chrono::ChLinkMatePlane Class Reference

Description

Mate constraint of plane-to-plane type.

This correspond to the typical planar face vs planar face mating used in 3D CAD assemblies. The planes are defined by the Y and Z axes of the two frames.

#include <ChLinkMate.h>

Inheritance diagram for chrono::ChLinkMatePlane:
Collaboration diagram for chrono::ChLinkMatePlane:

Public Member Functions

 ChLinkMatePlane (const ChLinkMatePlane &other)
 
virtual ChLinkMatePlaneClone () const override
 "Virtual" copy constructor (covariant return type).
 
void SetFlipped (bool doflip)
 Tell if the two normals must be opposed (flipped=false) or must have the same verse (flipped=true)
 
bool IsFlipped ()
 
void SetSeparation (double msep)
 Set the distance between the two planes, in normal direction.
 
double GetSeparation ()
 Get the requested distance between the two planes, in normal direction.
 
virtual void Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, bool pos_are_relative, ChVector<> mpt1, ChVector<> mpt2, ChVector<> mnorm1, ChVector<> mnorm2) override
 Specialized initialization for plane-plane mate, given the two bodies to be connected, two points on the two faces, two normals on the faces (each expressed in body or abs. More...
 
virtual void Update (double mtime, bool update_assets=true) override
 Override all time, jacobian etc. updating, inheriting parent but also adding the effect of separation. More...
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow deserialization of transient data from archives. More...
 
- 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 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, synchronize 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 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...
 
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 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_F (const unsigned int off, ChVectorDynamic<> &R, const double c)
 Takes the F force term, scale and adds to R at given offset: R += c*F. 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 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 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 ConstraintsFbLoadForces (double factor=1)
 Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.
 
virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor)
 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 KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor)
 Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. 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

bool flipped
 
double separation
 
- 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

Member Function Documentation

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

Method to allow deserialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChLinkMateGeneric.

void chrono::ChLinkMatePlane::Initialize ( std::shared_ptr< ChBodyFrame mbody1,
std::shared_ptr< ChBodyFrame mbody2,
bool  pos_are_relative,
ChVector<>  mpt1,
ChVector<>  mpt2,
ChVector<>  mnorm1,
ChVector<>  mnorm2 
)
overridevirtual

Specialized initialization for plane-plane mate, given the two bodies to be connected, two points on the two faces, two normals on the faces (each expressed in body or abs.

coordinates). Use ChLinkMateGeneric::Initialize() if you want to set the two frames directly.

Parameters
mbody1first body to link
mbody2second body to link
pos_are_relativetrue: following pos. are relative to bodies.
mpt1point on slave plane, for 1st body (rel. or abs., see flag above)
mpt2point on master plane, for 2nd body (rel. or abs., see flag above)
mnorm1normal of slave plane, for 1st body (rel. or abs., see flag above)
mnorm2normal of master plane, for 2nd body (rel. or abs., see flag above)

Reimplemented from chrono::ChLinkMateGeneric.

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

Override all time, jacobian etc. updating, inheriting parent but also adding the effect of separation.

Override all time, jacobian etc. updating.

Reimplemented from chrono::ChLinkMateGeneric.