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void | AddBodies (const std::vector< real3 > &positions, const std::vector< real3 > &velocities) |
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virtual void | Update3DOF (double ChTime) override |
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virtual void | UpdatePosition (double ChTime) override |
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virtual unsigned int | GetNumConstraints () override |
| Get the number of scalar constraints.
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virtual unsigned int | GetNumNonZeros () override |
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virtual void | Setup3DOF (int start_constraint) override |
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virtual void | Initialize () override |
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virtual void | PreSolve () override |
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void | Density_Fluid () |
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void | Density_FluidMPM () |
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void | DensityConstraint_FluidMPM () |
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void | Normalize_Density_Fluid () |
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virtual void | Build_D () override |
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virtual void | Build_b () override |
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virtual void | Build_E () override |
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virtual void | Project (real *gamma) override |
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virtual void | GenerateSparsity () override |
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virtual void | ComputeInvMass (int offset) override |
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virtual void | ComputeMass (int offset) override |
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virtual void | PostSolve () override |
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virtual void | CalculateContactForces () override |
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virtual real3 | GetBodyContactForce (std::shared_ptr< ChBody > body) override |
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virtual real3 | GetBodyContactTorque (std::shared_ptr< ChBody > body) override |
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void | GetFluidDensity (custom_vector< real > &dens) |
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void | GetFluidPressure (custom_vector< real > &pres) |
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void | GetFluidForce (custom_vector< real3 > &forc) |
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| Ch3DOFContainer (const Ch3DOFContainer &other) |
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Ch3DOFContainer & | operator= (const Ch3DOFContainer &other) |
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virtual void | ComputeDOF () |
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virtual void | InnerSolve () |
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virtual void | UpdateRhs () |
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void | SetFamily (short family, short mask_no_collision) |
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uint | GetNumParticles () const |
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real3 | GetPos (int i) |
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void | SetPos (const int &i, const real3 &mpos) |
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real3 | GetPosDt (int i) |
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void | SetPosDt (const int &i, const real3 &mposdt) |
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| ChPhysicsItem (const ChPhysicsItem &other) |
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virtual ChPhysicsItem * | Clone () const override |
| "Virtual" copy constructor (covariant return type).
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ChSystem * | GetSystem () const |
| Get the pointer to the parent ChSystem().
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virtual void | SetSystem (ChSystem *m_system) |
| Set the pointer to the parent ChSystem().
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void | AddVisualModel (std::shared_ptr< ChVisualModel > model) |
| Add an (optional) visualization model.
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std::shared_ptr< ChVisualModel > | GetVisualModel () const |
| Access the visualization model (if any).
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void | AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>()) |
| Add the specified visual shape to the visualization model.
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std::shared_ptr< ChVisualShape > | GetVisualShape (unsigned int i) const |
| Access the specified visualization shape in the visualization model (if any).
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void | AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA) |
| Add the specified FEA visualization object to the visualization model.
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std::shared_ptr< ChVisualShapeFEA > | GetVisualShapeFEA (unsigned int i) const |
| Access the specified FEA visualization object in the visualization model (if any).
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virtual ChFrame | GetVisualModelFrame (unsigned int nclone=0) const |
| Get the reference frame (expressed in and relative to the absolute frame) of the visual model.
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virtual unsigned int | GetNumVisualModelClones () const |
| Return the number of clones of the visual model associated with this physics item.
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void | AddCamera (std::shared_ptr< ChCamera > camera) |
| Attach a ChCamera to this physical item.
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std::vector< std::shared_ptr< ChCamera > > | GetCameras () const |
| Get the set of cameras attached to this physics item.
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virtual bool | IsActive () const |
| Return true if the object is active and included in dynamics.
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virtual bool | IsCollisionEnabled () const |
| Tell if the object is subject to collision.
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virtual void | AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const |
| Add to the provided collision system any collision models managed by this physics item.
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virtual void | RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const |
| Remove from the provided collision system any collision models managed by this physics item.
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virtual void | SyncCollisionModels () |
| Synchronize the position and bounding box of any collsion models managed by this physics item.
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virtual ChAABB | GetTotalAABB () |
| Get the entire AABB axis-aligned bounding box of the object.
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virtual void | GetCenter (ChVector3d &mcenter) |
| Get a symbolic 'center' of the object.
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virtual void | Setup () |
| This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh)
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virtual void | Update (double mytime, bool update_assets=true) |
| This is an important function, which is called by the owner ChSystem at least once per integration step.
