chrono::ChAparticle Class Reference

Description

Class for a single particle clone in the ChParticlesClones cluster.

It does not define mass, inertia and shape because those are shared among them.

#include <ChParticlesClones.h>

Inheritance diagram for chrono::ChAparticle:
Collaboration diagram for chrono::ChAparticle:

Public Member Functions

 ChAparticle (const ChAparticle &other)
 
ChAparticleoperator= (const ChAparticle &other)
 
virtual ChVariablesVariables () override
 
ChParticlesClonesGetContainer () const
 
void SetContainer (ChParticlesClones *mc)
 
virtual ChVariablesGetVariables1 () override
 Access variables.
 
virtual bool IsContactActive () override
 Tell if the object must be considered in collision detection.
 
virtual int ContactableGet_ndof_x () override
 Get the number of DOFs affected by this object (position part).
 
virtual int ContactableGet_ndof_w () override
 Get the number of DOFs affected by this object (speed part).
 
virtual void ContactableGetStateBlock_x (ChState &x) override
 Get all the DOFs packed in a single vector (position part)
 
virtual void ContactableGetStateBlock_w (ChStateDelta &w) override
 Get all the DOFs packed in a single vector (speed part)
 
virtual void ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
 Increment the provided state of this object by the given state-delta increment. More...
 
virtual std::shared_ptr
< ChMaterialSurfaceBase > & 
GetMaterialSurfaceBase () override
 Return the pointer to the contact surface material.
 
virtual ChVector GetContactPoint (const ChVector<> &loc_point, const ChState &state_x) override
 Express the local point in absolute frame, for the given state position.
 
virtual ChVector GetContactPointSpeed (const ChVector<> &loc_point, const ChState &state_x, const ChStateDelta &state_w) override
 Get the absolute speed of a local point attached to the contactable. More...
 
virtual ChVector GetContactPointSpeed (const ChVector<> &abs_point) override
 Get the absolute speed of point abs_point if attached to the surface. More...
 
virtual ChCoordsys GetCsysForCollisionModel () override
 Return the coordinate system for the associated collision model. More...
 
virtual void ContactForceLoadResidual_F (const ChVector<> &F, const ChVector<> &abs_point, ChVectorDynamic<> &R) override
 Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables. More...
 
virtual void ContactForceLoadQ (const ChVector<> &F, const ChVector<> &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override
 Apply the given force at the given point and load the generalized force array. More...
 
virtual void ComputeJacobianForContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override
 Compute the jacobian(s) part(s) for this contactable item. More...
 
virtual void ComputeJacobianForRollingContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_N, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_U, ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &jacobian_tuple_V, bool second) override
 Compute the jacobian(s) part(s) for this contactable item, for rolling about N,u,v (used only for rolling friction DVI contacts)
 
virtual double GetContactableMass () override
 used by some DEM code
 
virtual ChPhysicsItemGetPhysicsItem () override
 This is only for backward compatibility.
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 Method to allow serialization of transient data in archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow de serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChParticleBase
 ChParticleBase (const ChParticleBase &other)
 
ChParticleBaseoperator= (const ChParticleBase &other)
 
- Public Member Functions inherited from chrono::ChFrameMoving< double >
 ChFrameMoving (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
 Construct from pos and rot (as a quaternion)
 
 ChFrameMoving (const ChVector< double > &mv, const ChMatrix33< double > &ma)
 Construct from pos and rotation (as a 3x3 matrix)
 
 ChFrameMoving (const ChCoordsys< double > &mc)
 Construct from a coordsys.
 
 ChFrameMoving (const ChFrame< double > &mc)
 Construct from a frame.
 
 ChFrameMoving (const ChFrameMoving< double > &other)
 Copy constructor, build from another moving frame.
 
virtual ~ChFrameMoving ()
 Destructor.
 
ChFrameMoving< double > & operator= (const ChFrameMoving< double > &other)
 Assignment operator: copy from another moving frame.
 
