Description

Class for a single node in the Peridynamics cluster.

#include <ChNodePeri.h>

Inheritance diagram for chrono::peridynamics::ChNodePeri:

[legend]

Collaboration diagram for chrono::peridynamics::ChNodePeri:

[legend]

Public Member Functions
	ChNodePeri (const ChNodePeri &other)

double	GetHorizonRadius ()
	Get the horizon radius (max. radius while checking surrounding particles).

void	SetHorizonRadius (double mr)
	Set the horizon radius (max. radius while checking surrounding particles).

double	GetCollisionRadius ()
	Get collision radius (for colliding with bodies, boundaries, etc.).

void	SetCollisionRadius (double mr)
	Set collision radius (for colliding with bodies, boundaries, etc.)

double	GetVolumeSize ()
	Get size of volume cell, assumed approx. as a cube. Used for volume correction with fading on horizon, at quadrature.

void	SetVolumeSize (double mvol_size)
	Set size of volume cell, assumed approx. as a cube. Used for volume correction with fading on horizon, at quadrature.

virtual ChContactable::eChContactableType	GetContactableType () const override
	Access the variables of the node.

virtual ChVariables *	GetVariables1 () override
	Access variables.

virtual bool	IsContactActive () override
	Tell if the object must be considered in collision detection.

virtual int	GetContactableNumCoordsPosLevel () override
	Get the number of DOFs affected by this object (position part).

virtual int	GetContactableNumCoordsVelLevel () override
	Get the number of DOFs affected by this object (speed part).

virtual void	ContactableGetStateBlockPosLevel (ChState &x) override
	Get all the DOFs packed in a single vector (position part).

virtual void	ContactableGetStateBlockVelLevel (ChStateDelta &w) override
	Get all the DOFs packed in a single vector (speed part).

virtual void	ContactableIncrementState (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
	Increment the provided state of this object by the given state-delta increment. More...

virtual ChVector3d	GetContactPoint (const ChVector3d &loc_point, const ChState &state_x) override
	Express the local point in absolute frame, for the given state position.

virtual ChVector3d	GetContactPointSpeed (const ChVector3d &loc_point, const ChState &state_x, const ChStateDelta &state_w) override
	Get the absolute speed of a local point attached to the contactable. More...

virtual ChVector3d	GetContactPointSpeed (const ChVector3d &abs_point) override
	Get the absolute speed of point abs_point if attached to the surface. More...

virtual ChFrame	GetCollisionModelFrame () override
	Return the coordinate system for the associated collision model. More...

virtual void	ContactForceLoadResidual_F (const ChVector3d &F, const ChVector3d &T, const ChVector3d &abs_point, ChVectorDynamic<> &R) override
	Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables. More...

virtual void	ContactComputeQ (const ChVector3d &F, const ChVector3d &T, const ChVector3d &point, const ChState &state_x, ChVectorDynamic<> &Q, int offset) override
	Apply the given force at the given point and load the generalized force array. More...

virtual void	ComputeJacobianForContactPart (const ChVector3d &abs_point, ChMatrix33<> &contact_plane, ChContactable_1vars::type_constraint_tuple &jacobian_tuple_N, ChContactable_1vars::type_constraint_tuple &jacobian_tuple_U, ChContactable_1vars::type_constraint_tuple &jacobian_tuple_V, bool second) override
	Compute the jacobian(s) part(s) for this contactable item. More...

virtual double	GetContactableMass () override
	Used by some SMC code.

virtual ChPhysicsItem *	GetPhysicsItem () override
	This is only for backward compatibility. OBSOLETE.

bool	IsRequiringCollision ()

Public Member Functions inherited from chrono::fea::ChNodeFEAxyz
	ChNodeFEAxyz (ChVector3d initial_pos=VNULL)

	ChNodeFEAxyz (const ChNodeFEAxyz &other)

ChNodeFEAxyz &	operator= (const ChNodeFEAxyz &other)

virtual ChVariablesNode &	Variables () override

virtual void	Relax () override
	Set the rest position as the actual position.

virtual void	ForceToRest () override
	Reset to no speed and acceleration.

virtual void	SetFixed (bool fixed) override
	Fix/release this node. More...

virtual bool	IsFixed () const override
	Return true if the node is fixed (i.e., its state variables are not changed by the solver).

virtual double	GetMass () const override
	Get mass of the node.

virtual void	SetMass (double m) override
	Set mass of the node.

virtual void	SetX0 (const ChVector3d &x)
	Set the initial (reference) position.

virtual const ChVector3d &	GetX0 () const
	Get the initial (reference) position.

virtual void	SetForce (const ChVector3d &frc)
	Set the 3d applied force, in absolute reference.

virtual const ChVector3d &	GetForce () const
	Get the 3d applied force, in absolute reference.

virtual unsigned int	GetNumCoordsPosLevel () const override
	Get the number of degrees of freedom.

