class for contacts More...

#include <contact.h>

Inheritance diagram for MBSim::Contact:

Public Member Functions
	Contact (const std::string &name="")
	constructor More...

	~Contact () override
	destructor

void	updatewb () override

void	updateW (int i=0) override

void	updateV (int i=0) override

void	updateh (int i=0) override

void	updateg () override

void	updategd () override

void	updateStopVector () override

void	updateStopVectorParameters () override

void	updateJacobians (int j=0) override

void	updateWRef (fmatvec::Mat &ref, int j=0) override
	references to contact force direction matrix of dynamic system parent More...

void	updateVRef (fmatvec::Mat &ref, int j=0) override
	references to condensed contact force direction matrix of dynamic system parent More...

void	updatehRef (fmatvec::Vec &hRef, int j=0) override
	references to complete and link smooth force vector of dynamic system parent More...

void	updaterRef (fmatvec::Vec &hRef, int j=0) override
	references to nonsmooth force vector of dynamic system parent More...

void	updatewbRef (fmatvec::Vec &ref) override
	references to TODO of dynamic system parent More...

void	updatelaRef (fmatvec::Vec &ref) override
	references to contact force parameter of dynamic system parent More...

void	updateLaRef (fmatvec::Vec &ref) override
	references to contact force parameter of dynamic system parent More...

void	updateInternalStateRef (fmatvec::Vec &cur, fmatvec::Vec &next) override
	references to internal state of dynamic system parent More...

void	updategRef (fmatvec::Vec &ref) override
	references to contact relative distances of dynamic system parent More...

void	updategdRef (fmatvec::Vec &ref) override
	references to contact relative velocities of dynamic system parent More...

void	updateresRef (fmatvec::Vec &ref) override
	references to residuum of nonlinear contact equations of dynamic system parent More...

void	updaterFactorRef (fmatvec::Vec &ref) override
	references to rfactors of dynamic system parent More...

void	updatesvRef (fmatvec::Vec &ref) override
	references to stopvector of dynamic system parent (root function for event driven integration) More...

void	updatejsvRef (fmatvec::VecInt &ref) override
	references to stopvector evaluation of dynamic system parent (root detection with corresponding bool array by event driven integrator) More...

void	updateLinkStatusRef (fmatvec::VecInt &LinkStatusParent) override
	reference to vector of link status (for set valued links with piecewise link equations) More...

void	updateLinkStatusRegRef (fmatvec::VecInt &LinkStatusRegParent) override
	reference to vector of link status (for single-valued links) More...

void	calclaSize (int j) override
	calculates size of contact force parameters More...

void	calcisSize () override

void	calcgSize (int j) override
	calculates size of relative distances More...

void	calcgdSize (int j) override
	calculates size of gap velocities More...

void	calcrFactorSize (int j) override
	calculates size of rfactors More...

void	calcsvSize () override
	calculates size of stopvector (root function for event driven integration) More...

void	calcLinkStatusSize () override
	calculates size of vector LinkStatus More...

void	calcLinkStatusRegSize () override
	calculates size of vector LinkStatusReg More...

void	init (InitStage stage, const InitConfigSet &config) override
	plots time series header More...

bool	isSetValued () const override
	asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore set valued More...

bool	isSingleValued () const override
	asks the link if it contains single valued force laws that contribute to the right-hand side vector h More...

void	updateLinkStatus () override

void	updateLinkStatusReg () override

bool	isActive () const override

bool	gActiveChanged () override

bool	detectImpact () override

void	solveImpactsFixpointSingle () override

void	solveConstraintsFixpointSingle () override

void	solveImpactsGaussSeidel () override

void	solveConstraintsGaussSeidel () override

void	solveImpactsRootFinding () override

void	solveConstraintsRootFinding () override

void	jacobianConstraints () override
	computes JACOBIAN and mass action matrix of nonlinear contact equations More...

void	jacobianImpacts () override
	computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level More...

void	updaterFactors () override
	update relaxation factors for contact equations More...

