a ChFrame. More...
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChFrame< Real > &F)
template<class Real >
ChFrame< Real >	operator* (const ChFrameMoving< Real > &Fa, const ChFrame< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrame. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChFrame< Real > &Fa, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChFrameMoving Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChFrame< Real > &Fb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChCoordsys< Real > &ca, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrameMoving Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChCoordsys< Real > &cb)
	The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChCoordsys Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChVector3< Real > &va, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChVector3< Real > &vb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator* (const ChQuaternion< Real > &qa, const ChFrameMoving< Real > &Fb)
	The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrameMoving Returns a ChFrameMoving. More...
template<class Real >
ChFrameMoving< Real >	operator>> (const ChFrameMoving< Real > &Fa, const ChQuaternion< Real > &qb)
	The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrameMoving frame_B is a ChQuaternion Returns a ChFrameMoving. More...
void	SetChronoDataPath (const std::string &path)
	Set the path to the Chrono data directory (ATTENTION: not thread safe).
const std::string &	GetChronoDataPath ()
	Obtain the current path to the Chrono data directory (thread safe).
std::string	GetChronoDataFile (const std::string &filename)
	Get the full path to the specified filename, given relative to the Chrono data directory (thread safe).
void	SetChronoOutputPath (const std::string &path)
	Set the path to the Chrono output directory (ATTENTION: not thread safe).
const std::string &	GetChronoOutputPath ()
	Obtain the path to the output directory for Chrono demos.
void	PasteMatrix (ChSparseMatrix &matrTo, ChMatrixConstRef matrFrom, int start_row, int start_col, bool overwrite=true)
	Paste a given matrix into a sparse matrix at position (start_row, start_col). More...
template<typename T = double>
ChVectorDynamic< T >	SliceVector (ChVectorConstRef v, ChArrayConstRef< int > indices)
	Utility function for slicing a vector based on an array of indices. More...
void	StreamOut (ChMatrixConstRef A, std::ostream &stream)
	Serialization of a dense matrix or vector into an ASCII stream (e.g. a file).
void	StreamOut (ChSparseMatrix &mat, std::ostream &stream, bool one_indexed=false)
	Serialization of a sparse matrix to an ASCII stream (e.g., a file) in COO sparse matrix format. More...
template<typename Real >
ChVector3< Real >	operator* (const Eigen::Transpose< Eigen::Matrix< Real, 3, 3, Eigen::RowMajor >> &A, const ChVector3< Real > &v)
	Multiply a transposed 3x3 matrix with a vector.
template<typename Real >
ChVector3< Real >	operator* (const Eigen::Transpose< const Eigen::Matrix< Real, 3, 3, Eigen::RowMajor >> &A, const ChVector3< Real > &v)
	Multiply a transposed const 3x3 matrix with a vector.
template<class Real >
ChMatrix33< Real >	TensorProduct (const ChVector3< Real > &vA, const ChVector3< Real > &vB)
	Return the outer product (a 3x3 matrix) of two vectors.
template<typename T , typename U >
ChVector3< T >	operator* (const ChMatrix34< T > &A, const ChQuaternion< U > &q)
	Multiply a 3x4 matrix with a quaternion and return a 3d vector.
template<typename T , typename U >
ChQuaternion< T >	operator* (const ChMatrix43< T > &A, const ChVector3< U > &v)
	Multiply a 4x3 matrix with a 3d vector and return a quaternion.
template<typename T , typename U >
ChQuaternion< T >	operator* (const Eigen::Transpose< Eigen::Matrix< T, 3, 4, Eigen::RowMajor >> &A, const ChVector3< U > &v)
	Multiply the transpose of a 3x4 matrix with a 3d vector and return a quaternion.
template<typename T , typename U >
ChQuaternion< T >	operator* (const ChMatrix44< T > &A, const ChQuaternion< U > &q)
	Multiply a 4x4 matrix with a quaternion and return a quaternion.
const ChQuaterniond	Q_ROTATE_Y_TO_X (1/CH_SQRT_2, 0, 0, -1/CH_SQRT_2)
const ChQuaterniond	Q_ROTATE_Y_TO_Z (1/CH_SQRT_2, 1/CH_SQRT_2, 0, 0)
const ChQuaterniond	Q_ROTATE_X_TO_Y (1/CH_SQRT_2, 0, 0, 1/CH_SQRT_2)
const ChQuaterniond	Q_ROTATE_X_TO_Z (1/CH_SQRT_2, 0, -1/CH_SQRT_2, 0)
const ChQuaterniond	Q_ROTATE_Z_TO_Y (1/CH_SQRT_2, -1/CH_SQRT_2, 0, 0)
const ChQuaterniond	Q_ROTATE_Z_TO_X (1/CH_SQRT_2, 0, 1/CH_SQRT_2, 0)
bool	Qequal (const ChQuaterniond &qa, const ChQuaterniond &qb)
	Check if two quaternions are equal.
bool	Qnotnull (const ChQuaterniond &qa)
	Check if quaternion is not null.
double	Qlength (const ChQuaterniond &q)
ChQuaterniond	Qscale (const ChQuaterniond &q, double fact)
ChQuaterniond	Qadd (const ChQuaterniond &qa, const ChQuaterniond &qb)
ChQuaterniond	Qsub (const ChQuaterniond &qa, const ChQuaterniond &qb)
ChQuaterniond	Qnorm (const ChQuaterniond &q)
	Return the norm two of the quaternion. Euler's parameters have norm = 1.
ChQuaterniond	Qconjugate (const ChQuaterniond &q)
	Return the conjugate of the quaternion [s,v1,v2,v3] is [s,-v1,-v2,-v3].
ChQuaterniond	Qcross (const ChQuaterniond &qa, const ChQuaterniond &qb)
	Return the product of two quaternions. It is non-commutative (like cross product in vectors).
ChQuaterniond	QuatDtFromAngVelAbs (const ChVector3d &w, const ChQuaterniond &q)
	Get the quaternion time derivative from the vector of angular speed, with w specified in absolute coords.
ChQuaterniond	QuatDtFromAngVelRel (const ChVector3d &w, const ChQuaterniond &q)
	Get the quaternion time derivative from the vector of angular speed, with w specified in local coords.
ChQuaterniond	QuatDt2FromAngAccAbs (const ChVector3d &a, const ChQuaterniond &q, const ChQuaterniond &q_dt)
	Get the quaternion first derivative from the vector of angular acceleration with a specified in absolute coords.
ChQuaterniond	QuatDt2FromAngAccRel (const ChVector3d &a, const ChQuaterniond &q, const ChQuaterniond &q_dt)
	Get the quaternion second derivative from the vector of angular acceleration with a specified in relative coords.
ChQuaterniond	QuatFromImaginary (const ChVector3d &imm)
	Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion, find the entire quaternion q = {e0, e1, e2, e3}. More...
ChQuaterniond	QuatDtFromImaginary (const ChVector3d &im_dt, const ChQuaterniond &q)
	Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion time derivative, find the entire quaternion q = {e0, e1, e2, e3}. More...
ChQuaterniond	QuatDt2FromImaginary (const ChVector3d &im_dtdt, const ChQuaterniond &q, const ChQuaterniond &q_dt)
	Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion second time derivative, find the entire quaternion q = {e0, e1, e2, e3}. More...
ChVector3d	VaxisXfromQuat (const ChQuaterniond &quat)
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChQuaternion< Real > &q)
	Insertion of quaternion to output stream.
AngleSet	AngleSetFromAngleSet (RotRepresentation to_seq, const AngleSet &set)
	Convert from one set of Euler or Cardan angles to another.
ChVector3d	RodriguesFromAngleSet (const AngleSet &set)
	Convert from a set of Euler angles to Rodrigues parameters.
AngleSet	AngleSetFromRodrigues (RotRepresentation to_seq, const ChVector3d &params)
	Convert from Rodrigues parameters to a set of Euler angles.
AngleAxis	AngleAxisFromQuat (const ChQuaterniond &q)
	Convert from a quaternion to an angle-axis pair.
ChQuaterniond	QuatFromAngleAxis (double angle, const ChVector3d &axis)
	Convert from an angle and an axis to a quaternion. More...
ChQuaterniond	QuatFromAngleAxis (const AngleAxis &angle_axis)
	Convert from an angle-axis pair to a quaternion. More...
ChQuaterniond	QuatDtFromAngleAxis (const ChQuaterniond &quat, double angle_dt, const ChVector3d &axis)
	Convert from a speed of rotation and an axis to a quaternion derivative. More...
ChQuaterniond	QuatDt2FromAngleAxis (double angle_dtdt, const ChVector3d &axis, const ChQuaterniond &q, const ChQuaterniond &q_dt)
	Convert from a rotation acceleration and an axis to a quaternion second derivative. More...
ChQuaterniond	QuatFromAngleX (double angle)
	Convert from a rotation about X axis to a quaternion.
ChQuaterniond	QuatFromAngleY (double angle)
	Convert from a rotation about Y axis to a quaternion.
ChQuaterniond	QuatFromAngleZ (double angle)
	Convert from a rotation about Z axis to a quaternion.
ChVector3d	RotVecFromQuat (const ChQuaterniond &q)
	Convert from a quaternion to a rotation vector.
ChQuaterniond	QuatFromRotVec (const ChVector3d &vec)
	Convert from a rotation vector to a quaternion.
ChVector3d	RodriguesFromQuat (const ChQuaterniond &q)
	Convert from a quaternion to Rodrigues parameters.
ChQuaterniond	QuatFromRodrigues (const ChVector3d &params)
	Convert from Rodrigues parameters to a quaternion.
ChQuaterniond	QuatDtFromRodrigues (const ChVector3d &params, const ChQuaterniond &q)
	Convert from a set of Rodrigues parameter derivatives to a quaternion derivative.
ChQuaterniond	QuatDt2FromRodrigues (const ChVector3d &params, const ChQuaterniond &q)
