chrono::ChContactTuple< Ta, Tb > Class Template Reference

Description

template<class Ta, class Tb>
class chrono::ChContactTuple< Ta, Tb >

Base class for contact between two generic ChContactable objects.

T1 and T2 are of ChContactable sub classes.

#include <ChContactTuple.h>

Inheritance diagram for chrono::ChContactTuple< Ta, Tb >:
Collaboration diagram for chrono::ChContactTuple< Ta, Tb >:

Public Types

typedef Ta::type_variable_tuple_carrier typecarr_a
 
typedef Tb::type_variable_tuple_carrier typecarr_b
 

Public Member Functions

 ChContactTuple (ChContactContainer *mcontainer, Ta *mobjA, Tb *mobjB, const ChCollisionInfo &cinfo)
 
void Reset_cinfo (Ta *mobjA, Tb *mobjB, const ChCollisionInfo &cinfo)
 Reinitialize geometric information for this contact for reuse. More...
 
Ta * GetObjA ()
 Get the colliding object A, with point P1.
 
Tb * GetObjB ()
 Get the colliding object B, with point P2.
 
ChCoordsys GetContactCoords () const
 Get the contact coordinate system, expressed in absolute frame. More...
 
const ChMatrix33GetContactPlane () const
 Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact. More...
 
const ChVectorGetContactP1 () const
 Get the contact point 1, in absolute coordinates.
 
const ChVectorGetContactP2 () const
 Get the contact point 2, in absolute coordinates.
 
const ChVectorGetContactNormal () 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 ChVector GetContactForce () const
 Get the contact force, if computed, in contact coordinate system.
 
virtual ChVector 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 &mdescriptor)
 
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 Attributes

ChContactContainercontainer
 associated contact container
 
Ta * objA
 first ChContactable object in the pair
 
Tb * objB
 second ChContactable object in the pair
 
ChVector p1
 max penetration point on geo1, after refining, in abs space
 
ChVector p2
 max penetration point on geo2, after refining, in abs space
 
ChVector 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
 

Constructor & Destructor Documentation

◆ ChContactTuple()

template<class Ta, class Tb>
chrono::ChContactTuple< Ta, Tb >::ChContactTuple ( ChContactContainer mcontainer,
Ta *  mobjA,
Tb *  mobjB,
const ChCollisionInfo cinfo 
)
inline
Parameters
mcontainercontact container
mobjAChContactable object A
mobjBChContactable object B
cinfodata for the contact pair

Member Function Documentation

◆ ContIntFromDescriptor()

template<class Ta, class Tb>
virtual void chrono::ChContactTuple< Ta, Tb >::ContIntFromDescriptor ( const unsigned int  off_L,
ChVectorDynamic<> &  L 
)
inlinevirtual
Parameters
off_Loffset in L
Lthe L vector

◆ ContIntLoadConstraint_C()

template<class Ta, class Tb>
virtual void chrono::ChContactTuple< Ta, Tb >::ContIntLoadConstraint_C ( const unsigned int  off_L,
ChVectorDynamic<> &  Qc,
const double  c,
bool  do_clamp,
double  recovery_clamp 
)
inlinevirtual
Parameters
off_Loffset in Qc residual
Qcresult: the Qc residual, Qc += c*C
ca scaling factor
do_clampapply clamping to c*C?
recovery_clampvalue for min/max clamping of c*C

◆ ContIntLoadResidual_CqL()

template<class Ta, class Tb>
virtual void chrono::ChContactTuple< Ta, Tb >::ContIntLoadResidual_CqL ( const unsigned int  off_L,
ChVectorDynamic<> &  R,
const ChVectorDynamic<> &  L,
const double  c 
)
inlinevirtual
Parameters
off_Loffset in L multipliers
Rresult: the R residual, R += c*Cq'*L
Lthe L vector
ca scaling factor

◆ ContIntToDescriptor()

template<class Ta, class Tb>
virtual void chrono::ChContactTuple< Ta, Tb >::ContIntToDescriptor ( const unsigned int  off_L,
const ChVectorDynamic<> &  L,
const ChVectorDynamic<> &  Qc 
)
inlinevirtual
Parameters
off_Loffset in L, Qc
Lthe L vector
Qcthe Qc vector

◆ GetContactCoords()

template<class Ta, class Tb>
ChCoordsys chrono::ChContactTuple< Ta, Tb >::GetContactCoords ( ) const
inline

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()

template<class Ta, class Tb>
const ChMatrix33& chrono::ChContactTuple< Ta, Tb >::GetContactPlane ( ) const
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()

template<class Ta, class Tb>
void chrono::ChContactTuple< Ta, Tb >::Reset_cinfo ( Ta *  mobjA,
Tb *  mobjB,
const ChCollisionInfo cinfo 
)
inline

Reinitialize geometric information for this contact for reuse.

Parameters
mobjAChContactable object A
mobjBChContactable object B
cinfodata for the contact pair

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