void	checkConstraintsForTermination () override
	verify underlying force laws concerning given tolerances More...

void	checkImpactsForTermination () override
	verify underlying force laws on velocity level concerning given tolerances More...

void	checkActive (int j) override
	check if set-valued contacts are active and set corresponding attributes More...

void	setGeneralizedForceTolerance (double tol) override

void	setGeneralizedImpulseTolerance (double tol) override

void	setGeneralizedRelativePositionTolerance (double tol) override

void	setGeneralizedRelativeVelocityTolerance (double tol) override

void	setGeneralizedRelativeAccelerationTolerance (double tol) override

void	setGeneralizedRelativePositionCorrectionValue (double corr) override

void	setGeneralizedRelativeVelocityCorrectionValue (double corr) override

void	setrMax (double rMax_) override

void	setLinkStatusInd (int LinkStatusInd_) override

void	setLinkStatusRegInd (int LinkStatusRegInd_) override

void	setsvInd (int svInd_) override

void	setlaInd (int laInd_) override

void	setgInd (int gInd_) override

void	setgdInd (int gdInd_) override

void	setrFactorInd (int rFactorInd_) override

void	LinearImpactEstimation (double t, fmatvec::Vec &gInActive_, fmatvec::Vec &gdInActive_, int IndInActive_, fmatvec::Vec &gAct_, int IndActive_) override
	get gap distance and calculate gap velocity of unilateral links to estimate impacts within the next step More...

void	SizeLinearImpactEstimation (int sizeInActive_, int sizeActive_) override
	calculates the number of active and inactive unilateral constraints and increments sizeActive/sizeInActive More...

void	updatecorrRef (fmatvec::Vec &ref) override

void	updatecorr (int j) override

void	calccorrSize (int j) override

void	setcorrInd (int corrInd_) override

void	checkRoot () override

void	plot () override
	plots time dependent data More...

void	setDynamicSystemSolver (DynamicSystemSolver *sys) override
	sets the used dynamics system solver to the element More...

void	resetUpToDate () override

void	setNormalForceLaw (GeneralizedForceLaw *fcl_)

GeneralizedForceLaw *	getNormalForceLaw () const

void	setNormalImpactLaw (GeneralizedImpactLaw *fnil_)

void	setTangentialForceLaw (FrictionForceLaw *fdf_)

void	setTangentialImpactLaw (FrictionImpactLaw *ftil_)

void	setContactKinematics (ContactKinematics *ck)

ContactKinematics *	getContactKinematics () const

const std::vector< SingleContact > &	getSubcontacts () const

virtual int	getFrictionDirections ()

void	connect (Contour contour1, Contour contour2)

Contour *	getContour (int i)

SingleContact &	getSingleContact (int i)

void	initializeUsingXML (xercesc::DOMElement *element) override

void	setGlobalSearch (bool gS_)

void	setInitialGlobalSearch (bool iGS_)

void	setInitialGuess (const fmatvec::MatV &zeta0_)

void	setTolerance (double tol_)
	set tolerance for root-finding

void	setMaximumNumberOfContacts (int maxNumContacts_)
	set maximum number of contacts

void	updateGeneralizedPositions () override

std::shared_ptr< OpenMBV::Group >	getLinksOpenMBVGrp () override

H5::GroupBase *	getLinksPlotGroup () override

Public Member Functions inherited from MBSim::Link
	Link (const std::string &name)
	constructor More...

