chrono::ChContactContainerDEM Class Reference

Description

Class representing a container of many penalty contacts.

This is implemented as a typical linked list of ChContactDEM objects (that is, contacts between two ChContactable objects).

#include <ChContactContainerDEM.h>

Inheritance diagram for chrono::ChContactContainerDEM:
Collaboration diagram for chrono::ChContactContainerDEM:

Public Types

typedef ChContactDEM
< ChContactable_1vars
< 3 >, ChContactable_1vars< 3 > > 
ChContactDEM_3_3
 
typedef ChContactDEM
< ChContactable_1vars
< 6 >, ChContactable_1vars< 3 > > 
ChContactDEM_6_3
 
typedef ChContactDEM
< ChContactable_1vars
< 6 >, ChContactable_1vars< 6 > > 
ChContactDEM_6_6
 
typedef ChContactDEM
< ChContactable_3vars
< 3, 3, 3 >, ChContactable_1vars< 3 > > 
ChContactDEM_333_3
 
typedef ChContactDEM
< ChContactable_3vars
< 3, 3, 3 >, ChContactable_1vars< 6 > > 
ChContactDEM_333_6
 
typedef ChContactDEM
< ChContactable_3vars
< 3, 3, 3 >, ChContactable_3vars< 3, 3, 3 > > 
ChContactDEM_333_333
 
typedef ChContactDEM
< ChContactable_3vars
< 6, 6, 6 >, ChContactable_1vars< 3 > > 
ChContactDEM_666_3
 
typedef ChContactDEM
< ChContactable_3vars
< 6, 6, 6 >, ChContactable_1vars< 6 > > 
ChContactDEM_666_6
 
typedef ChContactDEM
< ChContactable_3vars
< 6, 6, 6 >, ChContactable_3vars< 3, 3, 3 > > 
ChContactDEM_666_333
 
typedef ChContactDEM
< ChContactable_3vars
< 6, 6, 6 >, ChContactable_3vars< 6, 6, 6 > > 
ChContactDEM_666_666
 

Public Member Functions

 ChContactContainerDEM (const ChContactContainerDEM &other)
 
virtual ChContactContainerDEMClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual int GetNcontacts () const override
 Tell the number of added contacts.
 
virtual void RemoveAllContacts () override
 Remove (delete) all contained contact data.
 
virtual void BeginAddContact () override
 The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar). More...
 
virtual void AddContact (const collision::ChCollisionInfo &mcontact) override
 Add a contact between two frames.
 
virtual void EndAddContact () override
 The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar). More...
 
virtual void ReportAllContacts (ChReportContactCallback *mcallback) override
 Scans all the contacts and for each contact executes the ReportContactCallback() function of the user object inherited from ChReportContactCallback. More...
 
virtual void Update (double mtime, bool update_assets=true) override
 In detail, it computes jacobians, violations, etc. More...
 
virtual void ComputeContactForces () override
 Compute contact forces on all contactable objects in this container.
 
virtual void IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
 Takes the F force term, scale and adds to R at given offset: R += c*F.
 
virtual void KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) override
 Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...
 
virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor) override
 Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...
 
virtual void ConstraintsFbLoadForces (double factor) override
 Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow de-serialization of transient data from archives. More...
 
- Public Member Functions inherited from chrono::ChContactContainerBase
 ChContactContainerBase (const ChContactContainerBase &other)
 
void SetAddContactCallback (ChAddContactCallback *mcallback)
 Sets a callback to be used each time a contact point is added to the container. More...
 
ChAddContactCallbackGetAddContactCallback ()
 Gets the callback to be used each time a contact point is added to the container.
 
ChVector GetContactableForce (ChContactable *contactable)
 Return the resultant contact force acting on the specified contactable object.
 
ChVector GetContactableTorque (ChContactable *contactable)
 Return the resultant contact torque acting on the specified contactable object.
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () const
 Get the pointer to the parent ChSystem()
 
virtual void SetSystem (ChSystem *m_system)
 Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system.
 
void AddAsset (std::shared_ptr< ChAsset > masset)
 Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset)
 
std::vector< std::shared_ptr
< ChAsset > > & 
GetAssets ()
 Access to the list of optional assets.
 
std::shared_ptr< ChAssetGetAssetN (unsigned int num)
 Access the Nth asset in the list of optional assets.
 
virtual ChFrame GetAssetsFrame (unsigned int nclone=0)
 Get the master coordinate system for assets that have some geometric meaning. More...
 
virtual unsigned int GetAssetsFrameNclones ()
 Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More...
 
virtual bool GetCollide () const
 Tell if the object is subject to collision. More...
 
virtual void SyncCollisionModels ()
 If this physical item contains one or more collision models, sinchronize their coordinates and bounding boxes to the state of the item. More...
 
