Description
Structure of arrays containing simulation data.
#include <ChDataManager.h>
Public Attributes | |
| custom_vector< real3 > | ct_force |
| Contact forces per contact. | |
| custom_vector< real3 > | ct_torque |
| Contact torques per contact. | |
| custom_vector< real3 > | ct_body_force |
| Total contact force on bodies. | |
| custom_vector< real3 > | ct_body_torque |
| Total contact torque on these bodies. | |
| custom_vector< vec3 > | shear_neigh |
| Neighbor list of contacting bodies and shapes. | |
| custom_vector< real3 > | shear_disp |
| Accumulated shear displacement for each neighbor. | |
| custom_vector< real > | contact_relvel_init |
| Initial relative normal velocity manitude per contact pair. | |
| custom_vector< real > | contact_duration |
| Accumulated contact duration, per contact pair. | |
| custom_vector< int > | ct_body_map |
| Mapping from all bodies in the system to bodies involved in a contact. More... | |
| custom_vector< real3 > | fric_rigid_rigid |
| This vector holds the friction information (composite material) as a triplet: x - Sliding friction, y - Rolling friction, z - Spinning Friction. More... | |
| custom_vector< real > | coh_rigid_rigid |
| Holds the cohesion value (composite material) for each contact. More... | |
| custom_vector< real4 > | compliance_rigid_rigid |
| Precomputed compliance (composite material) values for all contacts. More... | |
| custom_vector< real2 > | modulus_rigid_rigid |
| E_eff and G_eff. | |
| custom_vector< real3 > | adhesion_rigid_rigid |
| adhesion_eff, adhesionMultDMT_eff, and adhesionSPerko_eff | |
| custom_vector< real > | cr_rigid_rigid |
| cr_eff (effective coefficient of restitution) | |
| custom_vector< real4 > | smc_rigid_rigid |
| kn, kt, gn, gt | |
| custom_vector< real3 > | pos_rigid |
| custom_vector< quaternion > | rot_rigid |
| custom_vector< char > | active_rigid |
| custom_vector< char > | collide_rigid |
| custom_vector< real > | mass_rigid |
| custom_vector< real3 > | pos_3dof |
| custom_vector< real3 > | sorted_pos_3dof |
| custom_vector< real3 > | vel_3dof |
| custom_vector< real3 > | sorted_vel_3dof |
| custom_vector< int > | bilateral_type |
| Bilateral constraint type (all supported constraints) | |
| custom_vector< int > | bilateral_mapping |
| Keeps track of active bilateral constraints. | |
| custom_vector< real > | shaft_rot |
| shaft rotation angles | |
| custom_vector< real > | shaft_inr |
| shaft inverse inertias | |
| custom_vector< char > | shaft_active |
| shaft active (not sleeping nor fixed) flags | |
| custom_vector< float > | sliding_friction |
| sliding coefficients of friction | |
| custom_vector< float > | cohesion |
| constant cohesion forces | |
| CompressedMatrix< real > | Nschur |
| This matrix, if used will hold D^TxM^-1xD in sparse form. | |
| CompressedMatrix< real > | D |
| The D Matrix hold the Jacobian for the entire system. | |
| CompressedMatrix< real > | D_T |
| D_T is the transpose of the D matrix, note that D_T is actually computed first and D is taken as the transpose. More... | |
| CompressedMatrix< real > | M |
| Mass matrix; if holding the full inertia tensor, M is block diagonal. | |
| CompressedMatrix< real > | M_inv |
| M_inv is the inverse mass matrix; if holding the full inertia tensor, M_inv is block diagonal. | |
| CompressedMatrix< real > | M_invD |
| M_invD holds M_inv multiplied by D. More... | |
| DynamicVector< real > | R_full |
| The right hand side of the system. | |
| DynamicVector< real > | R |
| The rhs of the system, changes during solve. | |
| DynamicVector< real > | b |
| Correction terms. | |
| DynamicVector< real > | s |
| DynamicVector< real > | M_invk |
| Result of M_inv multiplied by vector of forces. | |
| DynamicVector< real > | v |
| This vector holds the velocities for all objects. | |
| DynamicVector< real > | hf |
| This vector holds h*forces, h is time step. | |
| DynamicVector< real > | gamma |
| Contact impulses. More... | |
| DynamicVector< real > | E |
| Compliance matrix elements. More... | |
| DynamicVector< real > | Fc |
| Contact forces (NSC) | |
Member Data Documentation
◆ coh_rigid_rigid
| custom_vector<real> chrono::host_container::coh_rigid_rigid |
Holds the cohesion value (composite material) for each contact.
Similar to friction this is precomputed for all contacts in parallel. Used for NSC only.
◆ compliance_rigid_rigid
| custom_vector<real4> chrono::host_container::compliance_rigid_rigid |
Precomputed compliance (composite material) values for all contacts.
Used for NSC only.
◆ ct_body_map
| custom_vector<int> chrono::host_container::ct_body_map |
Mapping from all bodies in the system to bodies involved in a contact.
For bodies that are currently not in contact, the mapping entry is -1. Otherwise, the mapping holds the appropriate index in the vectors above.
◆ D_T
| CompressedMatrix<real> chrono::host_container::D_T |
D_T is the transpose of the D matrix, note that D_T is actually computed first and D is taken as the transpose.
This is due to the way that blaze handles sparse matrix allocation, it is easier to do it on a per row basis.
◆ E
| DynamicVector<real> chrono::host_container::E |
Compliance matrix elements.
Note that E is a diagonal matrix and hence stored in a vector.
◆ fric_rigid_rigid
| custom_vector<real3> chrono::host_container::fric_rigid_rigid |
This vector holds the friction information (composite material) as a triplet: x - Sliding friction, y - Rolling friction, z - Spinning Friction.
This is precomputed at every timestep for all contacts in parallel. Improves performance and reduces conditionals later on.
◆ gamma
| DynamicVector<real> chrono::host_container::gamma |
Contact impulses.
These are the unknowns solved for in the NSC formulation. Depending on the selected SolverMode, gamma is organized as follows (N is the number of rigid contacts):
- NORMAL [size(gamma) = N]
n1 n2 ... nN - SLIDING [size(gamma) = 3N]
n1 n2 ... nN | u1 v1 u2 v2 ... uN vN - SPINNING [size(gamma) = 6N]
n1 n2 ... nN | u1 v1 u2 v2 ... uN vN | tn1 tu1 tv1 tn2 tu2 tv2 ... tnN tuN tvN
If there are any bilateral constraints, the corresponding impulses are stored at the end of gamma.
◆ M_invD
| CompressedMatrix<real> chrono::host_container::M_invD |
M_invD holds M_inv multiplied by D.
This is done as a preprocessing step so that later, when the full matrix vector product is needed it can be performed in two steps, first R = Minv_D*x, and then D_T*R where R is just a temporary variable used here for illustrative purposes. In reality the entire operation happens inline without a temp variable.
The documentation for this struct was generated from the following file:
- /builds/uwsbel/chrono/src/chrono_multicore/ChDataManager.h
