Tutorials
Dynamic objects of classes with fixed-size vectorizable Eigen object members
  • Many of the Chrono classes now have members that are fixed-size vectorizable Eigen types. These classes overload their operator new to generate 16-byte-aligned pointers (using an Eigen-provided macro).
  • This takes care of situations where one must dynamically create objects of such classes; for more details, see the Eigen documentation.
  • If you need to create STL containers of such classes, you should use a custom allocator that always allocates aligned memory (such as the Eigen-provided Eigen:aligned_allocator); for more details, see the Eigen documentation.
  • Finally, this requirement for aligned memory allocation has implications on creation of shared pointers. Indeed, std::make_shared uses placement new instead of operator new. To address this issue and preserve encapsulation (as much as possible), Chrono provides custom replacement functions for make_shared, available in the chrono_types namespace. These functions will automatically infer if they can safely fallback on std::make_shared or else create a shared pointer with an alternative mechanism that ensures use of aligned memory.
    As such, user code should always use chrono_types::make_shared as in
    auto my_body = chrono_types::make_shared<ChBody>();

Chrono modules

Other tools

Chrono training materials

Documentation guides

  • Documentation tutorials

    Guidelines on writing technical documentation for Chrono (for developers of new modules/features).

void AddTypicalLights()
Simple shortcut to set two point lights in the scene.
Definition: ChVisualSystemIrrlicht.cpp:341
Constant function: y = C
Definition: ChFunction_Const.h:26
void SetTimestepper(std::shared_ptr< ChTimestepper > mstepper)
Set the timestepper object to be used for time integration.
Definition: ChSystem.h:104
Sine function y = sin (phase + w*x )` where w=2*PI*freq.
Definition: ChFunction_Sine.h:27
Interface base class for scalar functions of the type: y= f(x)
Definition: ChFunction_Base.h:45
void Set_y0(double m_y0)
The value for x=0;.
Definition: ChFunction_Ramp.h:48
bool InsertFunct(std::shared_ptr< ChFunction > myfx, double duration, double weight=1, bool c0=false, bool c1=false, bool c2=false, int position=-1)
Insert function after the fx with defined "position" index in list.
Definition: ChFunction_Sequence.cpp:108
std::string GetChronoDataFile(const std::string &filename)
Obtain the complete path to the specified filename, given relative to the Chrono data directory (thre...
Definition: ChGlobal.cpp:95
void drawPolyline(ChVisualSystemIrrlicht *vis, std::vector< ChVector<> > &points, chrono::ChColor col, bool use_Zbuffer)
Draw a polyline in 3D space, given the array of points.
Definition: ChIrrTools.cpp:684
__host__ __device__ Real cube(Real a)
Cube a float value.
Definition: custom_math.h:79
void SetAdaptiveNewtonON(int initial_delay, double growth_tolerance)
Enable the adaptive size in the inner Newton loop.
Definition: ChStaticAnalysis.cpp:798
Eigen::Matrix< T, N, 1 > ChVectorN
Column vector with fixed size (known at compile time).
Definition: ChMatrix.h:108
bool IsObject(const T &root)
Tell if "root" has sub values (i.e.
Definition: ChArchiveExplorer.h:101
Operation between functions:
Definition: ChFunction_Operation.h:31
void Add(std::shared_ptr< ChPhysicsItem > item)
Attach an arbitrary ChPhysicsItem (e.g.
Definition: ChSystem.cpp:210
MINimum RESidual method.
void SetLoadIncrementCallback(std::shared_ptr< LoadIncrementCallback > my_callback)
Set the callback to be called at each iteration.
Definition: ChStaticAnalysis.h:267
Definition of a general purpose 2d vector.
Definition: ChVector2.h:34
Material data for a collision surface for use with non-smooth (complementarity) contact method.
Definition: ChMaterialSurfaceNSC.h:32
virtual void Render() override
Draw all 3D shapes and GUI elements at the current frame.
Definition: ChVisualSystemIrrlicht.cpp:627
virtual bool GetConvexHullResult(unsigned int hullIndex, geometry::ChTriangleMesh &convextrimesh)
Get the n-th computed convex hull, by filling a ChTriangleMesh object that is passed as a parameter.
Definition: ChConvexDecomposition.cpp:415
Base class for 1D integrand T=f(x) to be used in ChQuadrature.
Definition: ChQuadrature.h:83
void SetBasePath(const std::string &mpath)
Set the path where all files (.ini, .pov, .assets etc) will be saved.
Definition: ChPovRay.h:80
As ChIntegrable1D, but for 2D integrand T=f(x,y) to be used in ChQuadrature.
Definition: ChQuadrature.h:95
void EnableContactDrawing(ContactsDrawMode mode)
Enable contact rendering (default: none).
Definition: ChVisualSystemIrrlicht.cpp:516
virtual void SetNumThreads(int num_threads_chrono, int num_threads_collision=0, int num_threads_eigen=0)
Set the number of OpenMP threads used by Chrono itself, Eigen, and the collision detection system.
Definition: ChSystem.cpp:424
virtual double GetVolume() const override
Return the volume of this solid.
Definition: ChCylinder.cpp:37
void drawSegment(ChVisualSystemIrrlicht *vis, ChVector<> start, ChVector<> end, chrono::ChColor col, bool use_Zbuffer)
Draw line segments in 3D space with given color.
Definition: ChIrrTools.cpp:671
Create rigid bodies with a box shape.
Definition: ChBodyEasy.h:153
void Setup()
Scans all the seq.of functions and setup the timings and continuity offsets, to satisfy all constrain...
Definition: ChFunction_Sequence.cpp:203
std::shared_ptr< ChContactContainer > GetContactContainer() const
Access the underlying contact container.
Definition: ChSystem.h:672
virtual void Initialize() override
Initialize the visualization system.
Definition: ChVisualSystemIrrlicht.cpp:181
COORDSYS:
Definition: ChCoordsys.h:38
bool DoStaticAnalysis(ChStaticAnalysis &analysis)
Perform a generic static analysis.
Definition: ChSystem.cpp:1840
void AddSkyBox(const std::string &texture_dir=GetChronoDataFile("skybox/"))
Add a sky box in a 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:354
Type
Supported run-time visualization systems.
Definition: ChVisualSystem.h:36
static std::shared_ptr< ChVisualMaterial > Default()
Create a default material.
Definition: ChVisualMaterial.cpp:212
void SetSolverForceTolerance(double tolerance)
Set a solver tolerance threshold at force level (default: not specified).
Definition: ChSystem.h:193
Type
Available types of solvers.
Definition: ChSolver.h:35
Class for exceptions for throw() catch() mechanism.
Definition: ChException.h:24
Sparse left-looking rank-revealing QR factorization.
Irrlicht base classes (Chrono extensions).
Definition: ChCascadeIrrMeshTools.h:50
std::shared_ptr< ChTimestepper > GetTimestepper() const
Get the timestepper currently used for time integration.
Definition: ChSystem.h:107
void ExportScript()
Export the script that will be used by POV to process all the exported data and render the complete a...
Definition: ChPovRay.h:184
static void SetDefaultEffectiveCurvatureRadius(double eff_radius)
Set the default effective radius of curvature (for SMC contact).
Definition: ChCollisionInfo.cpp:67
Specialized class for BINARY output on system's file.
Definition: ChStream.h:657
void drawCircle(ChVisualSystemIrrlicht *vis, double radius, ChCoordsys<> pos, chrono::ChColor col, int resolution, bool use_Zbuffer)
Draw a circle line in 3D space with given color.
Definition: ChIrrTools.cpp:699
bool PutVariable(ChMatrixConstRef mmatr, std::string varname)
Put a matrix in Matlab environment, specifying its name as variable.
Definition: ChMatlabEngine.cpp:72
irr::scene::ILightSceneNode * AddLight(const ChVector<> &pos, double radius, ChColor color=ChColor(0.7f, 0.7f, 0.7f))
Add a point light to the scene.
Definition: ChVisualSystemIrrlicht.cpp:399
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > ChMatrixDynamic
Dense matrix with dynamic size (i.e., with unknown at compile time) and row-major storage.
Definition: ChMatrix.h:73
ChLog & GetLog()
Global function to get the current ChLog object.
Definition: ChLog.cpp:39
Linear function (like a straight ramp): y = y0 + x * speed
Definition: ChFunction_Ramp.h:27
Interface for functions that uses a callback to return a Y value, as a ZOH (zero order hold) block.
Definition: ChFunction_Setpoint.h:108
bool DoFrameDynamics(double end_time)
Performs integration until the m_endtime is exactly reached, but current time step may be automatical...
Definition: ChSystem.cpp:2035
Geometric object representing a segment in 3D space with two end points.
Definition: ChLineSegment.h:27
bool DoStaticLinear()
Solve the position of static equilibrium (and the reactions).
Definition: ChSystem.cpp:1751
Class for plotting data with GNUplot.
Definition: ChGnuPlot.h:55
virtual int AddCamera(const ChVector<> &pos, ChVector<> targ=VNULL) override
Add a camera in an Irrlicht 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:287
void RebindExternalPointer(void *mptr, size_t ID)
Use the following to declare object IDs that must not be de-serialized but rather be 'rebind' to alre...
Definition: ChArchive.h:1132
void SetVerbose(bool verbose)
Enable/disable verbose output (default: false)
Definition: ChStaticAnalysis.h:205
Eigen::Ref< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > > ChMatrixRef
Reference to a dense matrix expression, with double coefficients.
Definition: ChMatrix.h:134
Loads acting on a single ChLoadable item.
Definition: ChLoad.h:238
Definition of a 3x3 fixed size matrix to represent 3D rotations and inertia tensors.
Definition: ChMatrix33.h:31
void SetTemplateFile(const std::string &filename)
Set the filename of the template for the script generation.
Definition: ChPovRay.h:84
Class for exceptions that are thrown by TCP socket connections, used for example when connecting with...
Definition: ChSocket.h:239
Class for state of time-integrable objects.
Definition: ChState.h:34
virtual void WriteConvexHullsAsWavefrontObj(ChStreamOutAscii &mstream)
Save the computed convex hulls as a Wavefront file using the '.obj' fileformat, with each hull as a s...
Definition: ChConvexDecomposition.cpp:438
void ExportData()
This function is used at each timestep to export data formatted in a way that it can be load with the...
Definition: ChPovRay.cpp:749
static std::shared_ptr< ChTriangleMeshConnected > CreateFromWavefrontFile(const std::string &filename, bool load_normals=true, bool load_uv=false)
Create and return a ChTriangleMeshConnected from a Wavefront OBJ file.
Definition: ChTriangleMeshConnected.cpp:259
virtual void AddLink(std::shared_ptr< ChLinkBase > link)
Attach a link to the underlying assembly.
Definition: ChSystem.cpp:158
Specialized class for BINARY input from wrapped std::istream,.
Definition: ChStream.h:597
void SetCustomPOVcommandsScript(const std::string &text)
Set a string (a text block) of custom POV commands that you can optionally append to the POV script f...
Definition: ChPovRay.h:166
Chrono multicore collision detection system.
Specialized class for BINARY input on system's file.
Definition: ChStream.h:677
void TransformLocalToParent(const ChFrameMoving< Real > &local, ChFrameMoving< Real > &parent) const
This function transforms a frame from 'this' local coordinate system to parent frame coordinate syste...
Definition: ChFrameMoving.h:414
Special MBD 3x4 matrix [Fp(q)], as in [Fp(q)] * [Fm(q)]' = [A(q)].
Definition: ChMatrixMBD.h:48
Special MBD 3x4 matrix [Gw(q)], as in absolute angular speed conversion.
Definition: ChMatrixMBD.h:148
Namespace with classes for the POSTPROCESS module.
Definition: ChApiPostProcess.h:54
Eigen::Map< Eigen::Matrix< Real, 3, 1 > > eigen()
View this 3d vector as an Eigen vector.
Definition: ChVector.h:73
void Remove(std::shared_ptr< ChPhysicsItem > item)
Remove arbitrary ChPhysicsItem that was added to the underlying assembly.
Definition: ChSystem.cpp:234
Representation of a 3D transform.
Definition: ChFrame.h:34
Utility class for creating complex beams using ChElementBeamEuler elements, for example subdivides a ...
Definition: ChBuilderBeam.h:42
ChQuaternion< double > Q_from_AngAxis(double angle, const ChVector< double > &axis)
Get the quaternion from an angle of rotation and an axis, defined in abs coords.
Definition: ChQuaternion.cpp:99
Eigen::SparseMatrix< double, Eigen::RowMajor, int > ChSparseMatrix
Sparse matrix representation.
Definition: ChMatrix.h:171
Class of loaders for ChLoadableUVW objects (which support volume loads) of atomic type,...
Definition: ChLoaderUVW.h:153
Class for wrapping the HACD convex decomposition code revisited by John Ratcliff.
Definition: ChConvexDecomposition.h:148
A helper class to provide some basic mechanism of C++ reflection (introspection).
Definition: ChArchiveExplorer.h:28
std::shared_ptr< ChCollisionSystem > GetCollisionSystem() const
Access the underlying collision system.
Definition: ChSystem.h:124
bool FetchValue(P &val, const T &root, const std::string &property_name)
Search a property in "root" and directly assign it to "vl".
Definition: ChArchiveExplorer.h:53
void SetLight(ChVector<> location, ChColor color, bool cast_shadow)
Set the default light position and color - will write this in the output .pov file.
Definition: ChPovRay.cpp:159
Namespace with classes for the Irrlicht module.
Definition: ChApiIrr.h:47
Class for a timer which attempts to enforce soft real-time.
Definition: ChRealtimeStep.h:25
Accelerated Projected Gradient Descent.
Projected SOR (Successive Over-Relaxation)
void SetMaxPenetrationRecoverySpeed(double mval)
For the default stepper, you can limit the speed of exiting from penetration situations.
Definition: ChSystem.h:145
void SetIncrementalSteps(int incr_steps)
Set the number of outer iterations that will increment the external load in stepwise manner.
Definition: ChStaticAnalysis.cpp:794
Class for cosimulation interface.
Definition: ChCosimulation.h:39
void Q_from_AngY(Real angleY)
Set the quaternion from an angle of rotation about Y axis.
Definition: ChQuaternion.h:340
virtual double Get_y(double x) const override
Return the y value of the function, at position x.
Definition: ChFunction_Ramp.h:43
virtual void RemoveBody(std::shared_ptr< ChBody > body)
Remove a body from this assembly.
Definition: ChSystem.cpp:173
Namespace for classes which represent basic geometric objects.
Definition: ChBasisToolsBspline.h:24
Base class for serializing into archives.
Definition: ChArchive.h:800
This is a class for deserializing from XML archives.
Definition: ChArchiveXML.h:283
#define CHNVP(...)
Use this macro to mark a value, ex myarchive << CHNVP (myvalue, "mnemonic name") or,...
Definition: ChArchive.h:388
Nonlinear static analysis where the user can define external load(s) that will be incremented gradual...
Definition: ChStaticAnalysis.h:199
void Spin(double step)
Call this function INSIDE the simulation loop, just ONCE per loop (preferably as the last call in the...
Definition: ChRealtimeStep.h:34
void SetGrid(bool dashed=true, double linewidth=1.0, const ChColor &mcolor=ChColor(0, 0, 0))
Enable and specify parameters for a plot grid.
Definition: ChGnuPlot.h:357
virtual int ComputeConvexDecomposition()
Perform the convex decomposition.
Definition: ChConvexDecomposition.cpp:349
static ChVector< Real > TransformParentToLocal(const ChVector< Real > &parent, const ChVector< Real > &origin, const ChMatrix33< Real > &alignment)
This function transforms a point from the parent coordinate system to a local coordinate system,...
Definition: ChTransform.h:55
void SetNewtonDamping(double damping_factor)
Set damping of the Newton iteration.
Definition: ChStaticAnalysis.cpp:807
virtual void EndScene() override
End the scene draw at the end of each animation frame.
Definition: ChVisualSystemIrrlicht.cpp:617
virtual double Get_y(double x) const override
Return the y value of the function, at position x.
Definition: ChFunction_Sine.cpp:29
void Set(Real x, Real y, Real z)
Set the three values of the vector at once.
Definition: ChVector.h:744
std::vector< ChValue * > & FetchValues(T &root, const std::string &value_name)
Search one or more values in "root" and return reference to a vector with results.
Definition: ChArchiveExplorer.h:80
Definition of a visual color.
Definition: ChColor.h:30
const std::vector< std::shared_ptr< ChBody > > & Get_bodylist() const
Get the list of bodies.
Definition: ChSystem.h:312
virtual void BeginScene() override
Perform any necessary operations at the beginning of each rendering frame.
Definition: ChVisualSystemIrrlicht.cpp:568
void drawSpring(ChVisualSystemIrrlicht *vis, double radius, ChVector<> start, ChVector<> end, chrono::ChColor col, int resolution, double turns, bool use_Zbuffer)
Draw a spring in 3D space with given color.
Definition: ChIrrTools.cpp:726
const ChQuaternion< double > QUNIT(1., 0., 0., 0.)
Constant unit quaternion: {1, 0, 0, 0} , corresponds to no rotation (diagonal rotation matrix)
Definition: ChQuaternion.h:458
virtual ChMatrix33 GetGyration() const override
Return the gyration matrix for this solid.
Definition: ChCylinder.cpp:51
Base class for deserializing from archives.
Definition: ChArchive.h:1104
static ChVector< Real > TransformLocalToParent(const ChVector< Real > &local, const ChVector< Real > &origin, const ChMatrix33< Real > &alignment)
This function transforms a point from the local reference frame to the parent reference frame.
Definition: ChTransform.h:79
Definition of general purpose 3d vector variables, such as points in 3D.
Definition: ChVector.h:35
irr::scene::ILightSceneNode * AddLightWithShadow(const ChVector<> &pos, const ChVector<> &aim, double radius, double near_value, double far_value, double angle, unsigned int resolution=512, ChColor color=ChColor(1, 1, 1), bool directional=false, bool clipborder=true)
Add a point light that cast shadow (using soft shadows/shadow maps) Note that the quality of the shad...
Definition: ChVisualSystemIrrlicht.cpp:408
Specialized class for BINARY output to wrapped std::ostream.
Definition: ChStream.h:585
const std::string & GetChronoOutputPath()
Obtain the path to the output directory for Chrono demos.
Definition: ChGlobal.cpp:110
void drawGrid(ChVisualSystemIrrlicht *vis, double ustep, double vstep, int nu, int nv, ChCoordsys<> pos, chrono::ChColor col, bool use_Zbuffer)
Draw grids in 3D space with given orientation, color, and spacing.
Definition: ChIrrTools.cpp:798
virtual void RemoveLink(std::shared_ptr< ChLinkBase > link)
Remove a link from this assembly.
Definition: ChSystem.cpp:187
bool DoStaticNonlinear(int nsteps=10, bool verbose=false)
Solve the position of static equilibrium (and the reactions).
Definition: ChSystem.cpp:1807
virtual void Reset(void)
Reset the input mesh data.
Definition: ChConvexDecomposition.cpp:295
void SetMaxIterationsNewton(int max_newton_iters)
Set the max number of inner iterations for the Newton Raphson procedure (default: 5),...
Definition: ChStaticAnalysis.cpp:790
virtual double Get_y_dxdx(double x) const override
Return the ddy/dxdx double derivative of the function, at position x.
Definition: ChFunction_Sine.cpp:37
bool PutSparseMatrix(const ChSparseMatrix &mmatr, std::string varname)
Put a sparse matrix in Matlab environment, specifying its name as variable.
Definition: ChMatlabEngine.cpp:86
void AddUserEventReceiver(irr::IEventReceiver *receiver)
Attach a custom event receiver to the application.
Definition: ChVisualSystemIrrlicht.cpp:435
void ShowHierarchy(ChStreamOutAscii &m_file, int level=0) const
Write the hierarchy of contained bodies, markers, etc.
Definition: ChSystem.h:404
static void FromTetGenFile(std::shared_ptr< ChMesh > mesh, const char *filename_node, const char *filename_ele, std::shared_ptr< ChContinuumMaterial > my_material, ChVector<> pos_transform=VNULL, ChMatrix33<> rot_transform=ChMatrix33<>(1))
Load tetrahedrons from .node and .ele files as saved by TetGen.
Definition: ChMeshFileLoader.cpp:39
This is a class for serializing from binary archives.
Definition: ChArchiveBinary.h:99
static void SetDefaultSuggestedMargin(double margin)
Set the default margin (inward penetration).
Definition: ChCollisionModel.cpp:85
Chrono physical system.
Definition: ChSystem.h:62
void SetSolverType(ChSolver::Type type)
Choose the solver type, to be used for the simultaneous solution of the constraints in dynamical simu...
Definition: ChSystem.cpp:289
y direction of a reference frame
void Q_from_AngZ(Real angleZ)
Set the quaternion from an angle of rotation about Z axis.
Definition: ChQuaternion.h:343
int DoStepDynamics(double step_size)
Advances the dynamical simulation for a single step, of length step_size.
Definition: ChSystem.cpp:1601
Class for a physical system in which contact is modeled using a smooth (penalty-based) method.
Definition: ChSystemSMC.h:30
Specialized class for ASCII input on system's file.
Definition: ChStream.h:689
Sparse supernodal LU factorization.
Bullet-based collision detection system.
Special MBD 3x4 matrix [Fm(q)], as in [Fp(q)] * [Fm(q)]' = [A(q)].
Definition: ChMatrixMBD.h:71
Recorder function:
Definition: ChFunction_Recorder.h:54
This is a class for serializing to XML file format.
Definition: ChArchiveXML.h:38
void Set_ang(double m_ang)
The angular coefficient.
Definition: ChFunction_Ramp.h:52
Markers are auxiliary reference frames which belong to rigid bodies and move together with them.
Definition: ChMarker.h:38
Class for defining a camera point of view with basic settings.
Definition: ChCamera.h:29
Class for accessing the Matlab engine with a C++ wrapper.
Definition: ChMatlabEngine.h:45
void SetSolverMaxIterations(int max_iters)
Set the maximum number of iterations, if using an iterative solver.
Definition: ChSystem.cpp:263
ChFrameMoving: a class for coordinate systems in 3D space.
Definition: ChFrameMoving.h:38
void EnableShadows(std::shared_ptr< ChPhysicsItem > item=nullptr)
Enable shadow maps for all visual models in a scene or only for a single physics item.
Definition: ChVisualSystemIrrlicht.cpp:472
ChVector< Real > TransformParentToLocal(const ChVector< Real > &parent) const
This function transforms a point from the parent coordinate system to a local coordinate system,...
Definition: ChCoordsys.h:249
Chrono core utilities.
Definition: ChBenchmark.h:27
Real & x()
Access to components.
Definition: ChVector.h:49
virtual double Get_y_dx(double x) const override
Return the dy/dx derivative of the function, at position x.
Definition: ChFunction_Ramp.h:44
void SetWindowTitle(const std::string &win_title)
Set the windoiw title (default "").
Definition: ChVisualSystemIrrlicht.cpp:138
static void FromAbaqusFile(std::shared_ptr< ChMesh > mesh, const char *filename, std::shared_ptr< ChContinuumMaterial > my_material, std::map< std::string, std::vector< std::shared_ptr< ChNodeFEAbase > > > &node_sets, ChVector<> pos_transform=VNULL, ChMatrix33<> rot_transform=ChMatrix33<>(1), bool discard_unused_nodes=true)
Load tetrahedrons, if any, saved in a .inp file for Abaqus.
Definition: ChMeshFileLoader.cpp:196
double ChRandom()
Returns random value in (0..1) interval with Park-Miller method.
Definition: ChMathematics.cpp:62
This is a class for deserializing from JSON archives.
Definition: ChArchiveJSON.h:302
ChCoordsys< Real > & GetCoord()
Return both current rotation and translation as a coordsystem object, with vector and quaternion.
Definition: ChFrame.h:191
void AddAll()
Add all ChPhysicsItem objects in the system to the list of objects to render.
Definition: ChPovRay.cpp:90
void SetParameters(unsigned int mMaxHullCount=256, unsigned int mMaxMergeHullCount=256, unsigned int mMaxHullVertices=64, float mConcavity=0.2f, float mSmallClusterThreshold=0.0f, float mFuseTolerance=1e-9)
Set the parameters for this convex decomposition algorithm.
Definition: ChConvexDecomposition.cpp:324
virtual bool WriteConvexHullsAsChullsFile(ChStreamOutAscii &mstream)
Write the convex decomposition to a ".chulls" file, where each hull is a sequence of x y z coords.
Definition: ChConvexDecomposition.cpp:75
virtual double Get_y_dx(double x) const override
Return the dy/dx derivative of the function, at position x.
Definition: ChFunction_Sine.cpp:33
virtual void AttachSystem(ChSystem *sys) override
Attach another Chrono system to the run-time visualization system.
Definition: ChVisualSystemIrrlicht.cpp:165
virtual void SetSolver(std::shared_ptr< ChSolver > newsolver)
Attach a solver (derived from ChSolver) for use by this system.
Definition: ChSystem.cpp:370
Class defining quaternion objects, that is four-dimensional numbers, also known as Euler parameters.
Definition: ChQuaternion.h:45
Base class for composite material for a contact pair.
Definition: ChMaterialSurface.h:117
Class for a load acting on a single ChLoadable item, via ChLoader objects.
Definition: ChLoad.h:167
Class for post processing implementation that generates scripts for POVray.
Definition: ChPovRay.h:33
Utility class for creating complex beams using ChElementCableANCF elements, for example subdivides a ...
Definition: ChBuilderBeam.h:91
Constant acceleration function:
Definition: ChFunction_ConstAcc.h:31
virtual unsigned int GetHullCount()
Get the number of computed hulls after the convex decomposition.
Definition: ChConvexDecomposition.cpp:392
Namespace with classes for the cosimulation module.
Definition: ChApiCosimulation.h:52
void BuildBeam(std::shared_ptr< ChMesh > mesh, std::shared_ptr< ChBeamSectionCable > sect, const int N, const ChVector<> A, const ChVector<> B)
Adds cable FEM elements to the mesh to create a segment beam from point A to point B,...
Definition: ChBuilderBeam.cpp:256
virtual bool Run() override
Run the Irrlicht device.
Definition: ChVisualSystemIrrlicht.cpp:240
bool GetVariable(ChMatrixDynamic< double > &mmatr, std::string varname)
Fetch a matrix from Matlab environment, specifying its name as variable.
Definition: ChMatlabEngine.cpp:120
static void fillIrrlichtMeshFromCascade(scene::IMesh *pMesh, const TopoDS_Shape &mshape, double deflection=1, bool relative_deflection=false, double angulardeflection=0.5, video::SColor clr=video::SColor(255, 255, 255, 255))
Function to convert an OpenCASCADE shape into a Irrlicht mesh, for visualization.
Definition: ChCascadeIrrMeshTools.h:122
Main Irrlicht namespace (Chrono extensions).
Definition: ChCascadeIrrMeshTools.h:47
Eigen::Matrix< T, Eigen::Dynamic, 1, Eigen::ColMajor > ChVectorDynamic
Column vector with dynamic size (i.e., with size unknown at compile time).
Definition: ChMatrix.h:98
This is a class for serializing to binary archives.
Definition: ChArchiveBinary.h:25
virtual double Get_y_dx(double x) const override
Return the dy/dx derivative of the function, at position x.
Definition: ChFunction_Sequence.cpp:263
Loads acting on multiple ChLoadable items.
Definition: ChLoad.h:303
Namespace with classes for the CASCADE module.
Definition: ChApiCASCADE.h:52
Main namespace for the Chrono package.
Definition: ChCamera.cpp:17
void SetCameraVertical(CameraVerticalDir vert)
Use Y-up camera rendering (default CameraVerticalDir::Y).
Definition: ChVisualSystemIrrlicht.cpp:150
Chrono wrappers for high-resolution timers.
Definition: ChTimer.h:24
A basic triangle mesh: just a list of triangles (no edge connectivity info).
Definition: ChTriangleMeshSoup.h:26
double GetChTime() const
Get the simulation time of this system.
Definition: ChSystem.h:212
void SetTimestepperType(ChTimestepper::Type type)
Set the method for time integration (time stepper type).
Definition: ChSystem.cpp:463
virtual void BindItem(std::shared_ptr< ChPhysicsItem > item) override
Process the visual assets for the spcified physics item.
Definition: ChVisualSystemIrrlicht.cpp:666
ChVector vpA
coll.point on A, in abs coords
Definition: ChCollisionInfo.h:32
void UnbindExternalPointer(void *mptr, size_t ID)
Use the following to declare pointer(s) that must not be de-serialized but rather be 'unbind' and be ...
Definition: ChArchive.h:842
virtual void AddShaft(std::shared_ptr< ChShaft > shaft)
Attach a shaft to the underlying assembly.
Definition: ChSystem.cpp:153
ChMatrix33< Real > & GetA()
Return the current rotation as a 3x3 matrix.
Definition: ChFrame.h:203
void stop()
Stop the timer.
Definition: ChTimer.h:32
int ChMin(int a, int b)
Minimum between two values.
Definition: ChMathematics.h:75
void AddLogo(const std::string &logo_filename=GetChronoDataFile("logo_chronoengine_alpha.png"))
Add a logo in a 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:333
#define CH_ENUM_MAPPER_BEGIN(__enum_type)
Three macros to simplify the use of enum mapper.
Definition: ChArchive.h:733
const std::vector< std::shared_ptr< ChLinkBase > > & Get_linklist() const
Get the list of links.
Definition: ChSystem.h:316
ASCII 'LOG' ARCHIVES (only output, for debugging etc.)
Definition: ChArchiveAsciiDump.h:26
Special MBD 3x4 matrix [Gl(q)], as in local angular speed conversion.
Definition: ChMatrixMBD.h:95
Specialized class for ASCII output on system's file.
Definition: ChStream.h:667
Class defining basic geometric information for collision pairs.
Definition: ChCollisionInfo.h:26
virtual void SetCollisionSystemType(ChCollisionSystem::Type type)
Set the collision detection system used by this Chrono system to the specified type.
Definition: ChSystem.cpp:375
virtual void AddBody(std::shared_ptr< ChBody > body)
Attach a body to the underlying assembly.
Definition: ChSystem.cpp:147
Irrlicht base classes (Chrono extensions).
Definition: ChIrrTools.cpp:23
virtual bool AddTriangleMesh(const geometry::ChTriangleMesh &tm)
Add a triangle mesh soup, by passing an entire ChTriangleMesh object.
Definition: ChConvexDecomposition.cpp:316
Type
Supported collision systems.
Definition: ChCollisionSystem.h:44
bool Eval(std::string mstring)
Evaluate a Matlab instruction (as a string). If error happens while executing, returns false.
Definition: ChMatlabEngine.cpp:63
Class of loaders for ChLoadableU objects (which support line loads), for loads of distributed type,...
Definition: ChLoaderU.h:47
Geometric object representing an arc or a circle in 3D space.
Definition: ChLineArc.h:27
void Q_from_AngAxis(Real angle, const ChVector< Real > &axis)
Set the quaternion from an angle of rotation and an axis, defined in absolute coords.
Definition: ChQuaternion.h:1146
void Set_G_acc(const ChVector<> &m_acc)
Set the G (gravity) acceleration vector, affecting all the bodies in the system.
Definition: ChSystem.h:206
virtual double Get_y(double x) const override
Return the y value of the function, at position x.
Definition: ChFunction_Sequence.cpp:251
Namespace for FEA classes.
Definition: ChVisualShapeFEA.h:28
Class for a physical system in which contact is modeled using a non-smooth (complementarity-based) me...
Definition: ChSystemNSC.h:29
void Update(double mytime, bool update_assets=true)
Updates all the auxiliary data and children of bodies, forces, links, given their current state.
Definition: ChSystem.cpp:752
void start()
Start the timer.
Definition: ChTimer.h:29
virtual void Setup()
Counts the number of bodies and links.
Definition: ChSystem.cpp:671
virtual double Get_y_dxdx(double x) const override
Return the ddy/dxdx double derivative of the function, at position x.
Definition: ChFunction_Sequence.cpp:275
int ChMax(int a, int b)
Maximum between two values.
Definition: ChMathematics.h:63
void ConcatenatePreTransformation(const ChFrameMoving< Real > &T)
Apply a transformation (rotation and translation) represented by another ChFrameMoving T.
Definition: ChFrameMoving.h:331
Eigen::Matrix< T, M, N, Eigen::RowMajor > ChMatrixNM
Dense matrix with fixed size (known at compile time) and row-major storage.
Definition: ChMatrix.h:78
void AddBoxGeometry(ChBody *body, ChMaterialSurfaceSharedPtr material, const ChVector<> &size, const ChVector<> &pos, const ChQuaternion<> &rot, bool visualization, ChVisualMaterialSharedPtr vis_material)
Add a box collision shape and optionally a corresponding visualization asset to the specified body.
Definition: ChUtilsCreators.cpp:75
Class for incremental form of state of time-integrable objects.
Definition: ChState.h:125
static void SetDefaultSuggestedEnvelope(double envelope)
Set the default envelope value.
Definition: ChCollisionModel.cpp:81
Namespace with classes for the VSG module.
Definition: ChApiVSG.h:51
A single object of this class must be instantiated before using all classes related to sockets,...
Definition: ChSocket.h:230
void SetWindowSize(unsigned int width, unsigned int height)
Set the window size (default 640x480).
Definition: ChVisualSystemIrrlicht.cpp:134
ChVector< Real > TransformLocalToParent(const ChVector< Real > &local) const
This function transforms a point from the local coordinate system to the parent coordinate system.
Definition: ChCoordsys.h:241
Sequence function: y = sequence_of_functions(f1(y), f2(y), f3(y)) All other function types can be ins...
Definition: ChFunction_Sequence.h:68
std::vector< std::shared_ptr< ChNodeFEAxyzrot > > & GetLastBeamNodes()
Access the list of nodes used by the last built beam.
Definition: ChBuilderBeam.h:86
Irrlicht-based Chrono run-time visualization system.
Definition: ChVisualSystemIrrlicht.h:51
Class to be used as a callback interface for some user defined action to be taken each time a contact...
Definition: ChContactContainer.h:70
void BuildBeam(std::shared_ptr< ChMesh > mesh, std::shared_ptr< ChBeamSectionEuler > sect, const int N, const ChVector<> A, const ChVector<> B, const ChVector<> Ydir)
Add beam FEM elements to the mesh to create a segment beam from point A to point B,...
Definition: ChBuilderBeam.cpp:25
void SetResidualTolerance(double tol)
Set stopping criteria based on norm of residual and the specified tolerance.
Definition: ChStaticAnalysis.cpp:785
Class to be used as a callback interface for updating the system at each step of load increment.
Definition: ChStaticAnalysis.h:255
Real Length() const
Compute the euclidean norm of the vector, that is its length or magnitude.
Definition: ChVector.h:836
This is a class for serializing to JSON.
Definition: ChArchiveJSON.h:35