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virtual void | Update (bool update_assets=true) |
| As above, but does not require updating of time-dependent data.
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virtual void | ForceToRest () |
| Set zero speed (and zero accelerations) in state, without changing the position.
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virtual unsigned int | GetNumCoordsPosLevel () |
| Get the number of coordinates at the position level.
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virtual unsigned int | GetNumCoordsVelLevel () |
| Get the number of coordinates at the velocity level.
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virtual unsigned int | GetNumConstraintsBilateral () |
| Get the number of bilateral scalar constraints.
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virtual unsigned int | GetNumConstraintsUnilateral () |
| Get the number of unilateral scalar constraints.
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unsigned int | GetOffset_x () |
| Get offset in the state vector (position part)
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unsigned int | GetOffset_w () |
| Get offset in the state vector (speed part)
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unsigned int | GetOffset_L () |
| Get offset in the lagrangian multipliers.
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void | SetOffset_x (const unsigned int moff) |
| Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.
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void | SetOffset_w (const unsigned int moff) |
| Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.
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void | SetOffset_L (const unsigned int moff) |
| Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.
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virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) |
| From item's state to global state vectors y={x,v} pasting the states at the specified offsets.
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virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) |
| From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets.
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virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) |
| From item's state acceleration to global acceleration vector.
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virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) |
| From global acceleration vector to item's state acceleration.
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virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
| From item's reaction forces to global reaction vector.
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virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
| From global reaction vector to item's reaction forces.
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virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
| Computes x_new = x + Dt , using vectors at specified offsets.
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virtual void | IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) |
| Computes Dt = x_new - x, using vectors at specified offsets.
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virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) |
| Takes the F force term, scale and adds to R at given offset: R += c*F.
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virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) |
| Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.
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virtual void | IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c) |
| Adds the lumped mass to a Md vector, representing a mass diagonal matrix.
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virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
| Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.
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virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
| Takes the term C, scale and adds to Qc at given offset: Qc += c*C.
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virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) |
| Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.
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virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) |
| Prepare variables and constraints to accommodate a solution:
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virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) |
| After a solver solution, fetch values from variables and constraints into vectors:
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virtual void | InjectVariables (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChVariable objects associated with this item.
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virtual void | InjectConstraints (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChConstraint objects associated with this item.
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virtual void | LoadConstraintJacobians () |
| Compute and load current Jacobians in encapsulated ChConstraint objects.
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virtual void | InjectKRMMatrices (ChSystemDescriptor &descriptor) |
| Register with the given system descriptor any ChKRMBlock objects associated with this item.
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virtual void | LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) |
| Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects.
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virtual void | VariablesFbReset () |
| Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.
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virtual void | VariablesFbLoadForces (double factor=1) |
| Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.
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virtual void | VariablesQbLoadSpeed () |
| Initialize the 'qb' part of the ChVariables with the current value of speeds.
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virtual void | VariablesFbIncrementMq () |
| Adds M*q (masses multiplied current 'qb') to Fb, ex.
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virtual void | VariablesQbSetSpeed (double step=0) |
| Fetches the item speed (ex.
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virtual void | VariablesQbIncrementPosition (double step) |
| Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor.
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virtual void | ConstraintsBiReset () |
| Sets to zero the known term (b_i) of encapsulated ChConstraints.
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virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) |
| Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.
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virtual void | ConstraintsBiLoad_Ct (double factor=1) |
| Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.
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virtual void | ConstraintsBiLoad_Qc (double factor=1) |
| Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.
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virtual void | ConstraintsFbLoadForces (double factor=1) |
| Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.
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virtual void | ConstraintsFetch_react (double factor=1) |
| Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.
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virtual void | ArchiveOut (ChArchiveOut &archive_out) override |
| Method to allow serialization of transient data to archives.
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virtual void | ArchiveIn (ChArchiveIn &archive_in) override |
| Method to allow deserialization of transient data from archives.
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| ChObj (const ChObj &other) |
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int | GetIdentifier () const |
| Get the unique integer identifier of this object.
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void | SetTag (int tag) |
| Set an object integer tag (default: -1).
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int | GetTag () const |
| Get the tag of this object.
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void | SetName (const std::string &myname) |
| Set the name of this object.
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const std::string & | GetName () const |
| Get the name of this object.
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double | GetChTime () const |
| Gets the simulation time of this object.
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void | SetChTime (double m_time) |
| Sets the simulation time of this object.
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virtual std::string & | ArchiveContainerName () |
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