MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChLcpConstraintTwoContact Class Reference

#include <CHlcpConstraintTwoContact.h>

Inheritance diagram for chrono::ChLcpConstraintTwoContact:

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Collaboration diagram for chrono::ChLcpConstraintTwoContact:

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List of all members.

Public Member Functions
	ChLcpConstraintTwoContact ()
	ChLcpConstraintTwoContact (ChLcpVariablesBody *mvariables_a, ChLcpVariablesBody *mvariables_b)
	ChLcpConstraintTwoContact (const ChLcpConstraintTwoContact &other)
virtual ChLcpConstraintTwoContact *	new_Duplicate ()
ChLcpConstraintTwoContact &	operator= (const ChLcpConstraintTwoContact &other)
virtual void	Project ()
virtual void	StreamIN (ChStreamInBinary &mstream)
virtual void	StreamOUT (ChStreamOutBinary &mstream)

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Detailed Description

This class is inherited by the ChLcpConstraintTwoBodies(), It is used to represent the normal reaction between two objects ONLY when also two ChLcpConstraintTwoFriction objects are used to represent friction. (If these two tangent constraint are not used, for frictionless case, please use a simple ChConstraintTwo with the CONSTRAINT_UNILATERAL mode.) Differently from an unilateral constraint, this does not enforce projection on positive constraint, since it will be up to the 'companion' ChLcpConstraintTwoFriction objects to call a projection on the cone, by modifying all the three components (normal, u, v) at once.

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Constructor & Destructor Documentation

chrono::ChLcpConstraintTwoContact::ChLcpConstraintTwoContact

(

)

Default constructor.

chrono::ChLcpConstraintTwoContact::ChLcpConstraintTwoContact	(	ChLcpVariablesBody *	mvariables_a,
		ChLcpVariablesBody *	mvariables_b
	)

Construct and immediately set references to variables.

chrono::ChLcpConstraintTwoContact::ChLcpConstraintTwoContact

(

const ChLcpConstraintTwoContact &

other

)

Copy constructor.

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Member Function Documentation

ChLcpConstraintTwoContact& chrono::ChLcpConstraintTwoContact::operator=

(

const ChLcpConstraintTwoContact &

other

)

Assignment operator: copy from other object.

virtual void chrono::ChLcpConstraintTwoContact::Project

(

)

[virtual]

For iterative solvers: project the value of a possible 'l_i' value of constraint reaction onto admissible orthant/set. Default behavior: if constraint is unilateral and l_i<0, reset l_i=0 This function MAY BE OVERRIDDEN by specialized inherited classes! For example, a bilateral constraint can do nothing, a monolateral: l_i= CHmax(0., l_i); a 'boxed constraint': l_i= CHmin(CHmax(min., l_i), max); etc. etc.

Reimplemented from chrono::ChLcpConstraint.

void chrono::ChLcpConstraintTwoContact::StreamIN

(

ChStreamInBinary &

mstream

)

[virtual]

Method to allow deserializing a persistent binary archive (ex: a file) into transient data.

Reimplemented from chrono::ChLcpConstraintTwoBodies.

void chrono::ChLcpConstraintTwoContact::StreamOUT

(

ChStreamOutBinary &

mstream

)

[virtual]

Method to allow serializing transient data into a persistent binary archive (ex: a file).

Reimplemented from chrono::ChLcpConstraintTwoBodies.

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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