virtual void	calcSize ()

int	getGeneralizedRelativePositionSize ()

int	getGeneralizedRelativeVelocitySize ()

int	getGeneralizedForceSize ()

virtual void	updateg ()

virtual void	updategd ()

virtual void	updatewb ()

virtual void	updateW (int i=0)

virtual void	updateV (int i=0)

virtual void	updater (int i=0)

virtual void	updateJrla (int i=0)

virtual void	updateh (int i=0)

virtual void	updateStopVector ()

virtual void	updateStopVectorParameters ()

virtual void	updateLinkStatus ()

virtual void	updateLinkStatusReg ()

virtual void	updateJacobians (int j=0)

virtual void	updateb ()

virtual void	updatedx ()

virtual void	updatexd ()

virtual void	calcxSize ()

const fmatvec::Vec &	getx () const

fmatvec::Vec &	getx ()

const fmatvec::Vec &	getxd (bool check=true) const

fmatvec::Vec &	getxd (bool check=true)

int	getxInd ()

virtual void	setxInd (int xInd_)

int	getxSize () const

virtual void	updatexRef (fmatvec::Vec &ref)

virtual void	updatexdRef (fmatvec::Vec &ref)

virtual void	updatedxRef (fmatvec::Vec &ref)

virtual void	updatebRef (fmatvec::Mat &hRef)

void	init (InitStage stage, const InitConfigSet &config) override
	plots time series header More...

virtual void	initz ()

virtual void	writez (H5::GroupBase *group)

virtual void	readz0 (H5::GroupBase *group)

virtual void	setbInd (int bInd_)

void	plot () override
	plots time dependent data More...

virtual void	updateWRef (fmatvec::Mat &ref, int i=0)=0
	references to contact force direction matrix of dynamic system parent More...

virtual void	updateVRef (fmatvec::Mat &ref, int i=0)=0
	references to condensed contact force direction matrix of dynamic system parent More...

virtual void	updatehRef (fmatvec::Vec &hRef, int i=0)=0
	references to complete and link smooth force vector of dynamic system parent More...

virtual void	updaterRef (fmatvec::Vec &ref, int i=0)=0
	references to nonsmooth force vector of dynamic system parent More...

virtual void	updateJrlaRef (fmatvec::Mat &ref, int i=0)

virtual void	updatewbRef (fmatvec::Vec &ref)
	references to TODO of dynamic system parent More...

virtual void	updatelaRef (fmatvec::Vec &ref)
	references to contact force parameter of dynamic system parent More...

virtual void	updateLaRef (fmatvec::Vec &ref)
	references to contact force parameter of dynamic system parent More...

virtual void	deletelaRef ()
	delete reference to contact force parameter of dynamic system parent

virtual void	updateInternalStateRef (fmatvec::Vec &cur, fmatvec::Vec &next)
	references to internal state of dynamic system parent More...

virtual void	updategRef (fmatvec::Vec &ref)
	references to contact relative distances of dynamic system parent More...

virtual void	updategdRef (fmatvec::Vec &ref)
	references to contact relative velocities of dynamic system parent More...

virtual void	updateresRef (fmatvec::Vec &ref)
	references to residuum of nonlinear contact equations of dynamic system parent More...

virtual void	updaterFactorRef (fmatvec::Vec &ref)
	references to rfactors of dynamic system parent More...

virtual void	updatesvRef (fmatvec::Vec &sv)
	references to stopvector of dynamic system parent (root function for event driven integration) More...

virtual void	updatejsvRef (fmatvec::VecInt &jsvParent)
	references to stopvector evaluation of dynamic system parent (root detection with corresponding bool array by event driven integrator) More...

virtual void	updateLinkStatusRef (fmatvec::VecInt &LinkStatusParent)
	reference to vector of link status (for set valued links with piecewise link equations) More...

virtual void	updateLinkStatusRegRef (fmatvec::VecInt &LinkStatusRegParent)
	reference to vector of link status (for single-valued links) More...

virtual void	calclaSize (int j)
	calculates size of contact force parameters More...

int	getisInd ()

int	getisSize ()

virtual void	calcisSize ()

virtual void	aboutToUpdateInternalState ()

virtual void	postprocessing ()

virtual void	calcgSize (int j)
	calculates size of relative distances More...

virtual void	calcgdSize (int j)
	calculates size of gap velocities More...

virtual void	calcrFactorSize (int j)
	calculates size of rfactors More...

virtual void	calcbSize ()
	calculates size of rfactors More...

