Description

Class for handling proximity pairs for a peridynamics deformable continuum (necessary for inter-particle material forces), Such an item must be addd to the physical system if you want to use one or more ChMatterPeri materials.

#include <ChPeridynamics.h>

Inheritance diagram for chrono::peridynamics::ChPeridynamics:

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Collaboration diagram for chrono::peridynamics::ChPeridynamics:

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Public Member Functions
	ChPeridynamics (const ChPeridynamics &other)

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

void	AddMatter (std::shared_ptr< ChMatterPeriBase > mmatter)
	Adds a peridynamics material. More...

const std::list< std::shared_ptr< ChMatterPeriBase > > &	GetMaterials () const
	Get the array of materials.

void	AddNode (std::shared_ptr< ChNodePeri > m_node)
	Add a node. More...

const std::vector< std::shared_ptr< ChNodePeri > > &	GetNodes () const
	Get the array of nodes.

unsigned int	GetNnodes () const
	Get the number of nodes.

void	Fill (std::shared_ptr< ChMatterPeriBase > mmatter, std::vector< ChVector3d > &points, const double spacing, const double mass, const double volume, const double horizon_sfactor, const double collision_sfactor, const ChCoordsys<> mcoords)
	Create a region filled with nodes. More...

void	FillBox (std::shared_ptr< ChMatterPeriBase > mmatter, const ChVector3d size, const double spacing, const double initial_density, const ChCoordsys<> boxcoords=CSYSNORM, const double horizon_sfactor=1.6, const double collision_sfactor=0.3, const double randomness=0.0)
	Create a box filled with nodes. More...

void	FillBox (std::vector< std::pair< std::shared_ptr< ChMatterPeriBase >, double >> v_mmatter, const ChVector3d size, const double spacing, const double initial_density, const ChCoordsys<> boxcoords=CSYSNORM, const double horizon_sfactor=1.6, const double collision_sfactor=0.3, const double randomness=0.0)
	Create a multi-layer box filled with nodes, with N layers of different materials ordered along X. More...

void	FillSphere (std::shared_ptr< ChMatterPeriBase > mmatter, const double sphere_radius, const double spacing, const double initial_density, const ChCoordsys<> boxcoords=CSYSNORM, const double horizon_sfactor=1.6, const double collision_sfactor=0.3)
	Create a sphere filled with nodes, with lattice xyz sampling. More...

virtual int	GetNproximities () const override
	Tell the number of added contacts.

virtual void	RemoveAllProximities () override
	Remove (delete) all contained contact data.

virtual void	BeginAddProximities () override
	The collision system will call BeginAddProximities() before adding all pairs (for example with AddProximity() ). More...

virtual void	AddProximity (ChCollisionModel modA, ChCollisionModel modB) override
	Add a proximity data between two collision models, if possible. More...

virtual void	EndAddProximities () override
	The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar). More...

virtual void	ReportAllProximities (ReportProximityCallback *mcallback) override
	Scans all the proximity pairs and, for each pair, executes the OnReportProximity() function of the provided callback object. More...

virtual void	Setup () override
	This recomputes the number of DOFs, constraints, as well as state offsets of contained items.

virtual void	Update (double mytime, bool update_assets=true) override
	This will call ComputeForcesReset(), ComputeForces(), ComputeStates() for each material.

virtual unsigned int	GetNumCoordsPosLevel () override
	Get the number of scalar coordinates (variables), if any, in this item, excluding those that are in fixed state.

virtual unsigned int	GetNumConstraints () override
	Get the number of scalar constraints.

virtual void	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
	From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void	IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) override
	From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void	IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
	From item's state acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
	From global acceleration vector to item's state acceleration. More...

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) override
	Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...

virtual void	IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
	Takes the term Cq'L, scale and adds to R at given offset: R += cCq'*L. More...

virtual void	IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override
	Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...

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

virtual void	LoadConstraintJacobians () override
	Compute and load current Jacobians in encapsulated ChConstraint objects.

virtual void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
	Prepare variables and constraints to accommodate a solution: More...

virtual void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
	After a solver solution, fetch values from variables and constraints into vectors: More...

