MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChContactGPUsimple Class Reference

#include <CHcontactGPUsimple.h>

Collaboration diagram for chrono::ChContactGPUsimple:

[legend]

List of all members.

Public Member Functions
	ChContactGPUsimple (collision::ChCollisionModel *mmodA, collision::ChCollisionModel *mmodB, const ChLcpVariablesBody *varA, const ChLcpVariablesBody *varB, const ChFrame<> *frameA, const ChFrame<> *frameB, const ChVector<> &vpA, const ChVector<> &vpB, const ChVector<> &vN, double mdistance, float *mreaction_cache, float mfriction)
virtual void	Reset (collision::ChCollisionModel *mmodA, collision::ChCollisionModel *mmodB, const ChLcpVariablesBody *varA, const ChLcpVariablesBody *varB, const ChFrame<> *frameA, const ChFrame<> *frameB, const ChVector<> &vpA, const ChVector<> &vpB, const ChVector<> &vN, double mdistance, float *mreaction_cache, float mfriction)
virtual ChCoordsys	GetContactCoords ()
virtual ChVector	GetContactP1 ()
virtual ChVector	GetContactP2 ()
virtual ChVector< float >	GetContactNormal ()
virtual double	GetContactDistance ()
virtual ChVector	GetContactForce ()
virtual float	GetFriction ()
virtual void	SetFriction (float mf)
virtual collision::ChCollisionModel *	GetModelA ()
virtual collision::ChCollisionModel *	GetModelB ()
void	InjectConstraints (ChLcpSystemDescriptor &mdescriptor)
void	ConstraintsBiReset ()
void	ConstraintsBiLoad_C (double factor=1., double recovery_clamp=0.1, bool do_clamp=false)
void	ConstraintsFetch_react (double factor)
void	ConstraintsLiLoadSuggestedSpeedSolution ()
void	ConstraintsLiLoadSuggestedPositionSolution ()
void	ConstraintsLiFetchSuggestedSpeedSolution ()
void	ConstraintsLiFetchSuggestedPositionSolution ()
Protected Attributes
collision::ChCollisionModel *	modA
collision::ChCollisionModel *	modB
ChLcpConstraintTwoGPUcontN	Nx
ChLcpConstraintTwoGPUcontT	Tu
ChLcpConstraintTwoGPUcontT	Tv
ChVector	react_force

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Detailed Description

Class representing an unilateral contact constraint. Such objects are automatically generated by the collision detection engine. This is a 'basic' implementation of contact for the original GPU solver by Dan & Ale. This is used in the ChContactContainerGPUsimple container. (In future, the GPU solver will access directly a more performant ChContactContainerGPUsimple that uses GPU buffers for storing contacts, instead of vectors of structures like this one.)

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Constructor & Destructor Documentation

chrono::ChContactGPUsimple::ChContactGPUsimple	(	collision::ChCollisionModel *	mmodA,
		collision::ChCollisionModel *	mmodB,
		const ChLcpVariablesBody *	varA,
		const ChLcpVariablesBody *	varB,
		const ChFrame<> *	frameA,
		const ChFrame<> *	frameB,
		const ChVector<> &	vpA,
		const ChVector<> &	vpB,
		const ChVector<> &	vN,
		double	mdistance,
		float *	mreaction_cache,
		float	mfriction
	)

< pass A vars

< pass B vars

< pass A frame

< pass B frame

< pass coll.point on A

< pass coll.point on B

< pass coll.normal, respect to A

< pass the distance (negative for penetration)

< pass the pointer to array of N,U,V reactions: a cache in contact manifold. If not available=0.

< friction coeff.

Parameters:

mmodA	model A
mmodB	model B
varA	pass A vars
varB	pass B vars
frameA	pass A frame
frameB	pass B frame
vpA	pass coll.point on A
vpB	pass coll.point on B
vN	pass coll.normal, respect to A
mdistance	pass the distance (negative for penetration)
mreaction_cache	pass the pointer to array of N,U,V reactions: a cache in contact manifold. If not available=0.
mfriction	friction coeff.

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Member Function Documentation

void chrono::ChContactGPUsimple::Reset	(	collision::ChCollisionModel *	mmodA,
		collision::ChCollisionModel *	mmodB,
		const ChLcpVariablesBody *	varA,
		const ChLcpVariablesBody *	varB,
		const ChFrame<> *	frameA,
		const ChFrame<> *	frameB,
		const ChVector<> &	vpA,
		const ChVector<> &	vpB,
		const ChVector<> &	vN,
		double	mdistance,
		float *	mreaction_cache,
		float	mfriction
	)			[virtual]

Initialize again this constraint.

Parameters:

mmodA	model A
mmodB	model B
varA	pass A vars
varB	pass B vars
frameA	pass A frame
frameB	pass B frame
vpA	pass coll.point on A
vpB	pass coll.point on B
vN	pass coll.normal, respect to A
mdistance	pass the distance (negative for penetration)
mreaction_cache	pass the pointer to array of N,U,V reactions: a cache in contact manifold. If not available=0.
mfriction	friction coeff.

ChCoordsys chrono::ChContactGPUsimple::GetContactCoords

(

)

[virtual]

Get the contact coordinate system, expressed in absolute frame. This represents the 'main' reference of the link: reaction forces are expressed in this coordinate system. Its origin is point P2. (It is the coordinate system of the contact plane and normal)

virtual ChVector chrono::ChContactGPUsimple::GetContactP1

(

)

[virtual]

Get the contact point 1, in absolute coordinates.

Returns the pointer to a contained 3x3 matrix representing the UV and normal directions of the contact. In detail, the X versor (the 1s column of the matrix) represents the direction of the contact normal.

virtual ChVector chrono::ChContactGPUsimple::GetContactP2

(

)

[virtual]

Get the contact point 2, in absolute coordinates.

virtual ChVector<float> chrono::ChContactGPUsimple::GetContactNormal

(

)

[virtual]

Get the contact normal, in absolute coordinates.

virtual double chrono::ChContactGPUsimple::GetContactDistance

(

)

[virtual]

Get the contact distance.

virtual ChVector chrono::ChContactGPUsimple::GetContactForce

(

)

[virtual]

Get the contact force, if computed, in contact coordinate system.

virtual float chrono::ChContactGPUsimple::GetFriction

(

)

[virtual]

Get the contact friction coefficient.

virtual void chrono::ChContactGPUsimple::SetFriction

(

float

mf

)

[virtual]

Set the contact friction coefficient.

virtual collision::ChCollisionModel* chrono::ChContactGPUsimple::GetModelA

(

)

[virtual]

Get the collision model A, with point P1.

virtual collision::ChCollisionModel* chrono::ChContactGPUsimple::GetModelB

(

)

[virtual]

Get the collision model B, with point P2.

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Member Data Documentation

collision::ChCollisionModel* chrono::ChContactGPUsimple::modA [protected]

model A

collision::ChCollisionModel* chrono::ChContactGPUsimple::modB [protected]

model B

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CHRONO::ENGINE
C++ library for multibody simulation, (C) Alessandro Tasora
This API documentation has been generated on 17 Jul 2009 by Doxygen