chrono::ChDefaultContactForceTorqueSMC Class Reference
Description
Default implementation of the SMC normal and tangential force calculation.
#include <ChContactSMC.h>
Inheritance diagram for chrono::ChDefaultContactForceTorqueSMC:
Collaboration diagram for chrono::ChDefaultContactForceTorqueSMC:
Public Member Functions | |
| virtual ChWrenchd | CalculateForceTorque (const ChSystemSMC &sys, const ChVector3d &normal_dir, const ChVector3d &p1, const ChVector3d &p2, const ChVector3d &vel1, const ChVector3d &vel2, const ChContactMaterialCompositeSMC &mat, double delta, double eff_radius, double mass1, double mass2, ChContactable *objA, ChContactable *objB) const override |
| Default SMC force calculation algorithm. More... | |
Member Function Documentation
◆ CalculateForceTorque()
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inlineoverridevirtual |
Default SMC force calculation algorithm.
This implementation depends on various settings specified at the ChSystemSMC level (such as normal force model, tangential force model, use of material physical properties, etc).
- Parameters
-
sys containing system normal_dir normal contact direction (expressed in global frame) p1 most penetrated point on obj1 (expressed in global frame) p2 most penetrated point on obj2 (expressed in global frame) vel1 velocity of contact point on obj1 (expressed in global frame) vel2 velocity of contact point on obj2 (expressed in global frame) mat composite material for contact pair delta overlap in normal direction eff_radius effective radius of curvature at contact mass1 mass of obj1 mass2 mass of obj2 objA pointer to contactable obj1 objB pointer to contactable obj2
Implements chrono::ChSystemSMC::ChContactForceTorqueSMC.
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/physics/ChContactSMC.h
