chrono::ChContactDEM< Ta, Tb > Class Template Reference

Description

template<class Ta, class Tb>
class chrono::ChContactDEM< Ta, Tb >

Class for penalty-based contact between two generic contactable objects.

Ta and Tb are of ChContactable sub classes.

#include <ChContactDEM.h>

Inheritance diagram for chrono::ChContactDEM< Ta, Tb >:
Collaboration diagram for chrono::ChContactDEM< Ta, Tb >:

Public Types

typedef ChContactTuple< Ta, Tb >
::typecarr_a 
typecarr_a
 
typedef ChContactTuple< Ta, Tb >
::typecarr_b 
typecarr_b
 
- Public Types inherited from chrono::ChContactTuple< Ta, Tb >
typedef
Ta::type_variable_tuple_carrier 
typecarr_a
 
typedef
Tb::type_variable_tuple_carrier 
typecarr_b
 

Public Member Functions

 ChContactDEM (ChContactContainerBase *mcontainer, Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo)
 
virtual ChVector GetContactForce () const override
 Get the contact force, if computed, in contact coordinate system.
 
double GetContactPenetration () const
 Get the contact penetration (positive if there is overlap).
 
ChVector GetContactForceAbs () const
 Get the contact force, expressed in the frame of the contact.
 
const ChKblockGenericGetJacobianKRM () const
 Access the proxy to the Jacobian.
 
const ChMatrixDynamic< double > * GetJacobianK () const
 
const ChMatrixDynamic< double > * GetJacobianR () const
 
virtual void Reset (Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo) override
 Reinitialize this contact. More...
 
ChVector CalculateForce (double delta, const ChVector<> &normal_dir, const ChVector<> &vel1, const ChVector<> &vel2)
 Calculate contact force, expressed in absolute coordinates. More...
 
void CalculateQ (const ChState &stateA_x, const ChStateDelta &stateA_w, const ChState &stateB_x, const ChStateDelta &stateB_w, ChVectorDynamic<> &Q)
 Compute all forces in a contiguous array. More...
 
void CreateJacobians ()
 Create the Jacobian matrices. More...
 
void CalculateJacobians ()
 Calculate Jacobian of generalized contact forces.
 
virtual void ContIntLoadResidual_F (ChVectorDynamic<> &R, const double c) override
 Apply contact forces to the two objects. More...
 
virtual void ContInjectKRMmatrices (ChSystemDescriptor &mdescriptor) override
 Inject Jacobian blocks into the system descriptor. More...
 
virtual void ContKRMmatricesLoad (double Kfactor, double Rfactor) override
 Compute Jacobian of contact forces.
 
- Public Member Functions inherited from chrono::ChContactTuple< Ta, Tb >
 ChContactTuple (ChContactContainerBase *mcontainer, Ta *mobjA, Tb *mobjB, const collision::ChCollisionInfo &cinfo)
 
Ta * GetObjA ()
 Get the colliding object A, with point P1.
 
Tb * GetObjB ()
 Get the colliding object B, with point P2.
 
ChCoordsys GetContactCoords () const
 Get the contact coordinate system, expressed in absolute frame. More...
 
const ChMatrix33GetContactPlane () const
 Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact. More...
 
const ChVectorGetContactP1 () const
 Get the contact point 1, in absolute coordinates.
 
const ChVectorGetContactP2 () const
 Get the contact point 2, in absolute coordinates.
 
const ChVectorGetContactNormal () const
 Get the contact normal, in absolute coordinates.
 
double GetContactDistance () const
 Get the contact distance.
 
virtual void ContIntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
 
virtual void ContIntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
 
virtual void ContIntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c)
 
virtual void ContIntLoadConstraint_C (const unsigned int off_L, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp)
 
virtual void ContIntToDescriptor (const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc)
 
virtual void ContIntFromDescriptor (const unsigned int off_L, ChVectorDynamic<> &L)
 
virtual void InjectConstraints (ChSystemDescriptor &mdescriptor)
 
virtual void ConstraintsBiReset ()
 
virtual void ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false)
 
virtual void ConstraintsFetch_react (double factor)
 

Additional Inherited Members

- Protected Attributes inherited from chrono::ChContactTuple< Ta, Tb >
ChContactContainerBasecontainer
 associated contact container
 
Ta * objA
 first ChContactable object in the pair
 
Tb * objB
 second ChContactable object in the pair
 
ChVector p1
 max penetration point on geo1, after refining, in abs space
 
ChVector p2
 max penetration point on geo2, after refining, in abs space
 
ChVector normal
 normal, on surface of master reference (geo1)
 
ChMatrix33 contact_plane
 the plane of contact (X is normal direction)
 
double norm_dist
 penetration distance (negative if going inside) after refining
 

Constructor & Destructor Documentation

template<class Ta , class Tb >
chrono::ChContactDEM< Ta, Tb >::ChContactDEM ( ChContactContainerBase mcontainer,
Ta *  mobjA,
Tb *  mobjB,
const collision::ChCollisionInfo cinfo 
)
Parameters
mcontainercontact container
mobjAcollidable object A
mobjBcollidable object B
cinfodata for the contact pair

Member Function Documentation

template<class Ta , class Tb >
ChVector chrono::ChContactDEM< Ta, Tb >::CalculateForce ( double  delta,
const ChVector<> &  normal_dir,
const ChVector<> &  vel1,
const ChVector<> &  vel2 
)

Calculate contact force, expressed in absolute coordinates.

Parameters
deltaoverlap in normal direction
normal_dirnormal contact direction (expressed in global frame)
vel1velocity of contact point on objA (expressed in global frame)
vel2velocity of contact point on objB (expressed in global frame)
template<class Ta , class Tb >
void chrono::ChContactDEM< Ta, Tb >::CalculateQ ( const ChState stateA_x,
const ChStateDelta stateA_w,
const ChState stateB_x,
const ChStateDelta stateB_w,
ChVectorDynamic<> &  Q 
)

Compute all forces in a contiguous array.

Used in finite-difference Jacobian approximation.

Parameters
stateA_xstate positions for objA
stateA_wstate velocities for objA
stateB_xstate positions for objB
stateB_wstate velocities for objB
Qoutput generalized forces
template<class Ta , class Tb >
virtual void chrono::ChContactDEM< Ta, Tb >::ContInjectKRMmatrices ( ChSystemDescriptor mdescriptor)
overridevirtual

Inject Jacobian blocks into the system descriptor.

Tell to a system descriptor that there are item(s) of type ChKblock in this object (for further passing it to a solver)

Reimplemented from chrono::ChContactTuple< Ta, Tb >.

template<class Ta , class Tb >
virtual void chrono::ChContactDEM< Ta, Tb >::ContIntLoadResidual_F ( ChVectorDynamic<> &  R,
const double  c 
)
overridevirtual

Apply contact forces to the two objects.

(new version, for interfacing to ChTimestepper and ChIntegrable)

Reimplemented from chrono::ChContactTuple< Ta, Tb >.

template<class Ta , class Tb >
void chrono::ChContactDEM< Ta, Tb >::CreateJacobians ( )

Create the Jacobian matrices.

These matrices are created/resized as needed.

template<class Ta , class Tb >
virtual void chrono::ChContactDEM< Ta, Tb >::Reset ( Ta *  mobjA,
Tb *  mobjB,
const collision::ChCollisionInfo cinfo 
)
overridevirtual

Reinitialize this contact.

Parameters
mobjAcollidable object A
mobjBcollidable object B
cinfodata for the contact pair

Reimplemented from chrono::ChContactTuple< Ta, Tb >.