chrono::ChContactNode Class Reference

#include <CHcontactNode.h>

Collaboration diagram for chrono::ChContactNode:

List of all members.

Public Member Functions
	ChContactNode (collision::ChCollisionModel *mmodA, collision::ChCollisionModel *mmodB, const ChLcpVariablesBody *varA, const ChLcpVariablesNode *varB, const ChFrame<> *frameA, const ChVector<> *posB, 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 ChLcpVariablesNode *varB, const ChFrame<> *frameA, const ChVector<> *posB, const ChVector<> &vpA, const ChVector<> &vpB, const ChVector<> &vN, double mdistance, float *mreaction_cache, float mfriction)
virtual ChCoordsys	GetContactCoords ()
ChMatrix33< float > *	GetContactPlane ()
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
ChVector	p1
ChVector	p2
ChVector< float >	normal
ChMatrix33< float >	contact_plane
double	norm_dist
float *	reactions_cache
ChLcpConstraintNodeContactN	Nx
ChLcpConstraintNodeFrictionT	Tu
ChLcpConstraintNodeFrictionT	Tv
ChVector	react_force

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Detailed Description

Class representing an unilateral contact constraint between a 3DOF node and a 6DOF body

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Constructor & Destructor Documentation

chrono::ChContactNode::ChContactNode	(	collision::ChCollisionModel *	mmodA,
		collision::ChCollisionModel *	mmodB,
		const ChLcpVariablesBody *	varA,
		const ChLcpVariablesNode *	varB,
		const ChFrame<> *	frameA,
		const ChVector<> *	posB,
		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 (body)
mmodB	model B (node)
varA	pass B vars (body)
varB	pass A vars (node)
frameA	pass A frame
posB	pass B position
vpA	pass coll.point on A, in absolute coordinates
vpB	pass coll.point on B, in absolute coordinates
vN	pass coll.normal, respect to A, in absolute coordinates
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

ChCoordsys chrono::ChContactNode::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)

ChMatrix33<float>* chrono::ChContactNode::GetContactPlane

(

)

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.

void chrono::ChContactNode::Reset	(	collision::ChCollisionModel *	mmodA,
		collision::ChCollisionModel *	mmodB,
		const ChLcpVariablesBody *	varA,
		const ChLcpVariablesNode *	varB,
		const ChFrame<> *	frameA,
		const ChVector<> *	posB,
		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 (body)
mmodB	model B (node)
varA	pass B vars (body)
varB	pass A vars (node)
frameA	pass A frame
posB	pass B position
vpA	pass coll.point on A, in absolute coordinates
vpB	pass coll.point on B, in absolute coordinates
vN	pass coll.normal, respect to A, in absolute coordinates
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 Data Documentation

ChVector<float> chrono::ChContactNode::normal [protected]

normal, on surface of master reference (geo1)

the plane of contact (X is normal direction)