	Convert a set of Rodrigues parameter second derivatives to a quaternion second derivative.
AngleSet	AngleSetFromQuat (RotRepresentation to_seq, const ChQuaterniond &q)
	Convert from a quaternion to a set of Euler angles.
ChQuaterniond	QuatFromAngleSet (const AngleSet &set)
	Convert from a set of Euler angles to a quaternion.
ChQuaterniond	QuatDtFromAngleSet (const AngleSet &set, const ChQuaterniond &q)
	Convert from a set of Euler angle derivatives to a quaternion derivative.
ChQuaterniond	QuatDt2FromAngleSet (const AngleSet &set, const ChQuaterniond &q)
	Convert from a set of Euler angle second derivatives to a quaternion second derivative.
ChQuaterniond	QuatFromVec2Vec (const ChVector3d &start, const ChVector3d &end)
	Convert from a vector-to-vector rotation to a quaternion. More...
template<class RealA , class RealB >
RealA	Vdot (const ChVector2< RealA > va, const ChVector2< RealB > vb)
template<class RealA >
void	Vset (ChVector2< RealA > &v, RealA mx, RealA my)
template<class RealA , class RealB >
ChVector2< RealA >	Vadd (const ChVector2< RealA > &va, const ChVector2< RealB > &vb)
template<class RealA , class RealB >
ChVector2< RealA >	Vsub (const ChVector2< RealA > &va, const ChVector2< RealB > &vb)
template<class RealA , class RealB >
ChVector2< RealA >	Vmul (const ChVector2< RealA > &va, RealB fact)
template<class RealA >
RealA	Vlength (const ChVector2< RealA > &va)
template<class RealA >
ChVector2< RealA >	Vnorm (const ChVector2< RealA > &va)
template<class RealA , class RealB >
bool	Vequal (const ChVector2< RealA > &va, const ChVector2< RealB > &vb)
template<class RealA >
bool	Vnotnull (const ChVector2< RealA > &va)
template<class RealA , class RealB >
ChVector2< RealA >	Vrot (const ChVector2< RealA > &v, RealB angle)
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChVector2< Real > &v)
	Insertion of a 2D vector to output stream.
template<class Real >
ChVector2< Real >	operator* (const Real s, const ChVector2< Real > &V)
	Operator for scaling the vector by a scalar value, as s*V.
template<class RealA , class RealB >
RealA	Vdot (const ChVector3< RealA > &va, const ChVector3< RealB > &vb)
template<class RealA >
void	Vset (ChVector3< RealA > &v, RealA mx, RealA my, RealA mz)
template<class RealA , class RealB >
ChVector3< RealA >	Vadd (const ChVector3< RealA > &va, const ChVector3< RealB > &vb)
template<class RealA , class RealB >
ChVector3< RealA >	Vsub (const ChVector3< RealA > &va, const ChVector3< RealB > &vb)
template<class RealA , class RealB >
ChVector3< RealA >	Vcross (const ChVector3< RealA > &va, const ChVector3< RealB > &vb)
template<class RealA , class RealB >
ChVector3< RealA >	Vmul (const ChVector3< RealA > &va, RealB fact)
template<class RealA >
RealA	Vlength (const ChVector3< RealA > &va)
template<class RealA >
ChVector3< RealA >	Vnorm (const ChVector3< RealA > &va)
template<class RealA , class RealB >
bool	Vequal (const ChVector3< RealA > &va, const ChVector3< RealB > &vb)
template<class RealA >
bool	Vnotnull (const ChVector3< RealA > &va)
template<class RealA >
ChVector3< RealA >	Vmin (const ChVector3< RealA > &va, const ChVector3< RealA > &vb)
template<class RealA >
ChVector3< RealA >	Vmax (const ChVector3< RealA > &va, const ChVector3< RealA > &vb)
template<class RealA >
double	VangleYZplane (const ChVector3< RealA > &va)
template<class RealA >
double	VangleYZplaneNorm (const ChVector3< RealA > &va)
template<class RealA >
double	VangleRX (const ChVector3< RealA > &va)
template<class RealA >
ChVector3< RealA >	VfromPolar (double norm_angle, double pol_angle)
template<typename Real >
std::ostream &	operator<< (std::ostream &out, const ChVector3< Real > &v)
	Insertion of a 3D vector to output stream.
template<class Real >
ChVector3< Real >	operator* (Real s, const ChVector3< Real > &V)
	Operator for scaling the vector by a scalar value, as s*V.
ChQuaternion	SLERP (const ChQuaternion<> &qa, const ChQuaternion<> &qb, double t)
ChQuaternion	QUADRANGLE (const ChQuaternion<> &q0, const ChQuaternion<> &q1, const ChQuaternion<> &q2)
bool	InterpolateAndInsert (ChTriangleMeshConnected &mesh, int ibuffer, int i1, int i2, int &created_index)
template<typename Enumeration >
auto	as_integer (Enumeration const value) -> typename std::underlying_type< Enumeration >::type
	Explicit conversion of scoped enumeration to int (e.g. for streaming).
template<typename InputIterator1 , typename InputIterator2 , typename OutputIterator >
OutputIterator	Thrust_Expand (InputIterator1 first1, InputIterator1 last1, InputIterator2 first2, OutputIterator output)
	Utility to expand an input sequence by replicating each element a variable number of times. More...
CUDA_HOST_DEVICE ChApi real3	DotMM (const real *M)
CUDA_HOST_DEVICE ChApi real3	DotMM (const real *M, const real *N)
CUDA_HOST_DEVICE ChApi Mat33	MulMM (const real *M, const real *N)
CUDA_HOST_DEVICE ChApi Mat33	MulM_TM (const real *M, const real *N)
CUDA_HOST_DEVICE ChApi real3	MulMV (const real *M, const real *N)
CUDA_HOST_DEVICE ChApi Mat33	OuterProductVV (const real *A, const real *B)
CUDA_HOST_DEVICE ChApi Mat33	ScaleMat (const real *M, const real b)
CUDA_HOST_DEVICE ChApi SymMat33	NormalEquations (const real *A)
CUDA_HOST_DEVICE ChApi Mat33	MAbs (const real *M)
CUDA_HOST_DEVICE ChApi real3	operator* (const Mat33 &M, const real3 &v)
CUDA_HOST_DEVICE ChApi Mat33	operator* (const Mat33 &N, const real scale)
CUDA_HOST_DEVICE ChApi Mat33	operator* (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE ChApi Mat33	operator+ (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE ChApi Mat33	operator- (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT real CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT Mat33 CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALSALT (+, Mat33, Mat33) CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT(-
CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT real CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT Mat33 CUDA_HOST_DEVICE ChApi Mat33 CUDA_HOST_DEVICE ChApi Mat33	operator- (const Mat33 &M)
CUDA_HOST_DEVICE ChApi Mat33	operator* (const real s, const Mat33 &a)
CUDA_HOST_DEVICE ChApi Mat33	Abs (const Mat33 &m)
CUDA_HOST_DEVICE ChApi Mat33	SkewSymmetric (const real3 &r)
CUDA_HOST_DEVICE ChApi Mat33	SkewSymmetricAlt (const real3 &r)
CUDA_HOST_DEVICE ChApi Mat33	MultTranspose (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE ChApi Mat33	TransposeMult (const Mat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE ChApi Mat33	Transpose (const Mat33 &a)
CUDA_HOST_DEVICE ChApi real	Trace (const Mat33 &m)
CUDA_HOST_DEVICE ChApi Mat33	OuterProduct (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real	InnerProduct (const Mat33 &A, const Mat33 &B)
CUDA_HOST_DEVICE ChApi Mat33	Adjoint (const Mat33 &A)
CUDA_HOST_DEVICE ChApi Mat33	AdjointTranspose (const Mat33 &A)
CUDA_HOST_DEVICE ChApi real	Determinant (const Mat33 &m)
CUDA_HOST_DEVICE ChApi Mat33	Inverse (const Mat33 &A)
CUDA_HOST_DEVICE ChApi Mat33	InverseTranspose (const Mat33 &A)
CUDA_HOST_DEVICE ChApi Mat33	InverseUnsafe (const Mat33 &A)
CUDA_HOST_DEVICE ChApi Mat33	InverseTransposeUnsafe (const Mat33 &A)
CUDA_HOST_DEVICE ChApi real	Norm (const Mat33 &A)
CUDA_HOST_DEVICE ChApi real	NormSq (const Mat33 &A)
CUDA_HOST_DEVICE ChApi real	DoubleDot (const Mat33 &A, const Mat33 &B)
CUDA_HOST_DEVICE ChApi real3	LargestColumnNormalized (const Mat33 &A)
CUDA_HOST_DEVICE ChApi Mat33	operator* (const DiagMat33 &M, const Mat33 &N)
CUDA_HOST_DEVICE ChApi real3	operator* (const DiagMat33 &M, const real3 &v)
CUDA_HOST_DEVICE ChApi SymMat33	operator- (const SymMat33 &M, const real &v)
CUDA_HOST_DEVICE ChApi SymMat33	CofactorMatrix (const SymMat33 &A)
CUDA_HOST_DEVICE ChApi real3	LargestColumnNormalized (const SymMat33 &A)
CUDA_HOST_DEVICE ChApi SymMat33	NormalEquationsMatrix (const Mat33 &A)
CUDA_HOST_DEVICE ChApi real3	operator* (const Mat32 &M, const real2 &v)
CUDA_HOST_DEVICE ChApi Mat32	operator* (const SymMat33 &M, const Mat32 &N)
CUDA_HOST_DEVICE ChApi SymMat22	operator- (const SymMat22 &M, const real &v)
CUDA_HOST_DEVICE ChApi SymMat22	CofactorMatrix (const SymMat22 &A)
CUDA_HOST_DEVICE ChApi real2	LargestColumnNormalized (const SymMat22 &A)
CUDA_HOST_DEVICE ChApi SymMat22	TransposeTimesWithSymmetricResult (const Mat32 &A, const Mat32 &B)
CUDA_HOST_DEVICE ChApi SymMat22	ConjugateWithTranspose (const Mat32 &A, const SymMat33 &B)
CUDA_HOST_DEVICE ChApi void	Print (const Mat33 &A, const char *name)
CUDA_HOST_DEVICE ChApi void	Print (const Mat32 &A, const char *name)
CUDA_HOST_DEVICE ChApi void	Print (const SymMat33 &A, const char *name)
CUDA_HOST_DEVICE ChApi void	Print (const SymMat22 &A, const char *name)
CUDA_HOST_DEVICE ChApi void	PrintLine (const Mat33 &A, const char *name)
CUDA_HOST_DEVICE ChApi void	PrintLine (const Mat32 &A, const char *name)
CUDA_HOST_DEVICE ChApi void	PrintLine (const SymMat33 &A, const char *name)
CUDA_HOST_DEVICE ChApi void	PrintLine (const SymMat22 &A, const char *name)
CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT_PROTO real CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT_PROTO Mat33 CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALSALT_PROTO (+, Mat33, Mat33) CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT_PROTO(-