ChFrameMoving< double > & operator= (const ChFrame< double > &other)
 Assignment operator: copy from another frame.
 
bool operator== (const ChFrameMoving< double > &other) const
 Returns true for identical frames.
 
bool operator!= (const ChFrameMoving< double > &other) const
 Returns true for different frames.
 
ChFrameMoving< double > operator>> (const ChFrameMoving< double > &Fb) const
 The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...
 
ChFrameMoving< double > operator* (const ChFrameMoving< double > &Fb) const
 The '*' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = tr_frame * old_frame; For a sequence of transformations, i.e. More...
 
ChFrameMoving< double > & operator>>= (const ChFrameMoving< double > &T)
 Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.
 
ChFrameMoving< double > & operator>>= (const ChVector< double > &D)
 Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:
 
ChFrameMoving< double > & operator>>= (const ChQuaternion< double > &R)
 Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:
 
ChFrameMoving< double > & operator>>= (const ChCoordsys< double > &F)
 Performs pre-multiplication of this frame by a ChCoordsys F:
 
ChFrameMoving< double > & operator>>= (const ChFrame< double > &F)
 Performs pre-multiplication of this frame by a ChFrame F:
 
ChFrameMoving< double > & operator%= (const ChFrameMoving< double > &T)
 Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead. More...
 
ChFrameMoving< double > & operator*= (const ChFrameMoving< double > &T)
 Performs post-multiplication of this frame by another frame, for example: A*=T means A'=A*T ; or A'=T >> A.
 
ChCoordsys< double > & GetCoord_dt ()
 Return both current rotation and translation speeds as a coordsystem object, with vector and quaternion.
 
const ChCoordsys< double > & GetCoord_dt () const
 
ChCoordsys< double > & GetCoord_dtdt ()
 Return both current rotation and translation accelerations as a coordsystem object, with vector and quaternion.
 
const ChCoordsys< double > & GetCoord_dtdt () const
 
ChVector< double > & GetPos_dt ()
 Return the current speed as a 3d vector.
 
const ChVector< double > & GetPos_dt () const
 
ChVector< double > & GetPos_dtdt ()
 Return the current acceleration as a 3d vector.
 
const ChVector< double > & GetPos_dtdt () const
 
ChQuaternion< double > & GetRot_dt ()
 Return the current rotation speed as a quaternion.
 
const ChQuaternion< double > & GetRot_dt () const
 
ChQuaternion< double > & GetRot_dtdt ()
 Return the current rotation acceleration as a quaternion.
 
const ChQuaternion< double > & GetRot_dtdt () const
 
ChVector< double > GetWvel_loc () const
 Computes the actual angular speed (expressed in local coords)
 
ChVector< double > GetWvel_par () const
 Computes the actual angular speed (expressed in parent coords)
 
ChVector< double > GetWacc_loc () const
 Computes the actual angular acceleration (expressed in local coords)
 
ChVector< double > GetWacc_par () const
 Computes the actual angular acceleration (expressed in parent coords)
 
virtual void SetCoord_dt (const ChCoordsys< double > &mcoord_dt)
 Set both linear speed and rotation speed as a single ChCoordsys derivative. More...
 
virtual void SetPos_dt (const ChVector< double > &mvel)
 Set the linear speed.
 
virtual void SetRot_dt (const ChQuaternion< double > &mrot_dt)
 Set the rotation speed as a quaternion. More...
 
virtual void SetWvel_loc (const ChVector< double > &wl)
 Set the rotation speed from given angular speed (expressed in local csys)
 
virtual void SetWvel_par (const ChVector< double > &wp)
 Set the rotation speed from given angular speed (expressed in parent csys)
 
virtual void SetCoord_dtdt (const ChCoordsys< double > &mcoord_dtdt)
 Set both linear acceleration and rotation acceleration as a single ChCoordsys derivative. More...
 