virtual void	calcsvSize ()
	calculates size of stopvector (root function for event driven integration) More...

virtual void	calcLinkStatusSize ()
	calculates size of vector LinkStatus More...

virtual void	calcLinkStatusRegSize ()
	calculates size of vector LinkStatusReg More...

virtual bool	isSetValued () const
	asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore set valued More...

virtual bool	isSingleValued () const
	asks the link if it contains single valued force laws that contribute to the right-hand side vector h More...

virtual bool	isActive () const =0

virtual bool	gActiveChanged ()=0

virtual bool	detectImpact ()

virtual void	solveImpactsFixpointSingle ()

virtual void	solveConstraintsFixpointSingle ()

virtual void	solveImpactsGaussSeidel ()

virtual void	solveConstraintsGaussSeidel ()

virtual void	solveImpactsRootFinding ()

virtual void	solveConstraintsRootFinding ()

virtual void	jacobianConstraints ()
	computes JACOBIAN and mass action matrix of nonlinear contact equations More...

virtual void	jacobianImpacts ()
	computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level More...

virtual void	updaterFactors ()
	update relaxation factors for contact equations More...

virtual void	checkImpactsForTermination ()
	verify underlying force laws on velocity level concerning given tolerances More...

virtual void	checkConstraintsForTermination ()
	verify underlying force laws concerning given tolerances More...

virtual void	checkActive (int j)
	check if set-valued contacts are active and set corresponding attributes More...

virtual void	setGeneralizedForceTolerance (double tol)

virtual void	setGeneralizedImpulseTolerance (double tol)

virtual void	setGeneralizedRelativePositionTolerance (double tol)

virtual void	setGeneralizedRelativeVelocityTolerance (double tol)

virtual void	setGeneralizedRelativeAccelerationTolerance (double tol)

virtual void	setGeneralizedRelativePositionCorrectionValue (double corr)

virtual void	setGeneralizedRelativeVelocityCorrectionValue (double corr)

virtual void	setrMax (double rMax_)

virtual void	setLinkStatusInd (int LinkStatusInd_)

virtual void	setLinkStatusRegInd (int LinkStatusRegInd_)

virtual void	setlaInd (int laInd_)

virtual void	setisInd (int isInd_)

virtual void	setgInd (int gInd_)

virtual void	setgdInd (int gdInd_)

virtual void	setrFactorInd (int rFactorInd_)

virtual void	LinearImpactEstimation (double t, fmatvec::Vec &gInActive_, fmatvec::Vec &gdInActive_, int IndInActive_, fmatvec::Vec &gAct_, int IndActive_)
	get gap distance and calculate gap velocity of unilateral links to estimate impacts within the next step More...

virtual void	SizeLinearImpactEstimation (int sizeInActive_, int sizeActive_)
	calculates the number of active and inactive unilateral constraints and increments sizeActive/sizeInActive More...

virtual void	updatecorr (int j)

virtual void	updatecorrRef (fmatvec::Vec &ref)

virtual void	calccorrSize (int j)

virtual void	setcorrInd (int corrInd_)

virtual void	checkRoot ()

void	setx (const fmatvec::Vec &x_)

virtual void	setsvInd (int svInd_)

int	getsvSize () const

int	getLinkStatusSize () const

int	getLinkStatusRegSize () const

const fmatvec::Vec &	getla (bool check=true) const

const fmatvec::Vec &	getLa (bool check=true) const

fmatvec::Vec &	getla (bool check=true)

fmatvec::Vec &	getLa (bool check=true)

fmatvec::Vec &	getwb (bool check=true)

int	getlaInd () const

int	getlaSize () const

int	getbSize () const

const fmatvec::Vec &	evalg ()

const fmatvec::Vec &	evalgd ()

const fmatvec::Vec &	evalla ()

const fmatvec::Vec &	evalLa ()

const fmatvec::Vec &	evalwb ()

const fmatvec::Vec &	evalxd ()