CUDA_HOST_DEVICE ChApi vec3	operator- (const vec3 &a, const vec3 &b)
CUDA_HOST_DEVICE ChApi vec3	operator- (const vec3 &a, const int &b)
CUDA_HOST_DEVICE ChApi vec3	operator+ (const vec3 &a, const vec3 &b)
CUDA_HOST_DEVICE ChApi vec3	operator+ (const vec3 &a, const int &b)
CUDA_HOST_DEVICE ChApi vec3	Clamp (const vec3 &a, const vec3 &clamp_min, const vec3 &clamp_max)
CUDA_HOST_DEVICE ChApi vec3	Max (const vec3 &a, const vec3 &b)
CUDA_HOST_DEVICE ChApi vec3	Min (const vec3 &a, const vec3 &b)
CUDA_HOST_DEVICE real	Lerp (const real &start, const real &end, const real &t)
template<typename T >
CUDA_HOST_DEVICE void	Swap (T &a, T &b)
template<typename T >
CUDA_HOST_DEVICE void	Sort (T &a, T &b, T &c)
template<typename T >
CUDA_HOST_DEVICE void	SwapIfGreater (T &a, T &b)
CUDA_HOST_DEVICE real	Clamp (real x, real low, real high)
	Clamps a given value a between user specified minimum and maximum values.
CUDA_HOST_DEVICE void	ClampValue (real &x, real low, real high)
	Clamps a given value a between user specified minimum and maximum values.
CUDA_HOST_DEVICE real	ClampMin (real x, real low)
CUDA_HOST_DEVICE real	ClampMax (real x, real high)
CUDA_HOST_DEVICE real2	operator+ (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator- (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator* (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator/ (const real2 &a, real b)
CUDA_HOST_DEVICE real2	operator+ (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator- (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator* (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator/ (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	operator- (const real2 &a)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (/, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (+, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (-, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (/, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (+, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_IMPL (-, real2, real2)
CUDA_HOST_DEVICE real2	operator* (real lhs, const real2 &rhs)
CUDA_HOST_DEVICE bool	operator== (const real2 &lhs, const real2 &rhs)
CUDA_HOST_DEVICE real2	Max (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real2	Min (const real2 &a, const real2 &b)
CUDA_HOST_DEVICE real	Dot (const real2 &v1, const real2 &v2)
CUDA_HOST_DEVICE real	Dot (const real2 &v)
CUDA_HOST_DEVICE real	Length2 (const real2 &v1)
CUDA_HOST_DEVICE real2	Normalize (const real2 &v1)
CUDA_HOST_DEVICE void	Print (real2 v, const char *name)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (/, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (+, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (-, real, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (/, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (+, real2, real2)
CUDA_HOST_DEVICE	OPERATOR_EQUALS_PROTO (-, real2, real2)
CUDA_HOST_DEVICE ChApi real3	Set3 (real x)
CUDA_HOST_DEVICE ChApi real3	Set3 (real x, real y, real z)
CUDA_HOST_DEVICE ChApi real3	operator+ (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real3	operator- (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real3	operator* (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real3	operator/ (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real3	operator+ (const real3 &a, real b)
CUDA_HOST_DEVICE ChApi real3	operator- (const real3 &a, real b)
CUDA_HOST_DEVICE ChApi real3	operator* (const real3 &a, real b)
CUDA_HOST_DEVICE ChApi real3	operator/ (const real3 &a, real b)
CUDA_HOST_DEVICE ChApi real3	operator* (real lhs, const real3 &rhs)
CUDA_HOST_DEVICE ChApi real3	operator/ (real lhs, const real3 &rhs)
CUDA_HOST_DEVICE ChApi real3	operator- (const real3 &a)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (/, real, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (+, real, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (-, real, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (/, real3, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (+, real3, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (-, real3, real3)
CUDA_HOST_DEVICE ChApi real	Dot (const real3 &v1, const real3 &v2)
CUDA_HOST_DEVICE ChApi real	Dot (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	Normalize (const real3 &v)
CUDA_HOST_DEVICE ChApi real	Length (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	Sqrt (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	Cross (const real3 &b, const real3 &c)
CUDA_HOST_DEVICE ChApi real3	Abs (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	Sign (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	Max (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real3	Min (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real3	Max (const real3 &a, const real &b)
CUDA_HOST_DEVICE ChApi real3	Min (const real3 &a, const real &b)
CUDA_HOST_DEVICE ChApi real	Max (const real3 &a)
CUDA_HOST_DEVICE ChApi real	Min (const real3 &a)
CUDA_HOST_DEVICE ChApi real	Length2 (const real3 &v1)
CUDA_HOST_DEVICE ChApi real	SafeLength (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	SafeNormalize (const real3 &v, const real3 &safe)
CUDA_HOST_DEVICE ChApi real3	Clamp (const real3 &a, const real3 &clamp_min, const real3 &clamp_max)
CUDA_HOST_DEVICE ChApi real3	Clamp (const real3 &v, real max_length)
CUDA_HOST_DEVICE ChApi bool	operator< (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi bool	operator> (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi bool	operator== (const real3 &a, const real3 &b)
CUDA_HOST_DEVICE ChApi real3	Round (const real3 &v)
CUDA_HOST_DEVICE ChApi bool	IsZero (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	OrthogonalVector (const real3 &v)
CUDA_HOST_DEVICE ChApi real3	UnitOrthogonalVector (const real3 &v)
CUDA_HOST_DEVICE ChApi void	Print (real3 v, const char *name)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (/, real, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (+, real, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (-, real, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (/, real3, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (+, real3, real3)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (-, real3, real3)
CUDA_HOST_DEVICE ChApi void	Sort (real &a, real &b, real &c)
CUDA_HOST_DEVICE ChApi real4	Set4 (real x)
CUDA_HOST_DEVICE ChApi real4	Set4 (real x, real y, real z, real w)
CUDA_HOST_DEVICE ChApi real4	operator+ (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE ChApi real4	operator- (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE ChApi real4	operator* (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE ChApi real4	operator/ (const real4 &a, const real4 &b)
CUDA_HOST_DEVICE ChApi real4	operator+ (const real4 &a, real b)
CUDA_HOST_DEVICE ChApi real4	operator- (const real4 &a, real b)
CUDA_HOST_DEVICE ChApi real4	operator* (const real4 &a, real b)
CUDA_HOST_DEVICE ChApi real4	operator/ (const real4 &a, real b)
CUDA_HOST_DEVICE ChApi real4	operator- (const real4 &a)
CUDA_HOST_DEVICE ChApi real4	Dot4 (const real3 &v, const real3 &v1, const real3 &v2, const real3 &v3, const real3 &v4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (/, real, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (+, real, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (-, real, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (/, real4, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (+, real4, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_IMPL (-, real4, real4)
CUDA_HOST_DEVICE ChApi quaternion	SetQ (real x)
CUDA_HOST_DEVICE ChApi quaternion	SetQ (real w, real x, real y, real z)
CUDA_HOST_DEVICE ChApi quaternion	operator+ (const quaternion &a, real b)
CUDA_HOST_DEVICE ChApi quaternion	operator- (const quaternion &a, real b)
CUDA_HOST_DEVICE ChApi quaternion	operator* (const quaternion &a, real b)
CUDA_HOST_DEVICE ChApi quaternion	operator/ (const quaternion &a, real b)
CUDA_HOST_DEVICE ChApi quaternion	operator- (const quaternion &a)
CUDA_HOST_DEVICE ChApi quaternion	operator~ (const quaternion &a)
CUDA_HOST_DEVICE ChApi quaternion	Inv (const quaternion &a)
CUDA_HOST_DEVICE ChApi real	Dot (const quaternion &v1, const quaternion &v2)
CUDA_HOST_DEVICE ChApi real	Dot (const quaternion &v)
CUDA_HOST_DEVICE ChApi quaternion	Mult (const quaternion &a, const quaternion &b)
CUDA_HOST_DEVICE ChApi quaternion	Normalize (const quaternion &v)
CUDA_HOST_DEVICE ChApi real3	Rotate (const real3 &v, const quaternion &q)
CUDA_HOST_DEVICE ChApi real3	RotateT (const real3 &v, const quaternion &q)
CUDA_HOST_DEVICE ChApi real3	AbsRotate (const quaternion &q, const real3 &v)
CUDA_HOST_DEVICE ChApi quaternion	QuatFromAngleAxis (const real &angle, const real3 &axis)
CUDA_HOST_DEVICE ChApi real3	AMatU (const quaternion &q)
CUDA_HOST_DEVICE ChApi real3	AMatV (const quaternion &q)
CUDA_HOST_DEVICE ChApi real3	AMatW (const quaternion &q)
CUDA_HOST_DEVICE ChApi void	Print (quaternion v, const char *name)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (/, real, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (+, real, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (-, real, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (/, real4, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (+, real4, real4)
CUDA_HOST_DEVICE ChApi	OPERATOR_EQUALS_PROTO (-, real4, real4)
void	swap (ChAssembly &first, ChAssembly &second)
template<class Tcont , class Titer >
void	_RemoveAllContacts (std::list< Tcont * > &contactlist, Titer &lastcontact, int &n_added)
template<class Tcont , class Titer , class Ta , class Tb >
void	_OptimalContactInsert (std::list< Tcont * > &contactlist, Titer &lastcontact, int &n_added, ChContactContainerNSC *container, Ta *objA, Tb *objB, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeNSC &cmat)
template<class Tcont >
void	_ReportAllContacts (std::list< Tcont * > &contactlist, ChContactContainer::ReportContactCallback *mcallback)
template<class Tcont >
void	_ReportAllContactsRolling (std::list< Tcont * > &contactlist, ChContactContainer::ReportContactCallback *mcallback)
template<class Tcont >
void	_ReportAllContactsNSC (std::list< Tcont * > &contactlist, ChContactContainerNSC::ReportContactCallbackNSC *mcallback)
template<class Tcont >
void	_ReportAllContactsRollingNSC (std::list< Tcont * > &contactlist, ChContactContainerNSC::ReportContactCallbackNSC *mcallback)
template<class Tcont >
void	_IntStateGatherReactions (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_L, ChVectorDynamic<> &L, const int stride)
template<class Tcont >
void	_IntStateScatterReactions (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_L, const ChVectorDynamic<> &L, const int stride)
template<class Tcont >
void	_IntLoadResidual_CqL (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c, const int stride)
template<class Tcont >
void	_IntLoadConstraint_C (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp, const int stride)
template<class Tcont >
void	_IntToDescriptor (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc, const int stride)
template<class Tcont >
void	_IntFromDescriptor (unsigned int &coffset, std::list< Tcont * > &contactlist, const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L, const int stride)
template<class Tcont >
void	_InjectConstraints (std::list< Tcont * > &contactlist, ChSystemDescriptor &descriptor)
template<class Tcont >
void	_ConstraintsBiReset (std::list< Tcont * > &contactlist)
template<class Tcont >
void	_ConstraintsBiLoad_C (std::list< Tcont * > &contactlist, double factor, double recovery_clamp, bool do_clamp)
template<class Tcont >
void	_ConstraintsFetch_react (std::list< Tcont * > &contactlist, double factor)
template<class Tcont , class Titer , class Ta , class Tb >
void	_OptimalContactInsert (std::list< Tcont * > &contactlist, Titer &lastcontact, int &n_added, ChContactContainerSMC *container, Ta *objA, Tb *objB, const ChCollisionInfo &cinfo, const ChContactMaterialCompositeSMC &cmat)
template<class Tcont >
void	_IntLoadResidual_F (std::list< Tcont * > &contactlist, ChVectorDynamic<> &R, const double c)
template<class Tcont >
void	_KRMmatricesLoad (std::list< Tcont * > contactlist, double Kfactor, double Rfactor)
template<class Tcont >
void	_InjectKRMmatrices (std::list< Tcont * > contactlist, ChSystemDescriptor &descriptor)
	CH_FACTORY_REGISTER (ChContactMaterialData)
	CH_FACTORY_REGISTER (ChContactMaterialComposite)
	CH_FACTORY_REGISTER (ChContactMaterialCompositionStrategy)
void	Transform_Cq_to_Cqw_row (const ChMatrixNM< double, 7, BODY_QDOF > &mCq, int qrow, ChMatrixRef mCqw, int qwrow, const ChGlMatrix34<> &Gl)
template<class T >
ChNameValue< T >	make_ChNameValue (const std::string &auto_name, const T &t, const std::string &custom_name, char flags=0, ChCausalityType causality=ChCausalityType::local, ChVariabilityType variability=ChVariabilityType::continuous)
template<class T >
ChNameValue< T >	make_ChNameValue (const std::string &auto_name, const T &t, char flags=0, ChCausalityType causality=ChCausalityType::local, ChVariabilityType variability=ChVariabilityType::continuous)
template<class T >
void	StreamSwapBytes (T *ptData)
	Templated function for swapping bytes of objects of type 'T', for arbitrary T type. More...
	CH_UPCASTING (ChSolverVI, ChSolver) ChIterativeSolverVI
ChState	operator+ (const ChState &y, const ChStateDelta &Dy)
	Custom operator "+" that takes care of incremental update of a state y by an increment Dy. More...
ChState &	operator+= (ChState &y, const ChStateDelta &Dy)
ChState	operator+ (const ChStateDelta &Dy, const ChState &y)
	Custom operator "+" that takes care of incremental update of a state y by an increment Dy "y_new = Dy + y", invokes the specialized StateIncrement() in the ChIntegrable. More...
ChState	operator- (const ChState &y, const ChStateDelta &Dy)
	Custom operator "-" that takes care of incremental update of a state y by an increment Dy. More...
ChState &	operator-= (ChState &y, const ChStateDelta &Dy)
ChState	operator- (const ChStateDelta &Dy, const ChState &y)
	Custom operator "-" that takes care of incremental update of a state y by an increment Dy "y_new = Dy - y", invokes the specialized StateIncrement() in the ChIntegrable. More...
template<typename T >
void	ChClampValue (T &value, T limitMin, T limitMax)
	Clamp and modify the specified value to lie within the given limits.
template<typename T >
T	ChClamp (T value, T limitMin, T limitMax)
	Clamp the specified value to lie within the given limits.
template<typename T >
int	ChSignum (T x)
	Signum function.
template<typename T >
T	ChWrapAngle (T angle, bool symmetric=true)
	Wrap angle in range. More...
Eigen::Map< Eigen::SparseMatrix< double, Eigen::ColMajor, int > >	getColMajorSparseMatrix (const ChSparseMatrix &mat)
void	CountNonZerosForEachRow (const ChSparseMatrix &Q, Eigen::VectorXi &nonZerosPerRow, int offset)
void	CountNonZerosForEachRowTransposed (const ChSparseMatrix &Q_transp, Eigen::VectorXi &nonZerosPerRow, int offset)
void	PlaceMatrix (ChSparseMatrix &HCQ, const ChSparseMatrix &H, int row_start, int col_start, double scale)
CH_MULTICORE_API void	Orthogonalize (const real3 &Vx, real3 &Vy, real3 &Vz)
CH_MULTICORE_API void	Compute_Jacobian (const quaternion &quat, const real3 &U, const real3 &V, const real3 &W, const real3 &point, real3 &T1, real3 &T2, real3 &T3)
CH_MULTICORE_API void	Compute_Jacobian_Rolling (const quaternion &quat, const real3 &U, const real3 &V, const real3 &W, real3 &T1, real3 &T2, real3 &T3)
CH_MULTICORE_API bool	Cone_generalized_rigid (real &gamma_n, real &gamma_u, real &gamma_v, real mu)
CH_MULTICORE_API bool	Cone_single_rigid (real &gamma_n, real &gamma_s, real mu)
CH_MULTICORE_API void	AppendRigidFluidBoundary (const real contact_mu, const uint num_fluid_bodies, const uint body_offset, const uint start_boundary, ChMulticoreDataManager *data_manager)
CH_MULTICORE_API void	ProjectRigidFluidBoundary (const real contact_mu, const real contact_cohesion, const uint num_fluid_bodies, const uint start_boundary, real *gamma, ChMulticoreDataManager *data_manager)
CH_MULTICORE_API void	ComplianceRigidFluidBoundary (const real contact_mu, const real contact_compliance, const real alpha, const uint start_boundary, ChMulticoreDataManager *data_manager)
CH_MULTICORE_API void	CorrectionRigidFluidBoundary (const real contact_mu, const real contact_cohesion, const real alpha, const real contact_recovery_speed, const uint num_fluid_bodies, const uint start_boundary, ChMulticoreDataManager *data_manager)
CH_MULTICORE_API void	BuildRigidFluidBoundary (const real contact_mu, const uint num_fluid_bodies, const uint body_offset, const uint start_boundary, ChMulticoreDataManager *data_manager)
void	MPM_Initialize (MPM_Settings &settings, std::vector< float > &positions)
void	MPM_Solve (MPM_Settings &settings, std::vector< float > &positions, std::vector< float > &velocities)
void	MPM_UpdateDeformationGradient (MPM_Settings &settings, std::vector< float > &positions, std::vector< float > &velocities, std::vector< float > &jejp)
CUDA_HOST_DEVICE float	Clamp (float x, float low, float high)
CUDA_HOST_DEVICE OPERATOR_EQUALSALT float CUDA_HOST_DEVICE OPERATOR_EQUALSALT Mat33f CUDA_HOST_DEVICE	OPERATOR_EQUALSALT (+, Mat33f, Mat33f) CUDA_HOST_DEVICE OPERATOR_EQUALSALT(-
real	N (const real &dist, const real &h)
real	cubic_spline (const real &dist, const real &h)
real3	grad_cubic_spline (const real3 &dist, const real d, const real &h)
real	poly6 (const real &dist, const real &h)
real3	grad_poly6 (const real3 &xij, const real d, const real &h)
real	spiky (const real &dist, const real &h)
real3	grad_spiky (const real3 &xij, const real dist, const real &h)
real	unormalized_spiky (const real &dist, const real &h)
real3	unormalized_grad_spiky (const real3 &xij, const real d, const real &h)
real3	viscosity (const real3 &xij, const real d, const real &h)
real3	grad2_viscosity (const real3 &xij, const real d, const real &h)
real	kernel (const real &dist, const real &h)
real	grad2_poly6 (const real &dist, const real &h)
BilateralType	GetBilateralType (ChPhysicsItem *item)