virtual void SetPos_dtdt (const ChVector< double > &macc)
 Set the linear acceleration.
 
virtual void SetRot_dtdt (const ChQuaternion< double > &mrot_dtdt)
 Set the rotation acceleration as a quaternion derivative. More...
 
virtual void SetWacc_loc (const ChVector< double > &al)
 Set the rotation acceleration from given angular acceleration (expressed in local csys)
 
virtual void SetWacc_par (ChVector< double > &ap)
 Set the rotation speed from given angular speed (expressed in parent csys)
 
void Compute_Adt (ChMatrix33< double > &mA_dt) const
 Computes the time derivative of rotation matrix, mAdt.
 
void Compute_Adtdt (ChMatrix33< double > &mA_dtdt)
 Computes the 2nd time derivative of rotation matrix, mAdtdt.
 
ChMatrix33< double > GetA_dt ()
 Computes and returns an Adt matrix (-note: prefer using Compute_Adt() directly for better performance)
 
ChMatrix33< double > GetA_dtdt ()
 Computes and returns an Adt matrix (-note: prefer using Compute_Adtdt() directly for better performance)
 
void ConcatenatePreTransformation (const ChFrameMoving< double > &T)
 Apply a transformation (rotation and translation) represented by another ChFrameMoving T. More...
 
void ConcatenatePostTransformation (const ChFrameMoving< double > &T)
 Apply a transformation (rotation and translation) represented by another ChFrameMoving T in local coordinate. More...
 
ChVector< double > PointSpeedLocalToParent (const ChVector< double > &localpos) const
 Given the position of a point in local frame coords, and assuming it is sticky to frame, return the speed in parent coords. More...
 
ChVector< double > PointSpeedLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed) const
 Given the position localpos of a point in the local reference frame, assuming that the point moves in the local reference frame with localspeed, return the speed in the parent reference frame. More...
 
ChVector< double > PointAccelerationLocalToParent (const ChVector< double > &localpos) const
 Given the position of a point in local frame coords, and assuming it is sticky to frame, return the acceleration in parent coords. More...
 
ChVector< double > PointAccelerationLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed, const ChVector< double > &localacc) const
 Given the position of a point in local frame coords, and assuming it has a frame-relative speed localspeed and frame-relative acceleration localacc, return the acceleration in parent coords. More...
 
ChVector< double > PointSpeedParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed) const
 Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed, return the speed in local coords. More...
 
ChVector< double > PointAccelerationParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed, const ChVector< double > &parentacc) const
 Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed and absolute acceleration parentacc, return the acceleration in local coords. More...
 
void TransformLocalToParent (const ChFrameMoving< double > &local, ChFrameMoving< double > &parent) const
 This function transforms a frame from 'this' local coordinate system to parent frame coordinate system, and also transforms the speed and acceleration of the frame. More...
 
void TransformParentToLocal (const ChFrameMoving< double > &parent, ChFrameMoving< double > &local) const
 This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...
 
bool Equals (const ChFrameMoving< double > &other) const
 Returns true if coordsys is identical to other coordsys.
 
bool Equals (const ChFrameMoving< double > &other, doubletol) const
 Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.
 
virtual void Invert () override
 The transformation (also for speeds, accelerations) is inverted in place. More...
 
ChFrameMoving< double > GetInverse () const
 
- Public Member Functions inherited from chrono::ChFrame< double >
 ChFrame (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
 Default constructor, or construct from pos and rot (as a quaternion)
 
 ChFrame (const ChVector< double > &mv, const ChMatrix33< double > &ma)
 Construct from pos and rotation (as a 3x3 matrix)
 
 ChFrame (const ChCoordsys< double > &mc)
 Construct from a coordsys.
 
 ChFrame (const ChVector< double > &mv, const doublealpha, const ChVector< double > &mu)
 Construct from position mv and rotation of angle alpha around unit vector mu.
 
