chrono::host_container Struct Reference

Description

Structure of arrays containing simulation data.

#include <ChDataManager.h>

Public Attributes

custom_vector< real3ct_force
 Contact forces per contact.
 
custom_vector< real3ct_torque
 Contact torques per contact.
 
custom_vector< real3ct_body_force
 Total contact force on bodies.
 
custom_vector< real3ct_body_torque
 Total contact torque on these bodies.
 
custom_vector< vec3 > shear_neigh
 Neighbor list of contacting bodies and shapes.
 
custom_vector< real3shear_disp
 Accumulated shear displacement for each neighbor.
 
custom_vector< real > contact_relvel_init
 Initial relative normal velocity manitude per contact pair.
 
custom_vector< real > contact_duration
 Accumulated contact duration, per contact pair.
 
custom_vector< int > ct_body_map
 Mapping from all bodies in the system to bodies involved in a contact. More...
 
custom_vector< real3fric_rigid_rigid
 This vector holds the friction information (composite material) as a triplet: x - Sliding friction, y - Rolling friction, z - Spinning Friction. More...
 
custom_vector< real > coh_rigid_rigid
 Holds the cohesion value (composite material) for each contact. More...
 
custom_vector< real4compliance_rigid_rigid
 Precomputed compliance (composite material) values for all contacts. More...
 
custom_vector< real2modulus_rigid_rigid
 E_eff and G_eff.
 
custom_vector< real3adhesion_rigid_rigid
 adhesion_eff, adhesionMultDMT_eff, and adhesionSPerko_eff
 
custom_vector< real > cr_rigid_rigid
 cr_eff (effective coefficient of restitution)
 
custom_vector< real4smc_rigid_rigid
 kn, kt, gn, gt
 
custom_vector< real3pos_rigid
 
custom_vector< quaternionrot_rigid
 
custom_vector< char > active_rigid
 
custom_vector< char > collide_rigid
 
custom_vector< real > mass_rigid
 
custom_vector< real3pos_3dof
 
custom_vector< real3sorted_pos_3dof
 
custom_vector< real3vel_3dof
 
custom_vector< real3sorted_vel_3dof
 
custom_vector< int > bilateral_type
 Bilateral constraint type (all supported constraints)
 
custom_vector< int > bilateral_mapping
 Keeps track of active bilateral constraints.
 
custom_vector< real > shaft_rot
 shaft rotation angles
 
custom_vector< real > shaft_inr
 shaft inverse inertias
 
custom_vector< char > shaft_active
 shaft active (not sleeping nor fixed) flags
 
custom_vector< float > sliding_friction
 sliding coefficients of friction
 
custom_vector< float > cohesion
 constant cohesion forces
 
CompressedMatrix< real > Nschur
 This matrix, if used will hold D^TxM^-1xD in sparse form.
 
CompressedMatrix< real > D
 The D Matrix hold the Jacobian for the entire system.
 
CompressedMatrix< real > D_T
 D_T is the transpose of the D matrix, note that D_T is actually computed first and D is taken as the transpose. More...
 
CompressedMatrix< real > M
 Mass matrix; if holding the full inertia tensor, M is block diagonal.
 
CompressedMatrix< real > M_inv
 M_inv is the inverse mass matrix; if holding the full inertia tensor, M_inv is block diagonal.
 
CompressedMatrix< real > M_invD
 M_invD holds M_inv multiplied by D. More...
 
DynamicVector< real > R_full
 The right hand side of the system.
 
DynamicVector< real > R
 The rhs of the system, changes during solve.
 
DynamicVector< real > b
 Correction terms.
 
DynamicVector< real > s
 
DynamicVector< real > M_invk
 Result of M_inv multiplied by vector of forces.
 
DynamicVector< real > v
 This vector holds the velocities for all objects.
 
DynamicVector< real > hf
 This vector holds h*forces, h is time step.
 
DynamicVector< real > gamma
 Contact impulses. More...
 
DynamicVector< real > E
 Compliance matrix elements. More...
 
DynamicVector< real > Fc
 Contact forces (NSC)
 

Member Data Documentation

◆ coh_rigid_rigid

custom_vector<real> chrono::host_container::coh_rigid_rigid

Holds the cohesion value (composite material) for each contact.

Similar to friction this is precomputed for all contacts in parallel. Used for NSC only.

◆ compliance_rigid_rigid

custom_vector<real4> chrono::host_container::compliance_rigid_rigid

Precomputed compliance (composite material) values for all contacts.

Used for NSC only.

◆ ct_body_map

custom_vector<int> chrono::host_container::ct_body_map

Mapping from all bodies in the system to bodies involved in a contact.

For bodies that are currently not in contact, the mapping entry is -1. Otherwise, the mapping holds the appropriate index in the vectors above.

◆ D_T

CompressedMatrix<real> chrono::host_container::D_T

D_T is the transpose of the D matrix, note that D_T is actually computed first and D is taken as the transpose.

This is due to the way that blaze handles sparse matrix allocation, it is easier to do it on a per row basis.

◆ E

DynamicVector<real> chrono::host_container::E

Compliance matrix elements.

Note that E is a diagonal matrix and hence stored in a vector.

◆ fric_rigid_rigid

custom_vector<real3> chrono::host_container::fric_rigid_rigid

This vector holds the friction information (composite material) as a triplet: x - Sliding friction, y - Rolling friction, z - Spinning Friction.

This is precomputed at every timestep for all contacts in parallel. Improves performance and reduces conditionals later on.

◆ gamma

DynamicVector<real> chrono::host_container::gamma

Contact impulses.

These are the unknowns solved for in the NSC formulation. Depending on the selected SolverMode, gamma is organized as follows (N is the number of rigid contacts):

  • NORMAL [size(gamma) = N]
    n1 n2 ... nN
  • SLIDING [size(gamma) = 3N]
    n1 n2 ... nN | u1 v1 u2 v2 ... uN vN
  • SPINNING [size(gamma) = 6N]
    n1 n2 ... nN | u1 v1 u2 v2 ... uN vN | tn1 tu1 tv1 tn2 tu2 tv2 ... tnN tuN tvN

If there are any bilateral constraints, the corresponding impulses are stored at the end of gamma.

◆ M_invD

CompressedMatrix<real> chrono::host_container::M_invD

M_invD holds M_inv multiplied by D.

This is done as a preprocessing step so that later, when the full matrix vector product is needed it can be performed in two steps, first R = Minv_D*x, and then D_T*R where R is just a temporary variable used here for illustrative purposes. In reality the entire operation happens inline without a temp variable.


The documentation for this struct was generated from the following file:
  • /builds/uwsbel/chrono/src/chrono_multicore/ChDataManager.h