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

virtual void	VariablesFbLoadForces (double factor=1) override
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

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

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

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

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

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

void	ForceToRest () override
	Set no speed and no accelerations (but does not change the position).

virtual void	SyncCollisionModels () override
	Synchronize coll.models coordinates and bounding boxes to the positions of the particles.

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

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

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

void	RegisterAddProximityCallback (AddProximityCallback *mcallback)
	Specify a callback object to be used each time a proximity pair is added to the container. More...

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

ChSystem *	GetSystem () const
	Get the pointer to the parent ChSystem().

virtual void	SetSystem (ChSystem *m_system)
	Set the pointer to the parent ChSystem(). More...

virtual bool	IsActive () const
	Return true if the object is active and included in dynamics.

virtual bool	IsCollisionEnabled () const
	Tell if the object is subject to collision. More...

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
	Add to the provided collision system any collision models managed by this physics item. More...

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
	Remove from the provided collision system any collision models managed by this physics item. More...

virtual ChAABB	GetTotalAABB () const
	Get the axis-aligned bounding box (AABB) of this object. More...

virtual ChVector3d	GetCenter () const
	Get a symbolic 'center' of the object. More...

virtual unsigned int	GetNumCoordsVelLevel ()
	Get the number of coordinates at the velocity level. More...

virtual unsigned int	GetNumConstraintsBilateral ()
	Get the number of bilateral scalar constraints.

virtual unsigned int	GetNumConstraintsUnilateral ()
	Get the number of unilateral scalar constraints.

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

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

unsigned int	GetOffset_L ()
	Get offset in the lagrangian multipliers.

void	SetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_L (const unsigned int moff)
	Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.

virtual void	IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L)
	From item's reaction forces to global reaction vector. More...

virtual void	IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L)
	From global reaction vector to item's reaction forces. More...

virtual void	IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
	Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void	IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv)
	Computes Dt = x_new - x, using vectors at specified offsets. More...

virtual void	IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c)
	Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. 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...

virtual void	ConstraintsBiReset ()
	Sets to zero the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false)
	Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Ct (double factor=1)
	Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Qc (double factor=1)
	Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsFbLoadForces (double factor=1)
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void	ConstraintsFetch_react (double factor=1)
	Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. 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 std::string &	ArchiveContainerName ()

Static Public Member Functions
static void	SetupInitialBonds (ChSystem *sys, std::shared_ptr< ChPeridynamics > peri)
	Setup initial lattice of bonds, running a single shot of collision detection and then calling Compute. More...

Protected Attributes
std::list< std::shared_ptr< ChMatterPeriBase > >	materials

std::vector< std::shared_ptr< ChNodePeri > >	vnodes

int	n_added

bool	is_updated

unsigned int	n_dofs
	total degrees of freedom

unsigned int	n_constr
	total degrees of constraints

Protected Attributes inherited from chrono::ChProximityContainer
AddProximityCallback *	add_proximity_callback

ReportProximityCallback *	report_proximity_callback

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystem *	system
	parent system

unsigned int	offset_x
	offset in vector of state (position part)

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

unsigned int	offset_L
	offset in vector of lagrangian multipliers

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

Member Function Documentation

◆ AddMatter()

void chrono::ChPeridynamics::AddMatter ( std::shared_ptr< ChMatterPeriBase > mmatter )

Adds a peridynamics material.

Materials, each acting on cluster of ChNodePeri items, must be added to this proximity manager before the simulation starts.

◆ AddNode()

void chrono::ChPeridynamics::AddNode ( std::shared_ptr< ChNodePeri > m_node )

Add a node.

Only nodes that are added here will be simulated. Nodes can be shared among diffferent ChMatterPeri, but not among different ChPeridynamics.

◆ AddProximity()

void chrono::ChPeridynamics::AddProximity	(	ChCollisionModel *	modA,
		ChCollisionModel *	modB
	)

overridevirtual

Add a proximity data between two collision models, if possible.

Parameters

modA	get contact model 1
modB	get contact model 2

Implements chrono::ChProximityContainer.

◆ ArchiveIn()

void chrono::ChPeridynamics::ArchiveIn ( ChArchiveIn & marchive )

overridevirtual

Method to allow de-serialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChProximityContainer.

◆ BeginAddProximities()

void chrono::ChPeridynamics::BeginAddProximities ( )

overridevirtual

The collision system will call BeginAddProximities() before adding all pairs (for example with AddProximity() ).