 ChFrame (const ChFrame< double > &other)
 Copy constructor, build from another frame.
 
ChFrame< double > & operator= (const ChFrame< double > &other)
 Assignment operator: copy from another frame.
 
virtual bool operator== (const ChFrame< double > &other) const
 Returns true for identical frames.
 
virtual bool operator!= (const ChFrame< double > &other) const
 Returns true for different frames.
 
ChFrame< double > operator>> (const ChFrame< double > &Fb) const
 The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...
 
ChFrame< double > operator* (const ChFrame< double > &Fb) const
 The '>>' operator transforms a vector, so transformations can be represented with this syntax: new_v = old_v >> tr_frame; For a sequence of transformations, i.e. More...
 
ChVector< double > operator* (const ChVector< double > &V) const
 The '*' operator transforms a vector, so transformations can be represented with this syntax: new_v = tr_frame * old_v; For a sequence of transformations, i.e. More...
 
ChVector< double > operator/ (const ChVector< double > &V) const
 The '/' is like the '*' operator (see), but uses the inverse transformation for A, in A/b. More...
 
ChFrame< double > & operator>>= (const ChFrame< double > &T)
 Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.
 
ChFrame< double > & operator>>= (const ChVector< double > &D)
 Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:
 
ChFrame< double > & operator>>= (const ChQuaternion< double > &R)
 Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:
 
ChFrame< double > & operator>>= (const ChCoordsys< double > &F)
 Performs pre-multiplication of this frame by a ChCoordsys F, to transform it:
 
ChFrame< double > & operator%= (const ChFrame< double > &T)
 Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead. More...
 
ChFrame< double > & operator*= (const ChFrame< double > &T)
 Performs post-multiplication of this frame by another frame, for example: A*=T means A'=A*T ; or A'=T >> A.
 
ChCoordsys< double > & GetCoord ()
 Return both current rotation and translation as a coordsystem object, with vector and quaternion.
 
const ChCoordsys< double > & GetCoord () const
 
ChVector< double > & GetPos ()
 Return the current translation as a 3d vector.
 
const ChVector< double > & GetPos () const
 
ChQuaternion< double > & GetRot ()
 Return the current rotation as a quaternion.
 
const ChQuaternion< double > & GetRot () const
 
ChMatrix33< double > & GetA ()
 Return the current rotation as a 3x3 matrix.
 
const ChMatrix33< double > & GetA () const
 
ChVector< double > GetRotAxis ()
 Get axis of finite rotation, in parent space.
 
double GetRotAngle ()
 Get angle of rotation about axis of finite rotation.
 
virtual void SetCoord (const ChCoordsys< double > &mcoord)
 Impose both translation and rotation as a single ChCoordsys. More...
 
virtual void SetCoord (const ChVector< double > &mv, const ChQuaternion< double > &mq)
 Impose both translation and rotation. More...
 
virtual void SetRot (const ChQuaternion< double > &mrot)
 Impose the rotation as a quaternion. More...
 
virtual void SetRot (const ChMatrix33< double > &mA)
 Impose the rotation as a 3x3 matrix. More...
 
virtual void SetPos (const ChVector< double > &mpos)
 Impose the translation.
 
void ConcatenatePreTransformation (const ChFrame< double > &T)
 Apply a transformation (rotation and translation) represented by another ChFrame T. More...
 
void ConcatenatePostTransformation (const ChFrame< double > &T)
 Apply a transformation (rotation and translation) represented by another ChFrame T in local coordinate. More...
 
void Move (const ChVector< double > &V)
 An easy way to move the frame by the amount specified by vector V, (assuming V expressed in parent coordinates)
 
void Move (const ChCoordsys< double > &VR)
 Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.
 
virtual ChVector< double > TransformLocalToParent (const ChVector< double > &local) const
 This function transforms a point from the local frame coordinate system to the parent coordinate system. More...
 
