mbsim 4.0.0 MBSim Kernel

tyre_contact.h
1 /* Copyright (C) 2004-2022 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _TYRE_CONTACT_H
21 #define _TYRE_CONTACT_H
22
23 #include "mbsim/links/contour_link.h"
24
25 namespace MBSim {
26
27 class TyreModel;
28
29 class TyreContact : public ContourLink {
30 public:
31 TyreContact(const std::string &name="");
32 ~TyreContact();
33
34 void setTyreModel(TyreModel *model_);
35 TyreModel* getTyreModel() { return model; }
36
37 void init(InitStage stage, const InitConfigSet &config) override;
38 void initializeUsingXML(xercesc::DOMElement *element) override;
39 void plot() override;
40
41 void calcSize() override;
42 void calcxSize() override;
43 void calcisSize() override;
44
45 const fmatvec::Vec3& evalForwardVelocity() { if(updfvel) updateForwardVelocity(); return RvC; }
46 fmatvec::Vec3& getForwardVelocity(bool check=true) { assert((not check) or (not updfvel)); return RvC; }
47 void updatePositions(Frame *frame) override;
48 void updateGeneralizedPositions() override;
49 void updateGeneralizedVelocities() override;
50 void updateForceDirections() override;
51 void updateForwardVelocity();
52 void updateGeneralizedForces() override;
53 void updateh(int i=0) override;
54
55 void updatexd() override;
56
57 bool isActive() const override { return false; }
58 bool gActiveChanged() override { return false; }
59 bool isSingleValued() const override { return true; }
60
61 void setInitialGuess(const fmatvec::Vec2 &zeta0_) { zeta0 = zeta0_; }
62 void setTolerance(double tol_) { tol = tol_; }
63
64 void resetUpToDate() override;
65
66 protected:
67 TyreModel *model{nullptr};
68 fmatvec::Vec3 RvC;
69 bool plane;
70 fmatvec::Vec2 zeta0;
71 double tol{1e-10};
72 bool updfvel{true};
73 };
74
75 }
76
77 #endif
MBSim::TyreContact::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: tyre_contact.cc:86
MBSim::TyreContact::isActive
bool isActive() const override
Definition: tyre_contact.h:57
MBSim::TyreContact::gActiveChanged
bool gActiveChanged() override
Definition: tyre_contact.h:58
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::ContourLink
contour link
Definition: contour_link.h:34
MBSim::TyreModel
Definition: tyre_model.h:27
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::TyreContact::plot
void plot() override
plots time dependent data
Definition: tyre_contact.cc:127
MBSim::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::TyreContact
Definition: tyre_contact.h:29
MBSim::TyreContact::isSingleValued
bool isSingleValued() const override
asks the link if it contains single valued force laws that contribute to the right-hand side vector h
Definition: tyre_contact.h:59
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30