Variables
auto	inverted
const ChCoordsysd	CSYSNULL (ChVector3d(0, 0, 0), ChQuaterniond(0, 0, 0, 0))
const ChCoordsysd	CSYSNORM (ChVector3d(0, 0, 0), ChQuaterniond(1, 0, 0, 0))
ChQuadratureTables	static_tables (1, CH_QUADRATURE_STATIC_TABLES)
ChQuadratureTablesTriangle	static_tables_triangle
ChQuadratureTablesTetrahedron	static_tables_tetrahedron
const ChQuaterniond	QNULL (0., 0., 0., 0.)
	Constant null quaternion: {0, 0, 0, 0}.
const ChQuaterniond	QUNIT (1., 0., 0., 0.)
	Constant unit quaternion: {1, 0, 0, 0} , corresponds to no rotation (diagonal rotation matrix)
const ChQuaterniond	Q_FLIP_AROUND_X (0., 1., 0., 0.)
const ChQuaterniond	Q_FLIP_AROUND_Y (0., 0., 1., 0.)
const ChQuaterniond	Q_FLIP_AROUND_Z (0., 0., 0., 1.)
const ChApi ChQuaterniond	Q_ROTATE_Y_TO_X
const ChApi ChQuaterniond	Q_ROTATE_Y_TO_Z
const ChApi ChQuaterniond	Q_ROTATE_X_TO_Y
const ChApi ChQuaterniond	Q_ROTATE_X_TO_Z
const ChApi ChQuaterniond	Q_ROTATE_Z_TO_Y
const ChApi ChQuaterniond	Q_ROTATE_Z_TO_X
const ChVector3d	VNULL (0., 0., 0.)
const ChVector3d	VECT_X (1., 0., 0.)
const ChVector3d	VECT_Y (0., 1., 0.)
const ChVector3d	VECT_Z (0., 0., 1.)
CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT real CUDA_HOST_DEVICE ChApi OPERATOR_EQUALSALT Mat33 CUDA_HOST_DEVICE ChApi	Mat33
CUDA_HOST_DEVICE OPERATOR_EQUALS_IMPL *	real2
CUDA_HOST_DEVICE ChApi OPERATOR_EQUALS_IMPL *	real3
CUDA_HOST_DEVICE ChApi OPERATOR_EQUALS_IMPL *	real4
const int	BODY_DOF = 6
	degrees of freedom of body in 3d space
const int	BODY_QDOF = 7
	degrees of freedom with quaternion rotation state
const int	BODY_ROT = 3
	rotational dof in Newton dynamics
CUDA_HOST_DEVICE OPERATOR_EQUALSALT float CUDA_HOST_DEVICE OPERATOR_EQUALSALT Mat33f CUDA_HOST_DEVICE	Mat33f