int	getgdInd () const

int	getgSize () const

int	getgdSize () const

int	getrFactorSize () const

const fmatvec::VecInt &	getrFactorUnsure () const

void	resetUpToDate () override

virtual void	updateGeneralizedPositions ()

virtual void	updateGeneralizedVelocities ()

virtual void	updateGeneralizedForces ()

const fmatvec::VecV &	evalGeneralizedRelativePosition ()

const fmatvec::VecV &	evalGeneralizedRelativeVelocity ()

const fmatvec::VecV &	evalGeneralizedForce ()

fmatvec::VecV &	getGeneralizedRelativePosition (bool check=true)

fmatvec::VecV &	getGeneralizedRelativeVelocity (bool check=true)

fmatvec::VecV &	getGeneralizedForce (bool check=true)

void	savela ()
	saves contact forces for use as starting value in next time step

void	saveLa ()
	saves contact impulses for use as starting value in next time step

void	initla ()
	load contact forces for use as starting value

void	initLa ()
	load contact impulses for use as starting value

void	decreaserFactors ()
	decrease rfactor if mass action matrix is not diagonal dominant (cf. Foerg: Dissertation, page 80 et seq.)

int	getcorrSize () const

bool	getUpdaterrel () const

void	createPlotGroup () override
	creates the plotGroup for H5-output More...

Public Member Functions inherited from MBSim::Element
	Element (const std::string &name)
	constructor

	~Element () override=default
	destructor

void	throwError (const std::string &msg) const

virtual void	setDynamicSystemSolver (DynamicSystemSolver *sys)
	sets the used dynamics system solver to the element More...

virtual void	plot ()
	plots time dependent data More...

virtual void	plotAtSpecialEvent ()
	plots time dependent data at special events More...

const std::string &	getName () const

void	setName (const std::string &str)

void	setPath (const std::string &str)

DynamicSystemSolver *	getDynamicSystemSolver ()

virtual void	init (InitStage stage, const InitConfigSet &config=InitConfigSet())
	plots time series header More...

virtual void	createPlotGroup ()
	creates the plotGroup for H5-output More...

H5::GroupBase *	getPlotGroup ()

virtual H5::GroupBase *	getFramesPlotGroup ()

virtual H5::GroupBase *	getContoursPlotGroup ()

virtual H5::GroupBase *	getGroupsPlotGroup ()

virtual H5::GroupBase *	getObjectsPlotGroup ()

virtual H5::GroupBase *	getLinksPlotGroup ()

virtual H5::GroupBase *	getConstraintsPlotGroup ()

virtual H5::GroupBase *	getObserversPlotGroup ()

bool	getPlotFeature (const PlotFeatureEnum &pf)

virtual void	setPlotFeature (const PlotFeatureEnum &pf, bool value)
	Set a plot feature. More...

void	setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for the children of this object. More...

void	setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for this object and the children of this object. More...

template<class T >
void	setPlotAttribute (const std::string &name, const T &value)
	Set a plot attribute: static data attached as key/value pairs to the plot datasets/groups.

void	setPlotAttribute (const std::string &name)

virtual void	initializeUsingXML (xercesc::DOMElement *element)

template<class T >
T *	getByPath (const std::string &path, bool initialCaller=true) const
	Get the object of type T represented by the path path. Do not set any argurment other than path!

std::string	getPath (const Element *relTo=nullptr, std::string sep="/") const
	Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep!

virtual Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const
	Get the Element named name in the container named container. More...

virtual std::shared_ptr< OpenMBV::Group >	getOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getFramesOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getContoursOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getGroupsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObjectsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getLinksOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getConstraintsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObserversOpenMBVGrp ()

virtual Element *	getParent ()

virtual const Element *	getParent () const

virtual void	setParent (Element *parent_)

std::vector< Element * >	getDependencies () const
	checks dependency on other elements. More...

void	addDependency (Element *ele)

int	computeLevel ()
	computes the length of the pathes in the graph that represents the dependencies between all elements. More...