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

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

virtual void	NodeIntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override

virtual void	NodeIntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T) override

virtual void	NodeIntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override

virtual void	NodeIntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override

virtual void	NodeIntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override

virtual void	NodeIntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) override

virtual void	NodeIntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override

virtual void	NodeIntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override

virtual void	NodeIntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &error, const double c) override

virtual void	NodeIntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R) override

virtual void	NodeIntFromDescriptor (const unsigned int off_v, ChStateDelta &v) override

virtual void	InjectVariables (ChSystemDescriptor &descriptor) override
	Register with the given system descriptor any ChVariable objects associated with this item.

virtual void	VariablesFbReset () override
	Set the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1) override
	Add the current forces (applied to node) into the encapsulated ChVariables. More...

virtual void	VariablesQbLoadSpeed () override
	Initialize the 'qb' part of the ChVariables with the current value of speeds.

virtual void	VariablesQbSetSpeed (double step=0) override
	Fetch the item speed (ex. More...

virtual void	VariablesFbIncrementMq () override
	Add M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbIncrementPosition (double step) override
	Increment node positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

Public Member Functions inherited from chrono::fea::ChNodeFEAbase
virtual void	SetIndex (unsigned int mindex)
	Sets the global index of the node.

virtual unsigned int	GetIndex ()
	Gets the global index of the node.

virtual void	SetupInitial (ChSystem *system)
	Initial setup.

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

ChNodeBase &	operator= (const ChNodeBase &other)

virtual unsigned int	GetNumCoordsVelLevel () const
	Get the number of degrees of freedom, derivative. More...

virtual unsigned int	GetNumCoordsPosLevelActive () const
	Get the actual number of active degrees of freedom. More...

virtual unsigned int	GetNumCoordsVelLevelActive () const
	Get the actual number of active degrees of freedom, derivative. More...

virtual bool	IsAllCoordsActive () const
	Return true if all node DOFs are active (no node variable is fixed).

unsigned int	NodeGetOffsetPosLevel ()
	Get offset in the state vector (position part).

unsigned int	NodeGetOffsetVelLevel ()
	Get offset in the state vector (speed part).

void	NodeSetOffsetPosLevel (const unsigned int moff)
	Set offset in the state vector (position part).

void	NodeSetOffsetVelLevel (const unsigned int moff)
	Set offset in the state vector (speed part).

Public Member Functions inherited from chrono::ChNodeXYZ
	ChNodeXYZ (const ChVector3d &initial_pos)

	ChNodeXYZ (const ChNodeXYZ &other)

ChNodeXYZ &	operator= (const ChNodeXYZ &other)

const ChVector3d &	GetPos () const

void	SetPos (const ChVector3d &mpos)

const ChVector3d &	GetPosDt () const

void	SetPosDt (const ChVector3d &mposdt)

const ChVector3d &	GetPosDt2 () const

void	SetPosDt2 (const ChVector3d &mposdtdt)

virtual unsigned int	GetLoadableNumCoordsPosLevel () override
	Gets the number of DOFs affected by this element (position part)

virtual unsigned int	GetLoadableNumCoordsVelLevel () override
	Gets the number of DOFs affected by this element (speed part)

virtual void	LoadableGetStateBlockPosLevel (int block_offset, ChState &mD) override
	Gets all the DOFs packed in a single vector (position part)

virtual void	LoadableGetStateBlockVelLevel (int block_offset, ChStateDelta &mD) override
	Gets all the DOFs packed in a single vector (speed part)

virtual void	LoadableStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Increment all DOFs using a delta.

virtual unsigned int	GetNumFieldCoords () override
	Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, etc. More...

virtual unsigned int	GetNumSubBlocks () override
	Get the number of DOFs sub-blocks.

virtual unsigned int	GetSubBlockOffset (unsigned int nblock) override
	Get the offset of the specified sub-block of DOFs in global vector.

virtual unsigned int	GetSubBlockSize (unsigned int nblock) override
	Get the size of the specified sub-block of DOFs in global vector.

virtual bool	IsSubBlockActive (unsigned int nblock) const override
	Check if the specified sub-block of DOFs is active.

virtual void	LoadableGetVariables (std::vector< ChVariables * > &mvars) override
	Get the pointers to the contained ChVariables, appending to the mvars vector.

virtual void	ComputeNF (const double U, const double V, const double W, ChVectorDynamic<> &Qi, double &detJ, const ChVectorDynamic<> &F, ChVectorDynamic<> state_x, ChVectorDynamic<> state_w) override
	Evaluate Q=N'*F , for Q generalized lagrangian load, where N is some type of matrix evaluated at point P(U,V,W) assumed in absolute coordinates, and F is a load assumed in absolute coordinates. More...

virtual double	GetDensity () override
	This is not needed because not used in quadrature.

Public Member Functions inherited from chrono::ChLoadableUVW
virtual bool	IsTetrahedronIntegrationNeeded ()
	If true, use quadrature over u,v,w in [0..1] range as tetrahedron volumetric coords (with z=1-u-v-w) otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

virtual bool	IsTrianglePrismIntegrationNeeded ()
	If true, use quadrature over u,v in [0..1] range as triangle natural coords (with z=1-u-v), and use linear quadrature over w in [-1..+1], otherwise use default quadrature over u,v,w in [-1..+1] as box isoparametric coords.