Typedef Documentation

ChCoordsysd

typedef ChCoordsys<double> chrono::ChCoordsysd

Alias for double-precision coordinate systems.

Instead of writing
   ChCoordsys<double> csys;
or
   ChCoordsys<> csys;
you can use:
   ChCoordsysd csys;

ChCoordsysf

typedef ChCoordsys<float> chrono::ChCoordsysf

Alias for single-precision coordinate systems.

Instead of writing
   ChCoordsys<float> csys;
you can use:
   ChCoordsysf csys;

ChFramed

typedef ChFrame<double> chrono::ChFramed

Alias for double-precision coordinate frames.

Instead of writing
   ChFrame<double> F;
or
   ChFrame<> F;
you can use:
   ChFramed F;

ChFramef

typedef ChFrame<float> chrono::ChFramef

Alias for double-precision coordinate frames.

Instead of writing
   ChFrame<float> F;
you can use:
   ChFramef F;

ChQuaterniond

typedef ChQuaternion<double> chrono::ChQuaterniond

Alias for double-precision quaternions.

Instead of writing
   ChQuaternion<double> q;
or
   ChQuaternion<> q;
you can use:
   ChQuaterniond q;

ChQuaternionf

typedef ChQuaternion<float> chrono::ChQuaternionf

Alias for single-precision quaternions.

Instead of writing
   ChQuaternion<float> q;
you can use:
   ChQuaternionf q;

ChVector2b

typedef ChVector2<bool> chrono::ChVector2b

Alias for bool vectors.

Instead of writing
   ChVector2<bool> v;
you can use:
   ChVector2b v;

ChVector2d

typedef ChVector2<double> chrono::ChVector2d

Alias for double-precision vectors.

Instead of writing
   ChVector2<double> v;
or
   ChVector2<> v;
you can use:
   ChVector2d v;

ChVector2f

typedef ChVector2<float> chrono::ChVector2f

Alias for single-precision vectors.

Instead of writing
   ChVector2<float> v;
you can use:
   ChVector2f v;

ChVector2i

typedef ChVector2<int> chrono::ChVector2i

Alias for integer vectors.

Instead of writing
   ChVector2<int> v;
you can use:
   ChVector2i v;

ChVector3b

typedef ChVector3<bool> chrono::ChVector3b

Alias for bool vectors.

Instead of writing
   ChVector3<bool> v;
you can use:
   ChVector3b v;

ChVector3d

typedef ChVector3<double> chrono::ChVector3d

Alias for double-precision vectors.

Instead of writing
   ChVector3<double> v;
or
   ChVector3d v;
you can use:
   ChVector3d v;

ChVector3f

typedef ChVector3<float> chrono::ChVector3f

Alias for single-precision vectors.

Instead of writing
   ChVector3<float> v;
you can use:
   ChVector3f v;

ChVector3i

typedef ChVector3<int> chrono::ChVector3i

Alias for integer vectors.

Instead of writing
   ChVector3<int> v;
you can use:
   ChVector3i v;

Enumeration Type Documentation

ChContactMethod

enum chrono::ChContactMethod

strong

Enumeration of contact methods.

Enumerator
NSC	non-smooth, constraint-based (a.k.a. rigid-body) contact
SMC	smooth, penalty-based (a.k.a. soft-body) contact

RotRepresentation

enum chrono::RotRepresentation

strong

Definitions of various rotation representations for conversions.

