Description

Load for a visco-elastic bushing acting between two bodies.

It uses three values for stiffness along the X Y Z axes of a coordinate system attached to the second body. This is equivalent to having a bushing with 3x3 diagonal local stiffness matrix.

#include <ChLoadsBody.h>

Inheritance diagram for chrono::ChLoadBodyBodyBushingSpherical:

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Collaboration diagram for chrono::ChLoadBodyBodyBushingSpherical:

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Public Member Functions
	ChLoadBodyBodyBushingSpherical (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChFrame<> &abs_application, const ChVector3d &stiffness_coefs, const ChVector3d &damping_coefs)

virtual ChLoadBodyBodyBushingSpherical *	Clone () const override
	"Virtual" copy constructor (covariant return type).

void	SetStiffness (const ChVector3d mstiffness)
	Set stiffness, along the x y z axes of loc_application_B, es [N/m].

ChVector3d	GetStiffness () const

void	SetDamping (const ChVector3d mdamping)
	Set damping, along the x y z axes of loc_application_B, es [Ns/m].

ChVector3d	GetDamping () const

Public Member Functions inherited from chrono::ChLoadBodyBody
	ChLoadBodyBody (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChFrame<> &abs_application)

ChVector3d	GetForce () const
	For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in coordinate system of loc_application_B, assumed applied to body B.

ChVector3d	GetTorque () const
	For diagnosis purposes, this can return the actual last computed value of the applied torque, expressed in coordinate system of loc_application_B, assumed applied to body B.

void	SetApplicationFrameA (const ChFrame<> &mpA)
	Set the application frame of bushing on bodyA.

ChFrame	GetApplicationFrameA () const

void	SetApplicationFrameB (const ChFrame<> &mpB)
	Set the application frame of bushing on bodyB.

ChFrame	GetApplicationFrameB () const

ChFrameMoving	GetAbsoluteFrameA () const
	Get absolute coordinate of frame A (last computed)

ChFrameMoving	GetAbsoluteFrameB () const
	Get absolute coordinate of frame B (last computed)

std::shared_ptr< ChBody >	GetBodyA () const

std::shared_ptr< ChBody >	GetBodyB () const

Public Member Functions inherited from chrono::ChLoadCustomMultiple
	ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &loadable_objects)

	ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB)

	ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB, std::shared_ptr< ChLoadable > loadableC)

virtual int	LoadGetNumCoordsPosLevel () override
	Gets the number of DOFs affected by this load (position part).

virtual int	LoadGetNumCoordsVelLevel () override
	Gets the number of DOFs affected by this load (speed part).

virtual void	LoadGetStateBlock_x (ChState &mD) override
	Gets all the current DOFs packed in a single vector (position part).

virtual void	LoadGetStateBlock_w (ChStateDelta &mD) override
	Gets all the current DOFs packed in a single vector (speed part).

virtual void	LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
	Increment a packed state (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. More...

virtual int	LoadGetNumFieldCoords () override
	Number of coordinates in the interpolated field. More...

virtual void	ComputeJacobian (ChState state_x, ChStateDelta state_w) override
	Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. More...

virtual void	LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override
	Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. More...

virtual void	LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override
	Increment a vector R with the matrix-vector product M*w, scaled by the factor c. More...

virtual void	LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override
	Add the lumped mass to an Md vector, representing a mass diagonal matrix. More...

virtual void	CreateJacobianMatrices () override
	Create the Jacobian loads if needed and set the ChVariables referenced by the sparse KRM block.

virtual ChVectorDynamic &	GetQ ()
	Access the generalized load vector Q.

Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobians *	GetJacobians ()
	Access the Jacobians (if any, i.e. if this is a stiff load).

virtual void	Update (double time, bool update_assets) override
	Update, called at least at each time step. More...

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () const
	Access the visualization model (if any). More...

void	AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add the specified visual shape to the visualization model. More...

std::shared_ptr< ChVisualShape >	GetVisualShape (unsigned int i) const
	Access the specified visualization shape in the visualization model (if any). More...

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
	Add the specified FEA visualization object to the visualization model. More...

std::shared_ptr< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this object. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a camera to this object. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this object.

void	UpdateVisualModel ()
	Utility function to update only the associated visual assets (if any).

virtual void	ArchiveOut (ChArchiveOut &archive_out)
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in)
	Method to allow de-serialization of transient data from archives.

virtual std::string &	ArchiveContainerName ()

Protected Member Functions
virtual bool	IsStiff () override
	Report if this is load is stiff. More...

virtual void	ComputeBodyBodyForceTorque (const ChFrameMoving<> &rel_AB, ChVector3d &loc_force, ChVector3d &loc_torque) override
	Implement the computation of the bushing force, in local coordinates of the loc_application_B. More...

Protected Member Functions inherited from chrono::ChLoadBodyBody
virtual void	ComputeQ (ChState state_x, ChStateDelta state_w) override
	Compute the generalized load(s). More...

Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Protected Attributes
ChVector3d	stiffness

ChVector3d	damping

Protected Attributes inherited from chrono::ChLoadBodyBody
ChFrame	loc_application_A
	application point on body A (local)

ChFrame	loc_application_B
	application point on body B (local)

ChVector3d	locB_force
	store computed values here

ChVector3d	locB_torque
	store computed values here

ChFrameMoving	frame_Aw
	for results

ChFrameMoving	frame_Bw
	for results

Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobians *	m_jacobians

Protected Attributes inherited from chrono::ChObj
double	ChTime
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

Additional Inherited Members
Public Attributes inherited from chrono::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > >	loadables

ChVectorDynamic	load_Q

Constructor & Destructor Documentation

◆ ChLoadBodyBodyBushingSpherical()

chrono::ChLoadBodyBodyBushingSpherical::ChLoadBodyBodyBushingSpherical	(	std::shared_ptr< ChBody >	bodyA,
		std::shared_ptr< ChBody >	bodyB,
		const ChFrame<> &	abs_application,
		const ChVector3d &	stiffness_coefs,
		const ChVector3d &	damping_coefs
	)

Parameters

bodyA	body A
bodyB	body B
abs_application	bushing location, in abs. coordinates.
stiffness_coefs	stiffness, along x y z axes of the abs_application
damping_coefs	damping, along x y z axes of the abs_application

Member Function Documentation

◆ ComputeBodyBodyForceTorque()

void chrono::ChLoadBodyBodyBushingSpherical::ComputeBodyBodyForceTorque	(	const ChFrameMoving<> &	rel_AB,
		ChVector3d &	loc_force,
		ChVector3d &	loc_torque
	)