Reimplemented from chrono::ChProximityContainer.

◆ EndAddProximities()

void chrono::ChPeridynamics::EndAddProximities ( )

overridevirtual

The collision system will call BeginAddContact() after adding all contacts (for example with AddContact() or similar).

This optimized version purges the end of the list of contacts that were not reused (if any).

Reimplemented from chrono::ChProximityContainer.

◆ Fill()

void chrono::ChPeridynamics::Fill	(	std::shared_ptr< ChMatterPeriBase >	mmatter,
		std::vector< ChVector3d > &	points,
		const double	spacing,
		const double	mass,
		const double	volume,
		const double	horizon_sfactor,
		const double	collision_sfactor,
		const ChCoordsys<>	mcoords
	)

Create a region filled with nodes.

Adds the node to this, and to the specified matter. This is a helper function so that you avoid to create all nodes one by one with many calls to AddNode().

Parameters

mmatter	matter to be used for this volume. Must be added too to this, via AddMatter().
points	points obtained from a sampler of the volume, ex. use utils::Sampler
spacing	average spacing used in sampling
mass	total mass of the volume
volume	total volume
horizon_sfactor	the radius of horizon of the particle is 'spacing' multiplied this value
collision_sfactor	the radius of collision shape (sphere) of the particle is 'spacing' multiplied this value
mcoords	position and rotation of the volume

◆ FillBox() [1/2]

void chrono::ChPeridynamics::FillBox	(	std::shared_ptr< ChMatterPeriBase >	mmatter,
		const ChVector3d	size,
		const double	spacing,
		const double	initial_density,
		const ChCoordsys<>	boxcoords = `CSYSNORM`,
		const double	horizon_sfactor = `1.6`,
		const double	collision_sfactor = `0.3`,
		const double	randomness = `0.0`
	)

Create a box filled with nodes.

Face nodes are automatically marked as interface, i.e. are collidable. Adds the nodes to this, and to the specified matter.

Parameters

mmatter	matter to be used for this volume. Must be added too to this, via AddMatter().
size	x,y,z sizes of the box to fill (better if integer multiples of spacing)
spacing	the spacing between two near nodes (grid interval h)
initial_density	density of the material inside the box, for initialization of node's masses
boxcoords	position and rotation of the box
horizon_sfactor	the radius of horizon of the particle is 'spacing' multiplied this value
collision_sfactor	the radius of collision shape (sphere) of the particle is 'spacing' multiplied this value
randomness	randomness of the initial distribution lattice, 0...1

◆ FillBox() [2/2]

void chrono::ChPeridynamics::FillBox	(	std::vector< std::pair< std::shared_ptr< ChMatterPeriBase >, double >>	v_mmatter,
		const ChVector3d	size,
		const double	spacing,
		const double	initial_density,
		const ChCoordsys<>	boxcoords = `CSYSNORM`,
		const double	horizon_sfactor = `1.6`,
		const double	collision_sfactor = `0.3`,
		const double	randomness = `0.0`
	)

Create a multi-layer box filled with nodes, with N layers of different materials ordered along X.

Nodes at interface are shared, as layers were perfectly glued. Face nodes are automatically marked as interface, i.e. are collidable.

Parameters

v_mmatter	{matters,x_thickness} pairs to be used for layers. Must be added too to this, via AddMatter().
size	x,y,z sizes of the box to fill (better if integer multiples of spacing)
spacing	the spacing between two near nodes (grid interval h)
initial_density	density of the material inside the box, for initialization of node's masses
boxcoords	position and rotation of the box
horizon_sfactor	the radius of horizon of the particle is 'spacing' multiplied this value
collision_sfactor	the radius of collision shape (sphere) of the particle is 'spacing' multiplied this value
randomness	randomness of the initial distribution lattice, 0...1

◆ FillSphere()

void chrono::ChPeridynamics::FillSphere	(	std::shared_ptr< ChMatterPeriBase >	mmatter,
		const double	sphere_radius,
		const double	spacing,
		const double	initial_density,
		const ChCoordsys<>	boxcoords = `CSYSNORM`,
		const double	horizon_sfactor = `1.6`,
		const double	collision_sfactor = `0.3`
	)

Create a sphere filled with nodes, with lattice xyz sampling.