Enumerator
ANGLE_AXIS	angle-axis
ROTATION_VECTOR	rotation vector (vector parallel with axis and length equal to angle)
EULER_ANGLES_ZXZ	Euler angle sequence: Z - X' - Z'' (intrinsic rotations)
CARDAN_ANGLES_ZXY	Cardan (Tait-Bryan) angle sequence: Z - X' - Y'' (intrinsic rotations)
CARDAN_ANGLES_ZYX	Cardan (Tait-Bryan) angle sequence: Z - Y' - X'' (intrinsic rotations)
CARDAN_ANGLES_XYZ	Cardan (Tait-Bryan) angle sequence: X - Y' - Z'' (intrinsic rotations)
RODRIGUES	Rodrigues parameters.

VisualizationType

enum chrono::VisualizationType

strong

Body visualization mode.

Enumerator
NONE	no visualization
PRIMITIVES	use primitve shapes (create primitive ChVisualShape objects)
MESH	use meshes (create a ChVisualShapeTriangleMesh)
MODEL_FILE	use a data file (create a ChVisualShapeModelFile)
COLLISION	visualize collision shapes

Function Documentation

ChWrapAngle()

template<typename T >

T chrono::ChWrapAngle	(	T	angle,
		bool	symmetric = true
	)

Wrap angle in range.

If symmetric, wrap in [-PI; PI). If not symmetric, wrap in [0; 2PI).

getVoidPointer()

template<typename T , typename std::enable_if<!std::is_polymorphic< T >::value >::type * = nullptr>

void * chrono::getVoidPointer

(

T *

ptr

)

Type-erase pointer-to-object after making sure that it is pointing to the proper address Casting to void* through a static_cast leads to different results:

• if the object is not polymorphic the result is just the type-erasure;
• if the object is polymorphic, and the pointer is not of the most derived class, the resulting address (if the derived class has multiple inheritance) might not point to the original object address In this latter case, a dynamic_cast is required. However, the dynamic_cast is not possible for non-polymorphic classes, thus the need for a compile-time switch.

operator*() [1/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChCoordsys< Real > &	Ca,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Performance warning: this operator promotes frame_A to a temporary ChFrame.

operator*() [2/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChCoordsys< Real > &	ca,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChCoordsys frame_B is a ChFrameMoving Returns a ChFrameMoving.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_A to a temporary ChFrameMoving.

operator*() [3/15]

template<class Real >

ChQuaternion<Real> chrono::operator*	(	const ChCoordsys< Real > &	Fa,
		const ChQuaternion< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChCoordsys quat_B is a ChQuaternion Returns a ChQuaternion.

The effect is like applying the transformation frame_A to quat_B and get quat_C.

operator*() [4/15]

template<class Real >

ChVector3<Real> chrono::operator*	(	const ChCoordsys< Real > &	Fa,
		const ChVector3< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChVector.

The effect is like applying the transformation frame_A to vector_B and get vector_C.

operator*() [5/15]

template<class Real >

ChCoordsys<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChCoordsys< Real > &	Cb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChCoordsys.

The effect is like applying the transformation frame_A to frame_B and get frame_C.

operator*() [6/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrame frame_B is a ChFrameMoving Returns a ChFrameMoving.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_A to a temporary ChFrameMoving.

operator*() [7/15]

template<class Real >

ChQuaternion<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChQuaternion< Real > &	qb
	)

The '*' operator that transforms 'mixed' types: quat_C = frame_A * quat_B; where frame_A is a ChFrame quat_B is a ChQuaternion Returns a ChQuaternion.

The effect is like applying the transformation frame_A to quat_B and get quat_C.

operator*() [8/15]

template<class Real >

ChVector3<Real> chrono::operator*	(	const ChFrame< Real > &	Fa,
		const ChVector3< Real > &	vb
	)

The '*' operator that transforms 'mixed' types: vector_C = frame_A * vector_B; where frame_A is a ChFrame vector_B is a ChVector Returns a ChVector.

The effect is like applying the transformation frame_A to vector_B and get vector_C.

operator*() [9/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChFrameMoving< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A * frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the transformation frame_A to frame_B and get frame_C. Also speeds and accelerations are transformed.

operator*() [10/15]

template<class Real >

ChCoordsys<Real> chrono::operator*	(	const ChQuaternion< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChCoordsys.

The effect is like applying the rotation quat_A to frame_B and get frame_C.

operator*() [11/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChQuaternion< Real > &	qa,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the rotation quat_A to frame_B and get frame_C.

operator*() [12/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChQuaternion< Real > &	qa,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = quat_A * frame_B; where quat_A is a ChQuaternion frame_B is a ChFrameMoving Returns a ChFrameMoving.

The effect is like applying the rotation quat_A to frame_B and get frame_C. Also speeds and accelerations are rotated. Performance warning: this operator promotes quat_A to a temporary ChFrameMoving.

operator*() [13/15]

template<class Real >

ChCoordsys<Real> chrono::operator*	(	const ChVector3< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChCoordsys.

The effect is like applying the translation vector_A to frame_B and get frame_C.

operator*() [14/15]

template<class Real >

ChFrame<Real> chrono::operator*	(	const ChVector3< Real > &	va,
		const ChFrame< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrame.

The effect is like applying the translation vector_A to frame_B and get frame_C.

operator*() [15/15]

template<class Real >

ChFrameMoving<Real> chrono::operator*	(	const ChVector3< Real > &	va,
		const ChFrameMoving< Real > &	Fb
	)

The '*' operator that transforms 'mixed' types: frame_C = vector_A * frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChFrameMoving.

The effect is like applying the translation vector_A to frame_B and get frame_C.

operator+() [1/2]

ChState chrono::operator+ ( const ChState &  y, const ChStateDelta &  Dy  )

inline

Custom operator "+" that takes care of incremental update of a state y by an increment Dy.

"y_new = y + Dy", invokes the specialized StateIncrement() in the ChIntegrable. If none is provided, this defaults to a simple vector sum

operator+() [2/2]

ChState chrono::operator+ ( const ChStateDelta &  Dy, const ChState &  y  )

inline

Custom operator "+" that takes care of incremental update of a state y by an increment Dy "y_new = Dy + y", invokes the specialized StateIncrement() in the ChIntegrable.

If none is provided, this defaults to a simple vector sum

operator-() [1/2]

ChState chrono::operator- ( const ChState &  y, const ChStateDelta &  Dy  )

inline

Custom operator "-" that takes care of incremental update of a state y by an increment Dy.

"y_new = y - Dy", invokes the specialized StateIncrement() in the ChIntegrable. If none is provided, this defaults to a simple vector sum

operator-() [2/2]

ChState chrono::operator- ( const ChStateDelta &  Dy, const ChState &  y  )

inline

Custom operator "-" that takes care of incremental update of a state y by an increment Dy "y_new = Dy - y", invokes the specialized StateIncrement() in the ChIntegrable.

If none is provided, this defaults to a simple vector sum

operator>>() [1/14]

template<class Real >

ChCoordsys<Real> chrono::operator>>	(	const ChCoordsys< Real > &	Ca,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChCoordsys frame_B is a ChFrame Returns a ChCoordsys.

The effect is like applying the transformation frame_B to frame_A and get frame_C.

operator>>() [2/14]

template<class Real >

ChCoordsys<Real> chrono::operator>>	(	const ChCoordsys< Real > &	Fa,
		const ChQuaternion< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChCoordsys frame_B is a ChQuaternion Returns a ChCoordsys.

