|
|
MULTIBODY SIMULATION SOFTWARE - API documentation |
#include <CHcontactContainerGPUsimple.h>
Public Member Functions | |
| virtual int | GetNcontacts () |
| virtual void | RemoveAllContacts () |
| virtual void | BeginAddContact () |
| virtual void | AddContact (const collision::ChCollisionInfo &mcontact) |
| virtual void | EndAddContact () |
| virtual void | ReportAllContacts (ChReportContactCallback *mcallback) |
| virtual int | GetDOC_d () |
| virtual void | Update (double mtime) |
| virtual void | InjectConstraints (ChLcpSystemDescriptor &mdescriptor) |
| virtual void | ConstraintsBiReset () |
| virtual void | ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false) |
| virtual void | ConstraintsLoadJacobians () |
| virtual void | ConstraintsLiLoadSuggestedSpeedSolution () |
| virtual void | ConstraintsLiLoadSuggestedPositionSolution () |
| virtual void | ConstraintsLiFetchSuggestedSpeedSolution () |
| virtual void | ConstraintsLiFetchSuggestedPositionSolution () |
| virtual void | ConstraintsFetch_react (double factor=1.) |
Protected Attributes | |
|
std::list < ChContactGPUsimple * > | contactlist |
| int | n_added |
|
std::list < ChContactGPUsimple * > ::iterator | lastcontact |
| virtual int chrono::ChContactContainerGPUsimple::GetNcontacts | ( | ) | [virtual] |
| void chrono::ChContactContainerGPUsimple::RemoveAllContacts | ( | ) | [virtual] |
| void chrono::ChContactContainerGPUsimple::BeginAddContact | ( | ) | [virtual] |
The collision system will call BeginAddContact() before adding all contacts (for example with AddContact() or similar). Instead of simply deleting all list of the previous contacts, this optimized implementation rewinds the link iterator to begin and tries to reuse previous contact objects until possible, to avoid too much allocation/deallocation.
Reimplemented from chrono::ChContactContainerBase.
| void chrono::ChContactContainerGPUsimple::AddContact | ( | const collision::ChCollisionInfo & | mcontact | ) | [virtual] |
| void chrono::ChContactContainerGPUsimple::EndAddContact | ( | ) | [virtual] |
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::ChContactContainerBase.
| void chrono::ChContactContainerGPUsimple::ReportAllContacts | ( | ChReportContactCallback * | mcallback | ) | [virtual] |
Scans all the contacts and for each contact exacutes the ReportContactCallback() function of the user object inherited from ChReportContactCallback. Child classes of ChContactContainerBase should try to implement this (although in some highly-optimized cases as in ChContactContainerGPU it could be impossible to report all contacts).
Implements chrono::ChContactContainerBase.
| virtual int chrono::ChContactContainerGPUsimple::GetDOC_d | ( | ) | [virtual] |
Tell the number of scalar bilateral constraints (actually, friction constraints aren't exactly as unilaterals, but count them too)
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::Update | ( | double | mtime | ) | [virtual] |
In detail, it computes jacobians, violations, etc. and stores results in inner structures of contacts.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::InjectConstraints | ( | ChLcpSystemDescriptor & | mdescriptor | ) | [virtual] |
Tell to a system descriptor that there are contraints of type ChLcpConstraint in this object (for further passing it to a LCP solver) Basically does nothing, but maybe that inherited classes may specialize this.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsBiReset | ( | ) | [virtual] |
Sets to zero the known term (b_i) of encapsulated ChLcpConstraints.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsBiLoad_C | ( | double | factor = 1., |
|
| double | recovery_clamp = 0.1, |
|||
| bool | do_clamp = false | |||
| ) | [virtual] |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChLcpConstraints
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsLoadJacobians | ( | ) | [virtual] |
Adds the current jacobians in encapsulated ChLcpConstraints.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsLiLoadSuggestedSpeedSolution | ( | ) | [virtual] |
Fills the solution of the constraint (the lagrangian multiplier l_i) with an initial guess, if any. This can be used for warm-starting the LCP solver before starting the solution of the SPEED problem, if some approximate solution of constraint impulese l_i already exist (ex. cached from a previous LCP execution) When implementing this in sub classes, if no guess is available, set l_i as 0.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsLiLoadSuggestedPositionSolution | ( | ) | [virtual] |
As ConstraintsLiLoadSuggestedSpeedSolution(), but for the POSITION problem.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsLiFetchSuggestedSpeedSolution | ( | ) | [virtual] |
After the LCP solver has found the l_i lagangian multipliers for the SPEED problem, this function will be called to store the solutions in a cache (to be implemented in ChLink sub classes) so that it can be later retrieved with ConstraintsLiLoadSuggestedSpeedSolution(). If you do not plan to implement a l_i cache, just do not override this function in child classes and do nothing.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsLiFetchSuggestedPositionSolution | ( | ) | [virtual] |
As ConstraintsLiFetchSuggestedSpeedSolution(), but for the POSITION problem.
Reimplemented from chrono::ChPhysicsItem.
| void chrono::ChContactContainerGPUsimple::ConstraintsFetch_react | ( | double | factor = 1. |
) | [virtual] |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChLcpConstraints. Mostly used after the LCP provided the solution in ChLcpConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.
Reimplemented from chrono::ChPhysicsItem.
CHRONO::ENGINE