virtual void AddCollisionModelsToSystem ()
 If this physical item contains one or more collision models, add them to the system's collision engine. More...
 
virtual void RemoveCollisionModelsFromSystem ()
 If this physical item contains one or more collision models, remove them from the system's collision engine. More...
 
virtual void GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax)
 Get the entire AABB axis-aligned bounding box of the object. More...
 
virtual void GetCenter (ChVector<> &mcenter)
 Get a symbolic 'center' of the object. More...
 
virtual void StreamINstate (ChStreamInBinary &mstream)
 Method to deserialize only the state (position, speed) Must be implemented by child classes. More...
 
virtual void StreamOUTstate (ChStreamOutBinary &mstream)
 Method to serialize only the state (position, speed) Must be implemented by child classes. More...
 
virtual void Setup ()
 This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh)
 
virtual void Update (bool update_assets=true)
 As above, but does not require updating of time-dependent data. More...
 
virtual void SetNoSpeedNoAcceleration ()
 Set zero speed (and zero accelerations) in state, without changing the position. More...
 
virtual int GetDOF ()
 Get the number of scalar coordinates (variables), if any, in this item. More...
 
virtual int GetDOF_w ()
 Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More...
 
virtual int GetDOC ()
 Get the number of scalar constraints, if any, in this item.
 
virtual int GetDOC_c ()
 Get the number of scalar constraints, if any, in this item (only bilateral constr.) Children classes might override this. More...
 
virtual int GetDOC_d ()
 Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this. More...
 
unsigned int GetOffset_x ()
 Get offset in the state vector (position part)
 
unsigned int GetOffset_w ()
 Get offset in the state vector (speed part)
 
unsigned int GetOffset_L ()
 Get offset in the lagrangian multipliers.
 
void SetOffset_x (const unsigned int moff)
 Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_w (const unsigned int moff)
 Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_L (const unsigned int moff)
 Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.
 
virtual void IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
 From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...
 
virtual void IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T)
 From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...
 
virtual void IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a)
 From item's state acceleration to global acceleration vector. More...
 
virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)
 From global acceleration vector to item's state acceleration. More...
 
virtual void IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
 From item's reaction forces to global reaction vector. More...
 
virtual void IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
 From global reaction vector to item's reaction forces. More...
 
virtual void IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
 Computes x_new = x + Dt , using vectors at specified offsets. More...
 
virtual void IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c)
 Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More...
 
virtual void IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
 Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More...
 
virtual void IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)
 Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...
 
virtual void IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c)
 Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...
 
virtual void IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)
 Prepare variables and constraints for a solution: From a vector R into the F 'force' term of the variables From a vector Qc into the Qb 'constraint' term of the constraints From a vector v into the q 'unknowns' term of the variables (for warm starting) From a vector L into the L 'lagrangian ' term of the constraints (for warm starting) More...
 
virtual void IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L)
 After a solver solution, fetch values from variables and constraints: To a vector v from the q 'unknowns' term of the variables To a vector L from the L 'lagrangian ' term of the constraints. More...
 
virtual void VariablesFbReset ()
 Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.
 
virtual void VariablesFbLoadForces (double factor=1)
 Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.
 
virtual void VariablesQbLoadSpeed ()
 Initialize the 'qb' part of the ChVariables with the current value of speeds. More...
 
virtual void VariablesFbIncrementMq ()
 Adds M*q (masses multiplied current 'qb') to Fb, ex. More...
 
virtual void VariablesQbSetSpeed (double step=0)
 Fetches the item speed (ex. More...
 
virtual void VariablesQbIncrementPosition (double step)
 Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...
 
virtual void InjectVariables (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...
 
virtual void InjectConstraints (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are contraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...
 
virtual void ConstraintsBiReset ()
 Sets to zero the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)
 Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_Ct (double factor=1)
 Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsBiLoad_Qc (double factor=1)
 Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.
 
virtual void ConstraintsLoadJacobians ()
 Adds the current jacobians in encapsulated ChConstraints.
 
virtual void ConstraintsFetch_react (double factor=1)
 Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
int GetIdentifier () const
 Gets the numerical identifier of the object.
 
void SetIdentifier (int id)
 Sets the numerical identifier of the object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
const char * GetName () const
 Gets the name of the object as C Ascii null-terminated string -for reading only!
 
void SetName (const char myname[])
 Sets the name of this object, as ascii string.
 
std::string GetNameString () const
 Gets the name of the object as C Ascii null-terminated string.
 
void SetNameString (const std::string &myname)
 Sets the name of this object, as std::string.
 
void MFlagsSetAllOFF (int &mflag)
 
void MFlagsSetAllON (int &mflag)
 
void MFlagSetON (int &mflag, int mask)
 
void MFlagSetOFF (int &mflag, int mask)
 
int MFlagGet (int &mflag, int mask)
 

