Description

Unilateral (contact) constraints.

#include <ChConstraintRigidRigid.h>

Collaboration diagram for chrono::ChConstraintRigidRigid:

[legend]

Public Member Functions
void	Setup (ChMulticoreDataManager *dm)
void	Project (real *gamma)
void	Project_Single (int index, real *gamma)
void	host_Project_single (int index, vec2 ids, real3 friction, real cohesion, real gamma)
void	func_Project_normal (int index, const vec2 ids, const real cohesion, real *gam)
void	func_Project_sliding (int index, const vec2 ids, const real3 fric, const real cohesion, real gam)
void	func_Project_spinning (int index, const vec2 ids, const real3 fric, real *gam)
void	Dx (const DynamicVector< real > &x, DynamicVector< real > &output)
void	D_Tx (const DynamicVector< real > &x, DynamicVector< real > &output)
void	Build_b ()
	Compute the vector of corrections.
void	Build_E ()
	Compute the diagonal compliance matrix.
void	Build_D ()
	Compute the jacobian matrix, no allocation is performed here, GenerateSparsity should take care of that.
void	Build_s ()
void	GenerateSparsity ()
	Fill-in the non zero entries in the bilateral jacobian with ones.

Public Attributes
int	offset

Protected Attributes
custom_vector< bool2 >	contact_active_pairs
real	inv_h
	reciprocal of time step, 1/h
real	inv_hpa
	1 / (h+a)
real	inv_hhpa
	1 / h*(h+a)
custom_vector< real3_int >	rotated_point_a
custom_vector< real3_int >	rotated_point_b
custom_vector< quaternion >	quat_a
custom_vector< quaternion >	quat_b
ChMulticoreDataManager *	data_manager
	Pointer to the system's data manager.

Member Function Documentation

void ChConstraintRigidRigid::GenerateSparsity ( )

Fill-in the non zero entries in the bilateral jacobian with ones.

This operation is sequential.

The documentation for this class was generated from the following files:

D:/W/B/src/chrono-9.0.1/src/chrono_multicore/constraints/ChConstraintRigidRigid.h
D:/W/B/src/chrono-9.0.1/src/chrono_multicore/constraints/ChConstraintRigidRigid.cpp