chrono::ChMaterialSurfaceNSC 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 <ChMaterialSurfaceNSC.h>

Inheritance diagram for chrono::ChMaterialSurfaceNSC:

Collaboration diagram for chrono::ChMaterialSurfaceNSC:

Public Member Functions
	ChMaterialSurfaceNSC (const ChMaterialSurfaceNSC &other)
virtual ChMaterialSurfaceNSC *	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 &marchive) override
	Method to allow serialization of transient data to archives.
virtual void	ArchiveIn (ChArchiveIn &marchive) override
	Method to allow deserialization of transient data from archives.
Public Member Functions inherited from chrono::ChMaterialSurface
void	SetSfriction (float val)
	Static sliding friction coefficient. More...
float	GetSfriction () const
void	SetKfriction (float val)
	Kinetic sliding friction coefficient.
float	GetKfriction () const
void	SetFriction (float val)
	Set both static friction and kinetic friction at once, with same value.
void	SetRollingFriction (float val)
	Rolling friction coefficient. Usually around 1E-3. Default 0.
float	GetRollingFriction () const
void	SetSpinningFriction (float val)
	Spinning friction coefficient. Usually around 1E-3. Default 0.
float	GetSpinningFriction () const
void	SetRestitution (float val)
	Normal coefficient of restitution. In the range [0,1]. Default 0.
float	GetRestitution () const

Public Attributes
float	cohesion
float	dampingf
float	compliance
float	complianceT
float	complianceRoll
float	complianceSpin
Public Attributes inherited from chrono::ChMaterialSurface
float	static_friction
	Static coefficient of friction.
float	sliding_friction
	Kinetic 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::ChMaterialSurface
static std::shared_ptr< ChMaterialSurface >	DefaultMaterial (ChContactMethod contact_method)
	Construct and return a contact material of the specified type with default properties.
Protected Member Functions inherited from chrono::ChMaterialSurface
	ChMaterialSurface (const ChMaterialSurface &other)

Member Function Documentation

GetCompliance()

float chrono::ChMaterialSurfaceNSC::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::ChMaterialSurfaceNSC::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::ChMaterialSurfaceNSC::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::ChMaterialSurfaceNSC::GetComplianceT ( )

inline

Compliance of the contact, in tangential direction.

Measuring unit: m/N. Default 0.

GetDampingF()

float chrono::ChMaterialSurfaceNSC::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/ChMaterialSurfaceNSC.h
• /builds/uwsbel/chrono/src/chrono/physics/ChMaterialSurfaceNSC.cpp