cppRigidBody Class Reference

#include </work/cekees/proteus/proteus/mbd/ProtChBody.h>

Collaboration diagram for cppRigidBody:

Public Member Functions
	cppRigidBody (cppSystem *system)
ChVector3d	hxyz (double *x, double t)
double	hx (double *x, double t)
double	hy (double *x, double t)
double	hz (double *x, double t)
void	calculate_init ()
void	addAccumulators ()
void	prestep (double *force, double *torque)
void	poststep ()
void	setConstraints (double *free_x, double *free_y)
void	addSpring (double stiffness, double damping, double *fairlead, double *anchor, double rest_length)
void	addPrismaticLinksWithSpring (double *pris1, double *pris2, double stiffness, double damping, double rest_length)
void	addPrismaticLinkX (double *pris1)
void	setName (std::string name)
void	setPrescribedMotionPoly (double coeff1)
void	setPrescribedMotionSine (double a, double f)
void	setPrescribedMotionCustom (std::vector< double > t, std::vector< double > x, std::vector< double > y, std::vector< double > z, std::vector< double > ang, std::vector< double > ang2, std::vector< double > ang3, double t_max)
void	getTriangleMeshSDF (ChVector3d pos_node, double *dist_n)
void	getTriangleMeshVel (double *x, double dt, double *vel)
void	updateTriangleMeshVisualisationPos ()

Public Attributes
ChVector3d	free_x
ChVector3d	free_r
ChVector3d	pos
ChVector3d	pos_last
ChVector3d	pos0
std::vector< ChVector3d >	trimesh_pos
std::vector< ChVector3d >	trimesh_pos_last
std::vector< ChVector3d >	trimesh_pos0
ChVector3d	pos0_trimesh
ChQuaternion	rotq0_trimesh
ChVector3d	vel
ChVector3d	vel_last
ChVector3d	acc
ChVector3d	acc_last
ChVector3d	angvel
ChVector3d	angvel_last
ChVector3d	angacc
ChVector3d	angacc_last
ChMatrix33< double >	rotm
ChMatrix33< double >	rotm_last
ChQuaternion< double >	rotq
ChQuaternion< double >	rotq_last
ChQuaternion< double >	rotq0
ChVector3d	F
ChVector3d	F_last
ChVector3d	M
ChVector3d	M_last
std::shared_ptr< ChLinkLockLock >	lock_motion
double	lock_motion_t_max
double	mass
double	mooring_restlength
std::shared_ptr< ChLinkTSDA >	spring
double *	inertia
unsigned int	accumulator_force_idx
unsigned int	accumulator_torque_idx
shared_ptr< ChTriangleMeshConnected >	trimesh
bool	has_trimesh
std::shared_ptr< ChBody >	body
cppSystem *	system

Detailed Description

Definition at line 31 of file ProtChBody.h.

Constructor & Destructor Documentation

cppRigidBody()

cppRigidBody::cppRigidBody

(

cppSystem *

system

)

Definition at line 165 of file ProtChBody.h.

Member Function Documentation

addAccumulators()

void cppRigidBody::addAccumulators

(

)

Definition at line 197 of file ProtChBody.h.

addPrismaticLinksWithSpring()

void cppRigidBody::addPrismaticLinksWithSpring	(	double *	pris1,
		double *	pris2,
		double	stiffness,
		double	damping,
		double	rest_length )

Definition at line 475 of file ProtChBody.h.

addPrismaticLinkX()

void cppRigidBody::addPrismaticLinkX

(

double *

pris1

)

Definition at line 459 of file ProtChBody.h.

addSpring()

void cppRigidBody::addSpring	(	double	stiffness,
		double	damping,
		double *	fairlead,
		double *	anchor,
		double	rest_length )

Definition at line 437 of file ProtChBody.h.

calculate_init()

void cppRigidBody::calculate_init

(

)

Definition at line 254 of file ProtChBody.h.

getTriangleMeshSDF()

void cppRigidBody::getTriangleMeshSDF	(	ChVector3d	pos_node,
		double *	dist_n )

Definition at line 540 of file ProtChBody.h.

getTriangleMeshVel()

void cppRigidBody::getTriangleMeshVel	(	double *	x,
		double	dt,
		double *	vel )

Definition at line 568 of file ProtChBody.h.

hx()

double cppRigidBody::hx	(	double *	x,
		double	t )

Definition at line 230 of file ProtChBody.h.

hxyz()

ChVector3d cppRigidBody::hxyz	(	double *	x,
		double	t )

Definition at line 215 of file ProtChBody.h.

hy()

double cppRigidBody::hy	(	double *	x,
		double	t )

Definition at line 238 of file ProtChBody.h.

hz()

double cppRigidBody::hz	(	double *	x,
		double	t )

Definition at line 246 of file ProtChBody.h.

poststep()

void cppRigidBody::poststep

(

)

Definition at line 317 of file ProtChBody.h.

prestep()

void cppRigidBody::prestep	(	double *	force,
		double *	torque )

Definition at line 272 of file ProtChBody.h.

setConstraints()

void cppRigidBody::setConstraints	(	double *	free_x,
		double *	free_y )

Definition at line 432 of file ProtChBody.h.

setName()

void cppRigidBody::setName

(

std::string

name

)

Definition at line 536 of file ProtChBody.h.

setPrescribedMotionCustom()

void cppRigidBody::setPrescribedMotionCustom	(	std::vector< double >	t,
		std::vector< double >	x,
		std::vector< double >	y,
		std::vector< double >	z,
		std::vector< double >	ang,
		std::vector< double >	ang2,
		std::vector< double >	ang3,
		double	t_max )

Definition at line 336 of file ProtChBody.h.

setPrescribedMotionPoly()

void cppRigidBody::setPrescribedMotionPoly

(

double

coeff1

)

Definition at line 402 of file ProtChBody.h.

setPrescribedMotionSine()

void cppRigidBody::setPrescribedMotionSine	(	double	a,
		double	f )

Definition at line 417 of file ProtChBody.h.

updateTriangleMeshVisualisationPos()

void cppRigidBody::updateTriangleMeshVisualisationPos

(

)

Definition at line 206 of file ProtChBody.h.

