chrono::ChContactContainerNSC::ReportContactCallbackNSC Class Referenceabstract

Description

Class to be used as a NSC-specific callback interface for some user defined action to be taken for each contact (already added to the container, maybe with already computed forces).

It can be used to report or post-process contacts. It also tells the offset of the contact (first component, normal) in the vector of lagrangian multipliers, if this info is not needed, you can just use ChContactContainer::ReportContactCallback

#include <ChContactContainerNSC.h>

Public Member Functions

virtual bool OnReportContact (const ChVector3d &pA, const ChVector3d &pB, const ChMatrix33<> &plane_coord, const double &distance, const double &eff_radius, const ChVector3d &react_forces, const ChVector3d &react_torques, ChContactable *contactobjA, ChContactable *contactobjB, const int offset)=0
 Callback used to report contact points already added to the container. More...
 

Member Function Documentation

◆ OnReportContact()

virtual bool chrono::ChContactContainerNSC::ReportContactCallbackNSC::OnReportContact ( const ChVector3d pA,
const ChVector3d pB,
const ChMatrix33<> &  plane_coord,
const double &  distance,
const double &  eff_radius,
const ChVector3d react_forces,
const ChVector3d react_torques,
ChContactable contactobjA,
ChContactable contactobjB,
const int  offset 
)
pure virtual

Callback used to report contact points already added to the container.

If it returns false, the contact scanning will be stopped.

Parameters
pAcontact pA
pBcontact pB
plane_coordcontact plane coordsystem (A column 'X' is contact normal)
distancecontact distance
eff_radiuseffective radius of curvature at contact
react_forcesreact.forces (if already computed). In coordsystem 'plane_coord'
react_torquesreact.torques, if rolling friction (if already computed).
contactobjAmodel A (note: some containers may not support it and could be nullptr)
contactobjBmodel B (note: some containers may not support it and could be nullptr)
offsetoffset of the first constraint (the normal component) in the vector of lagrangian multipliers, if already book-keeped

The documentation for this class was generated from the following file:
  • /builds/uwsbel/chrono/src/chrono/physics/ChContactContainerNSC.h