#include <CHlink.h>
Public Member Functions | |
| virtual void | Copy (ChLink *source) |
| virtual ChLink * | new_Duplicate () |
| virtual bool | IsValid () |
| virtual void | SetValid (bool mon) |
| virtual bool | IsDisabled () |
| virtual void | SetDisabled (bool mdis) |
| virtual bool | IsBroken () |
| virtual void | SetBroken (bool mon) |
| virtual bool | IsActive () |
| virtual bool | IsCreatedByCollisionDetection () |
| virtual int | GetType () |
| virtual int | GetLeftDOF () |
| int | GetNumCoords () |
| ChBody * | GetBody1 () |
| ChBody * | GetBody2 () |
| virtual ChCoordsys | GetLinkRelativeCoords () |
| ChVector | Get_react_force () |
| ChVector | Get_react_torque () |
| virtual int | RestoreRedundant () |
| virtual void | Set2Dmode (int mode) |
| virtual bool | IsRequiringWaking () |
| virtual void | UpdateTime (double mytime) |
| virtual void | Update (double mytime) |
| virtual void | Update () |
| virtual void | UpdateExternalGeometry () |
| virtual void | UpdatedExternalTime (double prevtime, double time) |
| virtual void | StreamIN (ChStreamInBinary &mstream) |
| virtual void | StreamOUT (ChStreamOutBinary &mstream) |
| virtual void | StreamOUT (ChStreamOutAscii &mstream) |
Protected Attributes | |
| ChBody * | Body1 |
| ChBody * | Body2 |
| Vector | react_force |
| Vector | react_torque |
| bool | disabled |
| bool | valid |
| bool | broken |
Detailed Description
Base class for joints betwenn two ChBody objects.
Links are objects which can be created to constrain two rigid bodies (i.e. objects from the ChBody class) in 3D space, like with revolute joints, guides, etc.
Note that there are many specializations of this base class, for example the ChLinkEngine class inherits this base class and implements specific functions to represent an engine between two bodies, etc. etc. (In fact, this base ChLink class does basically _nothing_ unless it is specialized by some child class).
Member Function Documentation
| virtual ChCoordsys chrono::ChLink::GetLinkRelativeCoords | ( | ) | [virtual] |
Get the link coordinate system, expressed relative to Body2 (the 'master' body). This represents the 'main' reference of the link: reaction forces and reaction torques are expressed in this coordinate system. By default is in the origin of Body2, but child classes should implement this.
Reimplemented in chrono::ChLinkMarkers, chrono::ChLinkMateGeneric, chrono::ChLinkDistance, and chrono::ChLinkFastContact.
| virtual bool chrono::ChLink::IsActive | ( | ) | [virtual] |
An important function! Tells if the link is currently active, in general, that is tells if it must be included into the system solver or not. This method cumulates the effect of various flags (so a link may be not active either because disabled, or broken, or not valid)
| virtual bool chrono::ChLink::IsCreatedByCollisionDetection | ( | ) | [virtual] |
If this link has been created automatically by collision detection, returns true (false by default). (Was used in the past, now useless)
Reimplemented in chrono::ChLinkContact.
| virtual bool chrono::ChLink::IsDisabled | ( | ) | [virtual] |
Tells if all constraints of this link are currently turned on or off by the user.
| virtual bool chrono::ChLink::IsRequiringWaking | ( | ) | [virtual] |
Tells if this link requires that the connected ChBody objects must be waken if they are sleeping. By default =true, i.e. always keep awaken, but child classes might return false for optimizing sleeping, in case no time-dependant.
| virtual bool chrono::ChLink::IsValid | ( | ) | [virtual] |
Tells if the link data is currently valid. (i.e. pointers to other items are correct)
| void chrono::ChLink::Set2Dmode | ( | int | mode | ) | [virtual] |
- Returns:
- number of changed constraints
Reimplemented in chrono::ChLinkLock.
| virtual void chrono::ChLink::SetDisabled | ( | bool | mdis | ) | [virtual] |
User can use this to enable/disable all the constraint of the link as desired.