virtual void TransformLocalToParent (const ChFrame< double > &local, ChFrame< double > &parent) const
 This function transforms a frame from 'this' local coordinate system to parent frame coordinate system. More...
 
virtual ChVector< double > TransformPointLocalToParent (const ChVector< double > &local) const
 
virtual ChVector< double > TransformParentToLocal (const ChVector< double > &parent) const
 This function transforms a point from the parent coordinate system to local frame coordinate system. More...
 
virtual void TransformParentToLocal (const ChFrame< double > &parent, ChFrame< double > &local) const
 This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...
 
virtual ChVector< double > TransformPointParentToLocal (const ChVector< double > &parent) const
 
virtual ChVector< double > TransformDirectionParentToLocal (const ChVector<> &mdirection) const
 This function transforms a direction from 'this' local coordinate system to parent frame coordinate system. More...
 
virtual ChVector< double > TransformDirectionLocalToParent (const ChVector<> &mdirection) const
 This function transforms a direction from the parent frame coordinate system to 'this' local coordinate system. More...
 
bool Equals (const ChFrame< double > &other) const
 Returns true if coordsys is identical to other coordsys.
 
bool Equals (const ChFrame< double > &other, doubletol) const
 Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.
 
void Normalize ()
 Normalize the rotation, so that quaternion has unit length.
 
virtual void SetIdentity ()
 Sets to no translation and no rotation.
 
ChFrame< double > GetInverse () const
 
- Public Member Functions inherited from chrono::ChContactable_1vars< T1 >
virtual void ComputeJacobianForContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, type_constraint_tuple &jacobian_tuple_N, type_constraint_tuple &jacobian_tuple_U, type_constraint_tuple &jacobian_tuple_V, bool second)=0
 Compute the jacobian(s) part(s) for this contactable item. More...
 
virtual void ComputeJacobianForRollingContactPart (const ChVector<> &abs_point, ChMatrix33<> &contact_plane, type_constraint_tuple &jacobian_tuple_N, type_constraint_tuple &jacobian_tuple_U, type_constraint_tuple &jacobian_tuple_V, bool second)
 Compute the jacobian(s) part(s) for this contactable item, for rolling about N,u,v (used only for rolling friction DVI contacts)
 

Public Attributes

ChParticlesClonescontainer
 
ChVariablesBodySharedMass variables
 
collision::ChCollisionModelcollision_model
 
ChVector UserForce
 
ChVector UserTorque
 
- Public Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double > coord_dt
 Rotation and position speed, as vector+quaternion.
 
ChCoordsys< double > coord_dtdt
 Rotation and position acceleration, as vector+quaternion.
 
- Public Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double > coord
 Rotation and position, as vector+quaternion.
 
ChMatrix33< double > Amatrix
 3x3 orthogonal rotation matrix
 

Additional Inherited Members

- Public Types inherited from chrono::ChContactable_1vars< T1 >
typedef
ChVariableTupleCarrier_1vars
< T1 > 
type_variable_tuple_carrier
 
typedef
ChVariableTupleCarrier_1vars
< T1 >::type_constraint_tuple 
type_constraint_tuple
 
- Public Types inherited from chrono::ChVariableTupleCarrier_1vars< T1 >
typedef
ChConstraintTuple_1vars
< ChVariableTupleCarrier_1vars
< N1 > > 
type_constraint_tuple
 
- Static Public Member Functions inherited from chrono::ChFrame< double >
static void SetMatrix_Fp (ChMatrixNM< double, 3, 4 > &Fp, const ChQuaternion< double > &mq)
 Fills a 3x4 matrix [Fp(q)], as in [Fp(q)]*[Fm(q)]' = [A(q)].
 
static void SetMatrix_Fm (ChMatrixNM< double, 3, 4 > &Fm, const ChQuaternion< double > &mq)
 Fills a 3x4 matrix [Fm(q)], as in [Fp(q)]*[Fm(q)]' = [A(q)].
 
