Description

Base class for contact force calculation.

A user can override thie default implementation by attaching a custom derived class; see SetContactForceTorqueAlgorithm.

#include <ChSystemSMC.h>

Inheritance diagram for chrono::ChSystemSMC::ChContactForceTorqueSMC:

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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 =0
	Calculate contact force (resultant of both normal and tangential components) for a contact between two objects, obj1 and obj2. More...

Member Function Documentation

virtual ChWrenchd chrono::ChSystemSMC::ChContactForceTorqueSMC::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

pure virtual

Calculate contact force (resultant of both normal and tangential components) for a contact between two objects, obj1 and obj2.

Optionally, can compute torque, or leave it as zero. Note that this function is always called with delta > 0.

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

The documentation for this class was generated from the following file: