Description
Base class for contact between two generic ChContactable objects.
#include <ChContact.h>


Public Member Functions | |
void | Reset_cinfo (ChContactable *obj_A, ChContactable *obj_B, const ChCollisionInfo &cinfo) |
Reinitialize geometric information for this contact for reuse. More... | |
ChContactable * | GetObjA () |
Get the colliding object A, with point P1. | |
ChContactable * | GetObjB () |
Get the colliding object B, with point P2. | |
ChCoordsys | GetContactCoords () const |
Get the contact coordinate system, expressed in absolute frame. More... | |
const ChMatrix33 & | GetContactPlane () const |
Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact. More... | |
const ChVector3d & | GetContactP1 () const |
Get the contact point 1, in absolute coordinates. | |
const ChVector3d & | GetContactP2 () const |
Get the contact point 2, in absolute coordinates. | |
const ChVector3d & | GetContactNormal () const |
Get the contact normal, in absolute coordinates. | |
double | GetContactDistance () const |
Get the contact distance. | |
double | GetEffectiveCurvatureRadius () const |
Get the effective radius of curvature. | |
virtual ChVector3d | GetContactForce () const |
Get the contact force, if computed, in contact coordinate system. | |
virtual ChVector3d | GetContactTorque () const |
Get the contact torque, if computed, in contact coordinate system. | |
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 | ContIntLoadResidual_F (ChVectorDynamic<> &R, const double c) |
virtual void | ContInjectKRMmatrices (ChSystemDescriptor &mdescriptor) |
virtual void | ContKRMmatricesLoad (double Kfactor, double Rfactor) |
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 &descriptor) |
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) |
Protected Member Functions | |
ChContact (ChContactContainer *contact_container, ChContactable *obj_A, ChContactable *obj_B) | |
Protected Attributes | |
ChContactContainer * | container |
associated contact container | |
ChContactable * | objA |
first ChContactable object in the pair | |
ChContactable * | objB |
second ChContactable object in the pair | |
ChVector3d | p1 |
max penetration point on geo1, after refining, in abs space | |
ChVector3d | p2 |
max penetration point on geo2, after refining, in abs space | |
ChVector3d | 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 | |
double | eff_radius |
effective radius of curvature at contact | |
Member Function Documentation
◆ ContIntFromDescriptor()
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inlinevirtual |
- Parameters
-
off_L offset in L L the L vector
◆ ContIntLoadConstraint_C()
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inlinevirtual |
- Parameters
-
off_L offset in Qc residual Qc result: the Qc residual, Qc += c*C c a scaling factor do_clamp apply clamping to c*C? recovery_clamp value for min/max clamping of c*C
◆ ContIntLoadResidual_CqL()
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inlinevirtual |
- Parameters
-
off_L offset in L multipliers R result: the R residual, R += c*Cq'*L L the L vector c a scaling factor
◆ ContIntToDescriptor()
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inlinevirtual |
- Parameters
-
off_L offset in L, Qc L the L vector Qc the Qc vector
◆ GetContactCoords()
ChCoordsys chrono::ChContact::GetContactCoords | ( | ) | const |
Get the contact coordinate system, expressed in absolute frame.
This represents the 'main' reference of the link: reaction forces are expressed in this coordinate system. Its origin is point P2. (It is the coordinate system of the contact plane and normal)
◆ GetContactPlane()
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inline |
Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact.
In detail, the X versor (the 1s column of the matrix) represents the direction of the contact normal.
◆ Reset_cinfo()
void chrono::ChContact::Reset_cinfo | ( | ChContactable * | obj_A, |
ChContactable * | obj_B, | ||
const ChCollisionInfo & | cinfo | ||
) |
Reinitialize geometric information for this contact for reuse.
- Parameters
-
obj_A contactable object A obj_B contactable object B cinfo data for the contact pair
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChContact.h
- /builds/uwsbel/chrono/src/chrono/physics/ChContact.cpp