Public Attributes
bool	is_requiring_bonds = true

bool	is_boundary = false

bool	is_fluid = true

bool	is_colliding = false

ChVector3d	F_peridyn

double	volume

double	h_rad

double	coll_rad

double	vol_size

double	vol_accumulator

Public Attributes inherited from chrono::fea::ChNodeFEAbase
double	m_TotalMass
	Nodal mass obtained from element mass matrix.

Public Attributes inherited from chrono::ChNodeXYZ
ChVector3d	pos

ChVector3d	pos_dt

ChVector3d	pos_dtdt

Additional Inherited Members
Public Types inherited from chrono::ChVariableTupleCarrier_1vars< 3 >
typedef ChConstraintTuple_1vars< ChVariableTupleCarrier_1vars< N1 > >	type_constraint_tuple

Static Public Attributes inherited from chrono::ChVariableTupleCarrier_1vars< 3 >
static const int	nvars1

Protected Attributes inherited from chrono::fea::ChNodeFEAxyz
ChVariablesNode	variables
	3D node variables, with x,y,z

ChVector3d	X0
	reference position

ChVector3d	Force
	applied force

Protected Attributes inherited from chrono::fea::ChNodeFEAbase
unsigned int	g_index
	global node index

Protected Attributes inherited from chrono::ChNodeBase
unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

Member Function Documentation

◆ ComputeJacobianForContactPart()

void chrono::ChNodePeri::ComputeJacobianForContactPart	(	const ChVector3d &	abs_point,
		ChMatrix33<> &	contact_plane,
		ChContactable_1vars::type_constraint_tuple &	jacobian_tuple_N,
		ChContactable_1vars::type_constraint_tuple &	jacobian_tuple_U,
		ChContactable_1vars::type_constraint_tuple &	jacobian_tuple_V,
		bool	second
	)

overridevirtual

Compute the jacobian(s) part(s) for this contactable item.

For example, if the contactable is a ChBody, this should update the corresponding 1x6 jacobian.

◆ ContactableIncrementState()

virtual void chrono::peridynamics::ChNodePeri::ContactableIncrementState	(	const ChState &	x,
		const ChStateDelta &	dw,
		ChState &	x_new
	)

inlineoverridevirtual

Increment the provided state of this object by the given state-delta increment.

Compute: x_new = x + dw.

Implements chrono::ChContactable.

◆ ContactComputeQ()

virtual void chrono::peridynamics::ChNodePeri::ContactComputeQ	(	const ChVector3d &	F,
		const ChVector3d &	T,
		const ChVector3d &	point,
		const ChState &	state_x,
		ChVectorDynamic<> &	Q,
		int	offset
	)

inlineoverridevirtual

Apply the given force at the given point and load the generalized force array.

The force and its application point are specified in the gloabl frame. Each object must set the entries in Q corresponding to its variables, starting at the specified offset. If needed, the object states must be extracted from the provided state position.

Parameters

F	force
T	torque

Implements chrono::ChContactable.

◆ ContactForceLoadResidual_F()

void chrono::ChNodePeri::ContactForceLoadResidual_F	(	const ChVector3d &	F,
		const ChVector3d &	T,
		const ChVector3d &	abs_point,
		ChVectorDynamic<> &	R
	)

overridevirtual

Apply the force, expressed in absolute reference, applied in pos, to the coordinates of the variables.

Force for example could come from a penalty model. The force F and its application point are specified in the absolute reference frame.

Parameters

F	force
T	torque

Implements chrono::ChContactable.

◆ GetCollisionModelFrame()

virtual ChFrame chrono::peridynamics::ChNodePeri::GetCollisionModelFrame ( )

inlineoverridevirtual

Return the coordinate system for the associated collision model.

ChCollisionModel might call this to get the position of the contact model (when rigid) and sync it.

Implements chrono::ChContactable.

◆ GetContactPointSpeed() [1/2]

virtual ChVector3d chrono::peridynamics::ChNodePeri::GetContactPointSpeed ( const ChVector3d & abs_point )

inlineoverridevirtual

Get the absolute speed of point abs_point if attached to the surface.

Easy in this case because there are no roations..

Implements chrono::ChContactable.

◆ GetContactPointSpeed() [2/2]

virtual ChVector3d chrono::peridynamics::ChNodePeri::GetContactPointSpeed	(	const ChVector3d &	loc_point,
		const ChState &	state_x,
		const ChStateDelta &	state_w
	)

inlineoverridevirtual

Get the absolute speed of a local point attached to the contactable.

The given point is assumed to be expressed in the local frame of this object. This function must use the provided states.

Implements chrono::ChContactable.

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

/builds/uwsbel/chrono/src/chrono_peridynamics/ChNodePeri.h
/builds/uwsbel/chrono/src/chrono_peridynamics/ChNodePeri.cpp

Description

Public Member Functions

Public Attributes

Additional Inherited Members

Member Function Documentation

◆ ComputeJacobianForContactPart()

◆ ContactableIncrementState()

◆ ContactComputeQ()

◆ ContactForceLoadResidual_F()

◆ GetCollisionModelFrame()

◆ GetContactPointSpeed() [1/2]

◆ GetContactPointSpeed() [2/2]