chrono::ChContactMaterialNSC Class Reference

Description

Material data for a collision surface for use with non-smooth (complementarity) contact method.

Notes:

• Rolling friction
  Rolling resistant torque is Tr <= (normal force) * (rolling friction parameter)
  The rolling friction parameter is usually a very low value. Measuring unit: m.
  A non-zero value will make the simulation 2x slower!
• Spinning friction
  Spinning resistant torque is Ts <= (normal force) * (spinning friction parameter)
  The spinning friction parameter is usually a very low value. Measuring unit: m.
  A non-zero value will make the simulation 2x slower!

#include <ChContactMaterialNSC.h>

Inheritance diagram for chrono::ChContactMaterialNSC:

Collaboration diagram for chrono::ChContactMaterialNSC:

Public Member Functions
	ChContactMaterialNSC (const ChContactMaterialNSC &other)
virtual ChContactMaterialNSC *	Clone () const override
	"Virtual" copy constructor (covariant return type).
virtual ChContactMethod	GetContactMethod () const override
float	GetCohesion ()
	The cohesion max. force for normal pulling traction in contacts. Measuring unit: N. Default 0.
void	SetCohesion (float mval)
float	GetDampingF ()
	The damping in contact, as a factor 'f': damping is a multiple of stiffness [K], that is: [R]=f*[K] Measuring unit: time, s. More...
void	SetDampingF (float mval)
float	GetCompliance ()
	Compliance of the contact, in normal direction. More...
void	SetCompliance (float mval)
float	GetComplianceT ()
	Compliance of the contact, in tangential direction. More...
void	SetComplianceT (float mval)
float	GetComplianceRolling ()
	Rolling compliance of the contact, if using a nonzero rolling friction. More...
void	SetComplianceRolling (float mval)
float	GetComplianceSpinning ()
	Spinning compliance of the contact, if using a nonzero rolling friction. More...
void	SetComplianceSpinning (float mval)
virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.
virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow deserialization of transient data from archives.
Public Member Functions inherited from chrono::ChContactMaterial
void	SetStaticFriction (float val)
	Set the static friction coefficient. More...
float	GetStaticFriction () const
	Get the static friction coefficient.
void	SetSlidingFriction (float val)
	Set the sliding (kinetic) friction coefficient.
float	GetSlidingFriction () const
	Get the sliding friction coefficient.
void	SetFriction (float val)
	Set both static friction and sliding friction at once, with same value.
void	SetRollingFriction (float val)
	Set the rolling friction coefficient (default: 0). More...
float	GetRollingFriction () const
	Get the rolling friction coefficient.
void	SetSpinningFriction (float val)
	Set the spinning friction coefficient (default: 0). More...
float	GetSpinningFriction () const
	Get the roliung friction coefficient.
void	SetRestitution (float val)
	Set the ormal coefficient of restitution (default: 0). More...
float	GetRestitution () const
	Get the coefficient of restitution.

Public Attributes
float	cohesion
float	dampingf
float	compliance
float	complianceT
float	complianceRoll
float	complianceSpin
Public Attributes inherited from chrono::ChContactMaterial
float	static_friction
	static coefficient of friction
float	sliding_friction
	sliding coefficient of friction
float	rolling_friction
	rolling coefficient of friction
float	spinning_friction
	spinning coefficient of friction
float	restitution
	coefficient of restitution

Additional Inherited Members
Static Public Member Functions inherited from chrono::ChContactMaterial
static std::shared_ptr< ChContactMaterial >	DefaultMaterial (ChContactMethod contact_method)
	Construct and return a contact material of the specified type with default properties.
Protected Member Functions inherited from chrono::ChContactMaterial
	ChContactMaterial (const ChContactMaterial &other)

Member Function Documentation

GetCompliance()

float chrono::ChContactMaterialNSC::GetCompliance ( )

inline

Compliance of the contact, in normal direction.

It is the inverse of the stiffness [K] , so for zero value one has a perfectly rigid contact. Measuring unit: m/N. Default 0.

GetComplianceRolling()

float chrono::ChContactMaterialNSC::GetComplianceRolling ( )

inline

Rolling compliance of the contact, if using a nonzero rolling friction.

(If there is no rolling friction, this has no effect.) Measuring unit: rad/Nm. Default 0.

GetComplianceSpinning()

float chrono::ChContactMaterialNSC::GetComplianceSpinning ( )

inline

Spinning compliance of the contact, if using a nonzero rolling friction.

(If there is no spinning friction, this has no effect.) Measuring unit: rad/Nm. Default 0.

GetComplianceT()

float chrono::ChContactMaterialNSC::GetComplianceT ( )

inline

Compliance of the contact, in tangential direction.

Measuring unit: m/N. Default 0.

GetDampingF()

float chrono::ChContactMaterialNSC::GetDampingF ( )

inline

The damping in contact, as a factor 'f': damping is a multiple of stiffness [K], that is: [R]=f*[K] Measuring unit: time, s.

Default 0.

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

• /builds/uwsbel/chrono/src/chrono/physics/ChContactMaterialNSC.h
• /builds/uwsbel/chrono/src/chrono/physics/ChContactMaterialNSC.cpp