Nodes at the surface of the sphere are automatically marked as interface, i.e. are collidable.

Parameters

mmatter	matter to be used for the sphere. Must be added too to this, via AddMatter().
sphere_radius	radius of sphere to fill
spacing	the spacing between two near nodes (grid interval h)
initial_density	density of the material inside the box, for initialization of node's masses
boxcoords	position and rotation of the box
horizon_sfactor	the radius of horizon of the particle is 'spacing' multiplied this value
collision_sfactor	the radius of collision shape (sphere) of the particle is 'spacing' multiplied this value

◆ IntFromDescriptor()

virtual void chrono::peridynamics::ChPeridynamics::IntFromDescriptor	(	const unsigned int	off_v,
		ChStateDelta &	v,
		const unsigned int	off_L,
		ChVectorDynamic<> &	L
	)

inlineoverridevirtual

After a solver solution, fetch values from variables and constraints into vectors:

Parameters

off_v	offset for v
v	vector to where the q 'unknowns' term of the variables will be copied
off_L	offset for L
L	vector to where L 'lagrangian ' term of the constraints will be copied

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadConstraint_C()

virtual void chrono::peridynamics::ChPeridynamics::IntLoadConstraint_C	(	const unsigned int	off,
		ChVectorDynamic<> &	Qc,
		const double	c,
		bool	do_clamp,
		double	recovery_clamp
	)

inlineoverridevirtual

Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

Parameters

off	offset in Qc residual
Qc	result: the Qc residual, Qc += c*C
c	a scaling factor
do_clamp	apply clamping to c*C?
recovery_clamp	value for min/max clamping of c*C

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadLumpedMass_Md()

virtual void chrono::peridynamics::ChPeridynamics::IntLoadLumpedMass_Md	(	const unsigned int	off,
		ChVectorDynamic<> &	Md,
		double &	err,
		const double	c
	)

inlineoverridevirtual

Adds the lumped mass to a Md vector, representing a mass diagonal matrix.

Used by lumped explicit integrators. If mass lumping is impossible or approximate, adds scalar error to "error" parameter. Md += c*diag(M)

Parameters

off	offset in Md vector
Md	result: Md vector, diagonal of the lumped mass matrix
err	result: not touched if lumping does not introduce errors
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_CqL()

virtual void chrono::peridynamics::ChPeridynamics::IntLoadResidual_CqL	(	const unsigned int	off_L,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	L,
		const double	c
	)

inlineoverridevirtual

Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

Parameters

off_L	offset in L multipliers
R	result: the R residual, R += cCq'L
L	the L vector
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_F()

virtual void chrono::peridynamics::ChPeridynamics::IntLoadResidual_F	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const double	c
	)

inlineoverridevirtual

Takes the F force term, scale and adds to R at given offset: R += c*F.

Parameters

off	offset in R residual
R	result: the R residual, R += c*F
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_Mv()

virtual void chrono::peridynamics::ChPeridynamics::IntLoadResidual_Mv	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	w,
		const double	c
	)

inlineoverridevirtual

Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.

Parameters

off	offset in R residual
R	result: the R residual, R += cMv
w	the w vector
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGather()

virtual void chrono::peridynamics::ChPeridynamics::IntStateGather	(	const unsigned int	off_x,
		ChState &	x,
		const unsigned int	off_v,
		ChStateDelta &	v,
		double &	T
	)

inlinevirtual

From item's state to global state vectors y={x,v} pasting the states at the specified offsets.

Parameters

off_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGatherAcceleration()

virtual void chrono::peridynamics::ChPeridynamics::IntStateGatherAcceleration	(	const unsigned int	off_a,
		ChStateDelta &	a
	)

inlineoverridevirtual

From item's state acceleration to global acceleration vector.

Parameters

off_a	offset in a accel. vector
a	acceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatter()

virtual void chrono::peridynamics::ChPeridynamics::IntStateScatter	(	const unsigned int	off_x,
		const ChState &	x,
		const unsigned int	off_v,
		const ChStateDelta &	v,
		const double	T,
		bool	full_update
	)

inlineoverridevirtual

From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets.