Reimplemented in chrono::ChLinkMateGeneric, chrono::ChLinkMasked, and chrono::ChLinkBrake.
| void chrono::ChLink::StreamIN | ( | ChStreamInBinary & | mstream | ) | [virtual] |
Method to allow deserializing a persistent binary archive (ex: a file) into transient data.
Reimplemented from chrono::ChPhysicsItem.
Reimplemented in chrono::ChLinkMasked, chrono::ChLinkMarkers, chrono::ChLinkLock, chrono::ChLinkEngine, chrono::ChLinkWheel, chrono::ChLinkGear, chrono::ChLinkPulley, chrono::ChLinkSpring, chrono::ChLinkNumdiff, chrono::ChLinkPneumaticActuator, chrono::ChLinkLinActuator, chrono::ChLinkClearance, chrono::ChLinkTrajectory, chrono::ChLinkBrake, chrono::ChLinkMate, chrono::ChLinkPointSpline, and chrono::ChLinkScrew.
| void chrono::ChLink::StreamOUT | ( | ChStreamOutBinary & | mstream | ) | [virtual] |
Method to allow serializing transient data into a persistent binary archive (ex: a file).
Reimplemented from chrono::ChPhysicsItem.
Reimplemented in chrono::ChLinkMasked, chrono::ChLinkMarkers, chrono::ChLinkLock, chrono::ChLinkEngine, chrono::ChLinkWheel, chrono::ChLinkGear, chrono::ChLinkPulley, chrono::ChLinkSpring, chrono::ChLinkNumdiff, chrono::ChLinkPneumaticActuator, chrono::ChLinkLinActuator, chrono::ChLinkClearance, chrono::ChLinkTrajectory, chrono::ChLinkBrake, chrono::ChLinkMate, chrono::ChLinkPointSpline, and chrono::ChLinkScrew.
| virtual void chrono::ChLink::StreamOUT | ( | ChStreamOutAscii & | mstream | ) | [virtual] |
Method to allow serialization of transient data in ascii, as a readable item, for example "chrono::GetLog() << myobject;"
Reimplemented from chrono::ChObj.
Reimplemented in chrono::ChLinkMasked, chrono::ChLinkMarkers, chrono::ChLinkNumdiff, and chrono::ChLinkMate.
| void chrono::ChLink::Update | ( | double | mytime | ) | [virtual] |
This is an important function, which is called by the owner ChSystem at least once per integration step. It may update all auxiliary data of the link, such as matrices if any, etc. The inherited classes, for example the ChLinkMask, often implement specialized versions of this Update(time) function, because they might need to update inner states, forces, springs, etc. This base version, by default, simply updates the time.
Reimplemented from chrono::ChPhysicsItem.
Reimplemented in chrono::ChLinkMateOrthogonal, chrono::ChLinkMateXdistance, chrono::ChLinkMatePlane, chrono::ChLinkMasked, chrono::ChLinkMateGeneric, chrono::ChLinkMarkers, chrono::ChLinkDistance, and chrono::ChLinkFastContact.
| virtual void chrono::ChLink::UpdatedExternalTime | ( | double | prevtime, |
| double | time | ||
| ) | [virtual] |
Called from a foreign software (i.e. a plugin, a CAD appl.), if any, to report that time has changed. Most often you can leave this unimplemented.
Reimplemented in chrono::ChLinkEngine.
| void chrono::ChLink::UpdateExternalGeometry | ( | ) | [virtual] |
Tells to the associated external object of class ChExternalObject(), if any, that its 3D shape must be updated in order to syncronize to link state (for example, if chrono is a plugin for a 3D modeler, the wireframe display of the link may change depending on link state.
| void chrono::ChLink::UpdateTime | ( | double | time | ) | [virtual] |
Given new time, current body state, updates time-dependant stuff in link state, for example motion laws, moving markers, etc. (Default: do nothing but setting new time.)
UPDATING PROCEDURES
Reimplemented in chrono::ChLinkLock, chrono::ChLinkWheel, chrono::ChLinkEngine, chrono::ChLinkTrajectory, chrono::ChLinkPulley, chrono::ChLinkGear, chrono::ChLinkPneumaticActuator, chrono::ChLinkLinActuator, chrono::ChLinkPointSpline, chrono::ChLinkBrake, and chrono::ChLinkClearance.
CHRONO::ENGINE