virtual void	updatePositions (Frame *frame)

virtual void	updateVelocities (Frame *frame)

virtual void	updateAccelerations (Frame *frame)

virtual void	updateJacobians (Frame *frame, int j=0)

virtual void	updateGyroscopicAccelerations (Frame *frame)

virtual void	resetUpToDate ()

const double &	getTime () const

double	getStepSize () const

const MBXMLUtils::DOMEvalException &	getDOMEvalError () const

Protected Attributes
std::vector< SingleContact >	contacts
	list of the single sub-contact(-points)

ContactKinematics *	contactKinematics {nullptr}
	contact kinematics

std::vector< Contour * >	contour {2}

std::map< std::pair< std::string, std::size_t >, bool >	plotFeatureMap
	plotFeatures of sub-contacts More...

GeneralizedForceLaw *	fcl {nullptr}
	force laws in normal and tangential direction on acceleration and velocity level

FrictionForceLaw *	fdf {nullptr}
	force law defining relation between tangential velocities and tangential forces

GeneralizedImpactLaw *	fnil {nullptr}
	force law defining relation between penetration velocity and resulting normal impulses

FrictionImpactLaw *	ftil {nullptr}
	force law defining relation between tangential velocities and forces impulses

bool	gS {false}

bool	iGS {false}

fmatvec::MatV	zeta0

double	tol {1e-10}
	tolerance for root-finding

int	maxNumContacts {-1}
	maximum number of contacts

Protected Attributes inherited from MBSim::Link
int	ng

int	ngd

int	nla

fmatvec::Vec	x
	order one parameters

fmatvec::Vec	xd
	differentiated order one parameters

fmatvec::Vec	dx

fmatvec::Vec	x0
	order one initial value

int	xSize
	size and local index of order one parameters

int	xInd

fmatvec::Vec	sv
	stop vector for event driven integration (root function)

fmatvec::VecInt	jsv
	evaluation of roots of stop vector with a boolean vector

int	svSize
	size and local index of stop vector

int	svInd

fmatvec::VecInt	LinkStatus
	status of link (default 0) describing which piece of the equation is valid (e.g. stick or slip) More...

int	LinkStatusSize
	size and local index of link status vector (set-valued)

int	LinkStatusInd

fmatvec::VecInt	LinkStatusReg
	status of link More...

int	LinkStatusRegSize
	size and local index of single-valued link status vector

int	LinkStatusRegInd

fmatvec::Vec	curis

fmatvec::Vec	nextis

fmatvec::Vec	g
	relative position, relative velocity, contact force and impact parameters

fmatvec::Vec	gd

fmatvec::Vec	la

fmatvec::Vec	La

fmatvec::Vec	laS
	contact forces of smooth contact laws

int	isSize

int	isInd

int	gSize
	size and local index of relative distances

int	gInd

int	gdSize
	size and local index of relative velocities

int	gdInd

int	laSize
	size and local index of contact force parameters

int	laInd

int	bSize
	size and local index of contact force parameters

int	bInd

fmatvec::RangeV	Ig
	local index of relative distances and contact force parameters

fmatvec::RangeV	Ila

double	gTol
	tolerance for relative position, relative velocity, relative acceleration, force and impact

double	gdTol

double	gddTol

double	laTol

double	LaTol

double	gCorr
	correction factor for relative position and relative velocity

double	gdCorr

fmatvec::Vec	la0
	attribute to save contact force parameter of previous time step

fmatvec::Vec	La0

fmatvec::Vec	rFactor
	vector of rfactors for relaxation of contact equations

fmatvec::VecInt	rFactorUnsure
	boolean vector defining if rfactor belongs to not diagonal dominant mass action matrix (cf. Foerg Dissertation, page 80 et seq.)