Protected Attributes

std::list< ChContactDEM_3_3 * > contactlist_3_3
 
std::list< ChContactDEM_6_3 * > contactlist_6_3
 
std::list< ChContactDEM_6_6 * > contactlist_6_6
 
std::list< ChContactDEM_333_3 * > contactlist_333_3
 
std::list< ChContactDEM_333_6 * > contactlist_333_6
 
std::list< ChContactDEM_333_333 * > contactlist_333_333
 
std::list< ChContactDEM_666_3 * > contactlist_666_3
 
std::list< ChContactDEM_666_6 * > contactlist_666_6
 
std::list< ChContactDEM_666_333 * > contactlist_666_333
 
std::list< ChContactDEM_666_666 * > contactlist_666_666
 
int n_added_3_3
 
int n_added_6_3
 
int n_added_6_6
 
int n_added_333_3
 
int n_added_333_6
 
int n_added_333_333
 
int n_added_666_3
 
int n_added_666_6
 
int n_added_666_333
 
int n_added_666_666
 
std::list< ChContactDEM_3_3 * >
::iterator 
lastcontact_3_3
 
std::list< ChContactDEM_6_3 * >
::iterator 
lastcontact_6_3
 
std::list< ChContactDEM_6_6 * >
::iterator 
lastcontact_6_6
 
std::list< ChContactDEM_333_3 * >
::iterator 
lastcontact_333_3
 
std::list< ChContactDEM_333_6 * >
::iterator 
lastcontact_333_6
 
std::list
< ChContactDEM_333_333 * >
::iterator 
lastcontact_333_333
 
std::list< ChContactDEM_666_3 * >
::iterator 
lastcontact_666_3
 
std::list< ChContactDEM_666_6 * >
::iterator 
lastcontact_666_6
 
std::list
< ChContactDEM_666_333 * >
::iterator 
lastcontact_666_333
 
std::list
< ChContactDEM_666_666 * >
::iterator 
lastcontact_666_666
 
- Protected Attributes inherited from chrono::ChContactContainerBase
std::unordered_map
< ChContactable *, ForceTorque > 
contact_forces
 
ChAddContactCallbackadd_contact_callback
 
ChReportContactCallbackreport_contact_callback
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::vector< std::shared_ptr
< ChAsset > > 
assets
 set of assets
 
unsigned int offset_x
 offset in vector of state (position part)
 
unsigned int offset_w
 offset in vector of state (speed part)
 
unsigned int offset_L
 offset in vector of lagrangian multipliers
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 the time of simulation for the object
 

Additional Inherited Members

- Protected Member Functions inherited from chrono::ChContactContainerBase
template<class Tcont >
void SumAllContactForces (std::list< Tcont * > &contactlist, std::unordered_map< ChContactable *, ForceTorque > &contactforces)
 

Member Function Documentation

void chrono::ChContactContainerDEM::ArchiveIN ( ChArchiveIn marchive)
overridevirtual

Method to allow de-serialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChContactContainerBase.

void chrono::ChContactContainerDEM::BeginAddContact ( )
overridevirtual

The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar).

Instead of simply deleting all list of the previous contacts, this optimized implementation rewinds the link iterator to begin and tries to reuse previous contact objects until possible, to avoid too much allocation/deallocation.

Reimplemented from chrono::ChContactContainerBase.

void chrono::ChContactContainerDEM::EndAddContact ( )
overridevirtual

The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar).

This optimized version purges the end of the list of contacts that were not reused (if any).

Reimplemented from chrono::ChContactContainerBase.

void chrono::ChContactContainerDEM::InjectKRMmatrices ( ChSystemDescriptor mdescriptor)
overridevirtual

Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.

Reimplemented from chrono::ChPhysicsItem.

void chrono::ChContactContainerDEM::KRMmatricesLoad ( double  Kfactor,
double  Rfactor,
double  Mfactor 
)
overridevirtual

Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any.

The K, R, M matrices are added with scaling values Kfactor, Rfactor, Mfactor. NOTE: signs are flipped respect to the ChTimestepper dF/dx terms: K = -dF/dq, R = -dF/dv

Reimplemented from chrono::ChPhysicsItem.

void chrono::ChContactContainerDEM::ReportAllContacts ( ChReportContactCallback mcallback)
overridevirtual

Scans all the contacts and for each contact executes the ReportContactCallback() function of the user object inherited from ChReportContactCallback.

Reimplemented from chrono::ChContactContainerBase.

void chrono::ChContactContainerDEM::Update ( double  mtime,
bool  update_assets = true 
)
overridevirtual

In detail, it computes jacobians, violations, etc.

and stores results in inner structures of contacts.

Reimplemented from chrono::ChPhysicsItem.