The effect is like applying the rotation quat_B to frame_A and get frame_C.

operator>>() [3/14]

template<class Real >

ChCoordsys<Real> chrono::operator>>	(	const ChCoordsys< Real > &	Fa,
		const ChVector3< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChCoordsys vector_B is a ChVector Returns a ChCoordsys.

The effect is like applying the translation vector_B to frame_A and get frame_C.

operator>>() [4/14]

template<class Real >

ChFrame<Real> chrono::operator>>	(	const ChFrame< Real > &	Fa,
		const ChCoordsys< Real > &	Cb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrame frame_B is a ChCoordsys Returns a ChFrame.

The effect is like applying the transformation frame_B to frame_A and get frame_C. Performance warning: this operator promotes frame_B to a temporary ChFrame.

operator>>() [5/14]

template<class Real >

ChFrame<Real> chrono::operator>>	(	const ChFrame< Real > &	Fa,
		const ChQuaternion< Real > &	qb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrame frame_B is a ChQuaternion Returns a ChFrame.

The effect is like applying the rotation quat_B to frame_A and get frame_C.

operator>>() [6/14]

template<class Real >

ChFrame<Real> chrono::operator>>	(	const ChFrame< Real > &	Fa,
		const ChVector3< Real > &	vb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrame.

The effect is like applying the translation vector_B to frame_A and get frame_C.

operator>>() [7/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChCoordsys< Real > &	cb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChCoordsys Returns a ChFrameMoving.

The effect is like applying the transformation frame_B to frame_A and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_B to a temporary ChFrameMoving.

operator>>() [8/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms a coordinate system of 'mixed' type: frame_C = frame_A >> frame_B; where frame_A is a ChFrameMoving frame_B is a ChFrame Returns a ChFrameMoving.

The effect is like applying the transformation frame_B to frame_A and get frame_C. Also speeds and accelerations are transformed. Performance warning: this operator promotes frame_B to a temporary ChFrameMoving.

operator>>() [9/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChQuaternion< Real > &	qb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> quat_B; where frame_A is a ChFrameMoving frame_B is a ChQuaternion Returns a ChFrameMoving.

The effect is like applying the rotation quat_B to frame_A and get frame_C. Also speeds and accelerations are rotated. Performance warning: this operator promotes quat_A to a temporary ChFrameMoving

operator>>() [10/14]

template<class Real >

ChFrameMoving<Real> chrono::operator>>	(	const ChFrameMoving< Real > &	Fa,
		const ChVector3< Real > &	vb
	)

The '>>' operator that transforms 'mixed' types: frame_C = frame_A >> vector_B; where frame_A is a ChFrame frame_B is a ChVector Returns a ChFrameMoving.

The effect is like applying the translation vector_B to frame_A and get frame_C.

operator>>() [11/14]

template<class Real >

ChQuaternion<Real> chrono::operator>>	(	const ChQuaternion< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChCoordsys Returns a ChQuaternion.

The effect is like applying the transformation frame_B to quat_A and get quat_C.

operator>>() [12/14]

template<class Real >

ChQuaternion<Real> chrono::operator>>	(	const ChQuaternion< Real > &	qa,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: quat_C = quat_A >> frame_B; where quat_A is a ChQuaternion frame_B is a ChFrame Returns a ChQuaternion.

The effect is like applying the transformation frame_B to quat_A and get quat_C.

operator>>() [13/14]

template<class Real >

ChVector3<Real> chrono::operator>>	(	const ChVector3< Real > &	Fa,
		const ChCoordsys< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChCoordsys Returns a ChVector.

The effect is like applying the transformation frame_B to frame_A and get frame_C.

operator>>() [14/14]

template<class Real >

ChVector3<Real> chrono::operator>>	(	const ChVector3< Real > &	va,
		const ChFrame< Real > &	Fb
	)

The '>>' operator that transforms 'mixed' types: vector_C = vector_A >> frame_B; where vector_A is a ChVector frame_B is a ChFrame Returns a ChVector.

The effect is like applying the transformation frame_B to vector_A and get vector_C. For a sequence of transformations, i.e. a chain of coordinate systems, you can also write this (like you would do with a sequence of Denavitt-Hartemberg matrix multiplications, but in the opposite order...) new_v = old_v >> frame3to2 >> frame2to1 >> frame1to0; This operation is not commutative.

QuatDt2FromAngleAxis()

ChApi ChQuaterniond chrono::QuatDt2FromAngleAxis	(	double	angle_dtdt,
		const ChVector3d &	axis,
		const ChQuaterniond &	q,
		const ChQuaterniond &	q_dt
	)

Convert from a rotation acceleration and an axis to a quaternion second derivative.

The rotation axis is assumed to be represented in absolute coordinates.

QuatDt2FromImaginary()

ChApi ChQuaterniond chrono::QuatDt2FromImaginary	(	const ChVector3d &	im_dtdt,
		const ChQuaterniond &	q,
		const ChQuaterniond &	q_dt
	)

Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion second time derivative, find the entire quaternion q = {e0, e1, e2, e3}.

Note: singularities are possible.

QuatDtFromAngleAxis()

ChApi ChQuaterniond chrono::QuatDtFromAngleAxis	(	const ChQuaterniond &	quat,
		double	angle_dt,
		const ChVector3d &	axis
	)

Convert from a speed of rotation and an axis to a quaternion derivative.

The rotation axis is assumed to be represented in absolute coordinates.

QuatDtFromImaginary()

ChApi ChQuaterniond chrono::QuatDtFromImaginary	(	const ChVector3d &	im_dt,
		const ChQuaterniond &	q
	)

Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion time derivative, find the entire quaternion q = {e0, e1, e2, e3}.

Note: singularities are possible.

QuatFromAngleAxis() [1/2]

ChApi ChQuaterniond chrono::QuatFromAngleAxis

(

const AngleAxis &

angle_axis

)

Convert from an angle-axis pair to a quaternion.

The axis is supposed to be fixed, i.e. it is constant during rotation. The 'axis' vector must be normalized.

QuatFromAngleAxis() [2/2]

ChApi ChQuaterniond chrono::QuatFromAngleAxis	(	double	angle,
		const ChVector3d &	axis
	)

Convert from an angle and an axis to a quaternion.

The axis is supposed to be fixed, i.e. it is constant during rotation. The 'axis' vector must be normalized.

QuatFromImaginary()

ChApi ChQuaterniond chrono::QuatFromImaginary

(

const ChVector3d &

imm

)

Given the imaginary (vectorial) {e1 e2 e3} part of a quaternion, find the entire quaternion q = {e0, e1, e2, e3}.

Note: singularities are possible.

QuatFromVec2Vec()

ChApi ChQuaterniond chrono::QuatFromVec2Vec	(	const ChVector3d &	start,
		const ChVector3d &	end
	)

Convert from a vector-to-vector rotation to a quaternion.

This quaternion represents the rotation that rotates the source vector to be aligned with the destination vector. The vectors do not need to be normalized.

StreamSwapBytes()

template<class T >

void chrono::StreamSwapBytes ( T *  ptData )

inline

Templated function for swapping bytes of objects of type 'T', for arbitrary T type.

This is used for cross-platform compatibility when sharing objects between big-endian and little-endian memory models, depending on the microprocessor type.

swap()

void chrono::swap	(	ChAssembly &	first,
		ChAssembly &	second
	)

Implemented as a friend (as opposed to a member function) so classes with a ChAssembly member can use ADL when implementing their own swap.

Variable Documentation

inverted

auto chrono::inverted

Initial value:

=
    thrust::make_tuple(real3(+C_REAL_MAX, +C_REAL_MAX, +C_REAL_MAX), real3(-C_REAL_MAX, -C_REAL_MAX, -C_REAL_MAX), 0)