static void SetMatrix_Gl (ChMatrixNM< double, 3, 4 > &Gl, const ChQuaternion< double > &mq)
 Fast fill a 3x4 matrix [Gl(q)], as in local angular speed conversion Wl=[Gl]*q_dt (btw: [Gl(q)] = 2*[Fp(q')] = 2*[G] with G matrix as in Shabana)
 
static void SetMatrix_Gw (ChMatrixNM< double, 3, 4 > &Gw, const ChQuaternion< double > &mq)
 Fast fill a 3x4 matrix [Gw(q)], as in absolute angular speed conversion Ww=[Gw]*q_dt (btw: [Gw(q)] = 2*[Fm(q')] = 2*[E] with E matrix as in Shabana)
 
static ChVector< double > Gl_x_Quat (const ChQuaternion< double > &mq, const ChQuaternion< double > &qb)
 Computes the product v=[Gl(mq)]*qb without the need of having the [Gl] matrix (just pass the mq quaternion, since Gl is function of mq)
 
static ChQuaternion< double > GlT_x_Vect (const ChQuaternion< double > &mq, const ChVector< double > &v)
 Computes the product q=[Gl(mq)]*v without the need of having the [Gl] matrix (just pass the mq quaternion, since Gl is function of mq)
 
- Static Public Attributes inherited from chrono::ChVariableTupleCarrier_1vars< T1 >
static const int nvars1
 

Member Function Documentation

void chrono::ChAparticle::ComputeJacobianForContactPart ( const ChVector<> &  abs_point,
ChMatrix33<> &  contact_plane,
ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &  jacobian_tuple_N,
ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &  jacobian_tuple_U,
ChVariableTupleCarrier_1vars< 6 >::type_constraint_tuple &  jacobian_tuple_V,
bool  second 
)
overridevirtual

Compute the jacobian(s) part(s) for this contactable item.

For example, if the contactable is a ChBody, this should update the corresponding 1x6 jacobian.

void chrono::ChAparticle::ContactableIncrementState ( const ChState x,
const ChStateDelta dw,
ChState x_new 
)
overridevirtual

Increment the provided state of this object by the given state-delta increment.

Compute: x_new = x + dw.

Implements chrono::ChContactable.

void chrono::ChAparticle::ContactForceLoadQ ( const ChVector<> &  F,
const ChVector<> &  point,
const ChState state_x,
ChVectorDynamic<> &  Q,
int  offset 
)
overridevirtual

Apply the given force at the given point and load the generalized force array.

The force and its application point are specified in the gloabl frame. Each object must set the entries in Q corresponding to its variables, starting at the specified offset. If needed, the object states must be extracted from the provided state position.

Implements chrono::ChContactable.

void chrono::ChAparticle::ContactForceLoadResidual_F ( const ChVector<> &  F,
const ChVector<> &  abs_point,
ChVectorDynamic<> &  R 
)
overridevirtual

Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables.

Force for example could come from a penalty model.

Implements chrono::ChContactable.

ChVector chrono::ChAparticle::GetContactPointSpeed ( const ChVector<> &  loc_point,
const ChState state_x,
const ChStateDelta state_w 
)
overridevirtual

Get the absolute speed of a local point attached to the contactable.

The given point is assumed to be expressed in the local frame of this object. This function must use the provided states.

Implements chrono::ChContactable.

ChVector chrono::ChAparticle::GetContactPointSpeed ( const ChVector<> &  abs_point)
overridevirtual

Get the absolute speed of point abs_point if attached to the surface.

Easy in this case because there are no roations..

Implements chrono::ChContactable.

virtual ChCoordsys chrono::ChAparticle::GetCsysForCollisionModel ( )
overridevirtual

Return the coordinate system for the associated collision model.

ChCollisionModel might call this to get the position of the contact model (when rigid) and sync it.

Implements chrono::ChContactable.