Parameters

off_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time
full_update	perform complete update

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatterAcceleration()

virtual void chrono::peridynamics::ChPeridynamics::IntStateScatterAcceleration	(	const unsigned int	off_a,
		const ChStateDelta &	a
	)

inlineoverridevirtual

From global acceleration vector to item's state acceleration.

Parameters

off_a	offset in a accel. vector
a	acceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntToDescriptor()

virtual void chrono::peridynamics::ChPeridynamics::IntToDescriptor	(	const unsigned int	off_v,
		const ChStateDelta &	v,
		const ChVectorDynamic<> &	R,
		const unsigned int	off_L,
		const ChVectorDynamic<> &	L,
		const ChVectorDynamic<> &	Qc
	)

inlineoverridevirtual

Prepare variables and constraints to accommodate a solution:

Parameters

off_v	offset for v and R
v	vector copied into the q 'unknowns' term of the variables
R	vector copied into the F 'force' term of the variables
off_L	offset for L and Qc
L	vector copied into the L 'lagrangian ' term of the constraints
Qc	vector copied into the Qb 'constraint' term of the constraints

Reimplemented from chrono::ChPhysicsItem.

◆ ReportAllProximities()

void chrono::ChPeridynamics::ReportAllProximities ( ReportProximityCallback * mcallback )

overridevirtual

Scans all the proximity pairs and, for each pair, executes the OnReportProximity() function of the provided callback object.

DO NOTHING - please iterate on the bonds of the materials.

Implements chrono::ChProximityContainer.

◆ SetupInitialBonds()

void chrono::ChPeridynamics::SetupInitialBonds	(	ChSystem *	sys,
		std::shared_ptr< ChPeridynamics >	peri
	)

static

Setup initial lattice of bonds, running a single shot of collision detection and then calling Compute.

It may require some CPU time. Note: call this as late as possible, after you created all peridynamic material, ex. just before running the simulation loop. Call as a static function: ChPeridynamics::SetupInitialBonds(my_sys, my_peridynamics);

◆ VariablesFbIncrementMq()

virtual void chrono::peridynamics::ChPeridynamics::VariablesFbIncrementMq ( )

inlineoverridevirtual

Adds M*q (masses multiplied current 'qb') to Fb, ex.

if qb is initialized with v_old using VariablesQbLoadSpeed, this method can be used in timestepping schemes that do: M*v_new = M*v_old + forces*dt

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbIncrementPosition()

virtual void chrono::peridynamics::ChPeridynamics::VariablesQbIncrementPosition ( double step )

inlineoverridevirtual

Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor.

pos+=qb*step If qb is a speed, this behaves like a single step of 1-st order numerical integration (Euler integration).

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbLoadSpeed()

virtual void chrono::peridynamics::ChPeridynamics::VariablesQbLoadSpeed ( )

inlineoverridevirtual

Initialize the 'qb' part of the ChVariables with the current value of speeds.

Note: since 'qb' is the unknown, this function seems unnecessary, unless used before VariablesFbIncrementMq()

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbSetSpeed()

virtual void chrono::peridynamics::ChPeridynamics::VariablesQbSetSpeed ( double step = 0 )

inlineoverridevirtual

Fetches the item speed (ex.

linear and angular vel.in rigid bodies) from the 'qb' part of the ChVariables and sets it as the current item speed. If 'step' is not 0, also should compute the approximate acceleration of the item using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariables.

Reimplemented from chrono::ChPhysicsItem.

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

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

Description

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddMatter()

◆ AddNode()

◆ AddProximity()

◆ ArchiveIn()

◆ BeginAddProximities()

◆ EndAddProximities()

◆ Fill()

◆ FillBox() [1/2]

◆ FillBox() [2/2]

◆ FillSphere()

◆ IntFromDescriptor()

◆ IntLoadConstraint_C()

◆ IntLoadLumpedMass_Md()

◆ IntLoadResidual_CqL()

◆ IntLoadResidual_F()

◆ IntLoadResidual_Mv()

◆ IntStateGather()

◆ IntStateGatherAcceleration()

◆ IntStateScatter()

◆ IntStateScatterAcceleration()

◆ IntToDescriptor()

◆ ReportAllProximities()

◆ SetupInitialBonds()

◆ VariablesFbIncrementMq()

◆ VariablesQbIncrementPosition()

◆ VariablesQbLoadSpeed()

◆ VariablesQbSetSpeed()