Member Data Documentation

acc

ChVector3d cppRigidBody::acc

Definition at line 45 of file ProtChBody.h.

acc_last

ChVector3d cppRigidBody::acc_last

Definition at line 46 of file ProtChBody.h.

accumulator_force_idx

unsigned int cppRigidBody::accumulator_force_idx

Definition at line 67 of file ProtChBody.h.

accumulator_torque_idx

unsigned int cppRigidBody::accumulator_torque_idx

Definition at line 67 of file ProtChBody.h.

angacc

ChVector3d cppRigidBody::angacc

Definition at line 49 of file ProtChBody.h.

angacc_last

ChVector3d cppRigidBody::angacc_last

Definition at line 50 of file ProtChBody.h.

angvel

ChVector3d cppRigidBody::angvel

Definition at line 47 of file ProtChBody.h.

angvel_last

ChVector3d cppRigidBody::angvel_last

Definition at line 48 of file ProtChBody.h.

body

std::shared_ptr<ChBody> cppRigidBody::body

Definition at line 70 of file ProtChBody.h.

F

ChVector3d cppRigidBody::F

Definition at line 56 of file ProtChBody.h.

F_last

ChVector3d cppRigidBody::F_last

Definition at line 57 of file ProtChBody.h.

free_r

ChVector3d cppRigidBody::free_r

Definition at line 34 of file ProtChBody.h.

free_x

ChVector3d cppRigidBody::free_x

Definition at line 33 of file ProtChBody.h.

has_trimesh

bool cppRigidBody::has_trimesh

Definition at line 69 of file ProtChBody.h.

inertia

double* cppRigidBody::inertia

Definition at line 66 of file ProtChBody.h.

lock_motion

std::shared_ptr<ChLinkLockLock> cppRigidBody::lock_motion

Definition at line 60 of file ProtChBody.h.

lock_motion_t_max

double cppRigidBody::lock_motion_t_max

Definition at line 61 of file ProtChBody.h.

M

ChVector3d cppRigidBody::M

Definition at line 58 of file ProtChBody.h.

M_last

ChVector3d cppRigidBody::M_last

Definition at line 59 of file ProtChBody.h.

mass

double cppRigidBody::mass

Definition at line 62 of file ProtChBody.h.

mooring_restlength

double cppRigidBody::mooring_restlength

Definition at line 63 of file ProtChBody.h.

pos

ChVector3d cppRigidBody::pos

Definition at line 35 of file ProtChBody.h.

pos0

ChVector3d cppRigidBody::pos0

Definition at line 37 of file ProtChBody.h.

pos0_trimesh

ChVector3d cppRigidBody::pos0_trimesh

Definition at line 41 of file ProtChBody.h.

pos_last

ChVector3d cppRigidBody::pos_last

Definition at line 36 of file ProtChBody.h.

rotm

ChMatrix33<double> cppRigidBody::rotm

Definition at line 51 of file ProtChBody.h.

rotm_last

ChMatrix33<double> cppRigidBody::rotm_last

Definition at line 52 of file ProtChBody.h.

rotq

ChQuaternion<double> cppRigidBody::rotq

Definition at line 53 of file ProtChBody.h.

rotq0

ChQuaternion<double> cppRigidBody::rotq0

Definition at line 55 of file ProtChBody.h.

rotq0_trimesh

ChQuaternion cppRigidBody::rotq0_trimesh

Definition at line 42 of file ProtChBody.h.

rotq_last

ChQuaternion<double> cppRigidBody::rotq_last

Definition at line 54 of file ProtChBody.h.

spring

std::shared_ptr<ChLinkTSDA> cppRigidBody::spring

Definition at line 64 of file ProtChBody.h.

system

cppSystem* cppRigidBody::system

Definition at line 71 of file ProtChBody.h.

trimesh

shared_ptr<ChTriangleMeshConnected> cppRigidBody::trimesh

Definition at line 68 of file ProtChBody.h.

trimesh_pos

std::vector<ChVector3d> cppRigidBody::trimesh_pos

Definition at line 38 of file ProtChBody.h.

trimesh_pos0

std::vector<ChVector3d> cppRigidBody::trimesh_pos0

Definition at line 40 of file ProtChBody.h.

trimesh_pos_last

std::vector<ChVector3d> cppRigidBody::trimesh_pos_last

Definition at line 39 of file ProtChBody.h.

vel

ChVector3d cppRigidBody::vel

Definition at line 43 of file ProtChBody.h.

vel_last

ChVector3d cppRigidBody::vel_last

Definition at line 44 of file ProtChBody.h.

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

• ProtChBody.h