TerrainContact Class Reference

Class to compute terrain contact. More...

#include <TerrainContact.h>

Collaboration diagram for TerrainContact:

Public Member Functions
	TerrainContact (STLReader *mesh, double friction)
void	computeDistanceLevelSetFunction (Mesh *mesh)
	compute the distance level set function in nodes \( d_{I}=(X_I-X_i) e_n \) It is the distance from the node to the STL mesh
void	particleDistanceLevelSet (Mesh *mesh, vector< Particle * > *particles)
	Interpolate distance level set function value of particle \( d_p = \sum_I d_I N_{Ip} \).
void	nodalDensityLevelSet (Mesh *mesh, vector< Particle * > *particles)
	Calculate the nodal density level set function \( \rho_I = \sum_p \frac{V_p N_{Ip}}{V_I} \) It allows to know the boundary of the body for a certain scalar.
void	trianglesDensityLevelSet (Mesh *mesh)
	Interpolate the density level set function in the centroids of triangles \( \rho_m = \sum_I \rho_I N_{Im} \) It allows to know the boundary of the body in contact with the STL mesh.
void	determineContactPotentialPairs (Mesh *mesh, std::vector< Particle * > *particles)
	Determine the contact potential pairs.
STLReader *	getSTLMesh ()
	Get the triangular mesh.
void	computeContactForces (double dt)
void	setDistanceThreshold (double threshold)
	Set the distance threshold for contact detection.
void	apply (Mesh *mesh, std::vector< Particle * > *particles, double dt)
	Apply the terrain contact algorithm.
void	enablePenaltyContact (bool enable)
	Enable the penalty contact method.
void	setPenaltyStiffness (double k)
	Set the penalty stiffness for contact forces.

Private Attributes
STLReader *	stlMesh
	triangular mesh for terrain contact
double	frictionCoefficient
	Friction coefficient \(\mu\).
std::vector< double >	densityLevelSet
	density level set function interpolated in centroids of triangles \( \rho_{m} \)
std::vector< std::pair< Particle *, Triangle * > >	contactPairs
	contact potential pairs
double	scalingFactor = 2.0
	scaling factor for the distance threshold in contact detection \( \alpha \)
bool	usePenaltyContact = false
	Use penalty contact method.
double	penaltyStiffness = 0.0
	Penalty stiffness for contact forces.

Detailed Description

Class to compute terrain contact.

Constructor & Destructor Documentation

TerrainContact()

TerrainContact::TerrainContact ( STLReader * mesh, double friction )

inline

Member Function Documentation

apply()

void TerrainContact::apply	(	Mesh *	mesh,
		std::vector< Particle * > *	particles,
		double	dt )

Apply the terrain contact algorithm.

computeContactForces()

void TerrainContact::computeContactForces

(

double

dt

)

computeDistanceLevelSetFunction()

void TerrainContact::computeDistanceLevelSetFunction

(

Mesh *

mesh

)

compute the distance level set function in nodes \( d_{I}=(X_I-X_i) e_n \) It is the distance from the node to the STL mesh

determineContactPotentialPairs()

void TerrainContact::determineContactPotentialPairs	(	Mesh *	mesh,
		std::vector< Particle * > *	particles )

Determine the contact potential pairs.

enablePenaltyContact()

void TerrainContact::enablePenaltyContact

(

bool

enable

)

Enable the penalty contact method.

getSTLMesh()

STLReader * TerrainContact::getSTLMesh ( )

inline

Get the triangular mesh.

nodalDensityLevelSet()

void TerrainContact::nodalDensityLevelSet	(	Mesh *	mesh,
		vector< Particle * > *	particles )

Calculate the nodal density level set function \( \rho_I = \sum_p \frac{V_p N_{Ip}}{V_I} \) It allows to know the boundary of the body for a certain scalar.

particleDistanceLevelSet()

void TerrainContact::particleDistanceLevelSet	(	Mesh *	mesh,
		vector< Particle * > *	particles )

Interpolate distance level set function value of particle \( d_p = \sum_I d_I N_{Ip} \).

setDistanceThreshold()

void TerrainContact::setDistanceThreshold ( double threshold )

inline

Set the distance threshold for contact detection.

Parameters

threshold

setPenaltyStiffness()

void TerrainContact::setPenaltyStiffness

(

double

k

)

Set the penalty stiffness for contact forces.

trianglesDensityLevelSet()

void TerrainContact::trianglesDensityLevelSet

(

Mesh *

mesh

)

Interpolate the density level set function in the centroids of triangles \( \rho_m = \sum_I \rho_I N_{Im} \) It allows to know the boundary of the body in contact with the STL mesh.

Member Data Documentation

contactPairs

std::vector<std::pair<Particle*, Triangle*> > TerrainContact::contactPairs

private

contact potential pairs

densityLevelSet

std::vector<double> TerrainContact::densityLevelSet

private

density level set function interpolated in centroids of triangles \( \rho_{m} \)

frictionCoefficient

double TerrainContact::frictionCoefficient

private

Friction coefficient \(\mu\).

penaltyStiffness

double TerrainContact::penaltyStiffness = 0.0

private

Penalty stiffness for contact forces.

scalingFactor

double TerrainContact::scalingFactor = 2.0

private

scaling factor for the distance threshold in contact detection \( \alpha \)

stlMesh

STLReader* TerrainContact::stlMesh

private

triangular mesh for terrain contact

usePenaltyContact

bool TerrainContact::usePenaltyContact = false

private

Use penalty contact method.

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

• TerrainContact.h