int	rFactorSize
	size and local index of rfactors

int	rFactorInd

double	rMax
	maximum r-factor

fmatvec::Vec	res

std::vector< fmatvec::Mat >	W [2]
	force direction matrix for nonsmooth right hand side

std::vector< fmatvec::Mat >	V [2]
	reduced force direction matrix for nonsmooth right hand side

std::vector< fmatvec::Vec >	h [2]
	smooth complete and link right hand side

std::vector< fmatvec::Mat >	dhdq
	smooth Jacobians for implicit integration

std::vector< fmatvec::Mat >	dhdu

std::vector< fmatvec::Vec >	dhdt

std::vector< fmatvec::Vec >	r [2]
	nonsmooth right hand side

std::vector< fmatvec::Mat >	Jrla [2]
	Jacobian dr/dla.

fmatvec::Vec	wb
	TODO.

fmatvec::Mat	b
	TODO.

int	corrSize

int	corrInd

fmatvec::Vec	corr

fmatvec::VecV	rrel

fmatvec::VecV	vrel

fmatvec::VecV	lambda

bool	updSize

bool	updrrel

bool	updvrel

bool	updla

Protected Attributes inherited from MBSim::Element
Element *	parent { nullptr }

std::string	name
	name of element

std::string	path
	The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value.

MBXMLUtils::DOMEvalException	domEvalError
	Special XML helper variable.

DynamicSystemSolver *	ds { nullptr }
	dynamic system

H5::VectorSerie< double > *	plotVectorSerie { nullptr }
	time series

std::vector< double >	plotVector
	one entry of time series

std::vector< std::string >	plotColumns
	columns of time series

H5::GroupBase *	plotGroup { nullptr }
	associated plot group

std::vector< Element * >	dependency
	vector containing all dependencies.

PlotFeatureMap	plotFeature
	plot feature

PlotFeatureMap	plotFeatureForChildren

std::map< std::string, std::variant< std::monostate, int, double, std::string, std::vector< int >, std::vector< double >, std::vector< std::vector< double > > > >	plotAttribute

Private Attributes
std::string	saved_ref1

std::string	saved_ref2

Additional Inherited Members
Public Types inherited from MBSim::Element
enum	InitStage { resolveStringRef =0 , preInit , plotting , unknownStage , LASTINITSTAGE }
	The stages of the initialization. More...

Protected Member Functions inherited from MBSim::Element
void	updatePlotFeatures ()

void	addToPlot (const std::string &name)

void	addToPlot (const std::string &name, int size)

void	addToPlot (const std::string &name, const std::vector< std::string > &iname)

template<class AT >
void	plot (const AT &x)

template<class Type , class AT >
void	plot (const fmatvec::Vector< Type, AT > &x)

Detailed Description

class for contacts

Author: Martin Foerg

Date: 2009-04-02 some comments (Thorsten Schindler); 2009-07-16 splitted link / object right hand side (Thorsten Schindler); 2009-08-03 contacts can now visualize their ContactPointFrames (Markus Schneider); 2010-07-06 added LinkStatus and LinearImpactEstimation for timestepper ssc (Robert Huber); 2012-05-08 added LinkStatusReg for AutoTimeSteppingSSCIntegrator (Jan Clauberg); 2014-09-16 contact forces are calculated on acceleration level (Thorsten Schindler)

basic class for contacts between contours, mainly implementing geometrical informations of contact-pairings

Remarks:

constitutive laws on acceleration and velocity level have to be set pairwise

Constructor & Destructor Documentation

◆ Contact()

MBSim::Contact::Contact ( const std::string & name = "" )

inline

constructor

Parameters

name	of contact

Member Function Documentation

◆ calccorrSize()

void MBSim::Contact::calccorrSize ( int j )

overridevirtual

Reimplemented from MBSim::Link.

◆ calcgdSize()

void MBSim::Contact::calcgdSize ( int j )

overridevirtual

calculates size of gap velocities

Parameters

flag	to decide which contacts are included in the calculation

see SingleContact for the implementation and DynamicSystem for explanation

Reimplemented from MBSim::Link.

◆ calcgSize()

void MBSim::Contact::calcgSize ( int j )

overridevirtual

calculates size of relative distances

Reimplemented from MBSim::Link.

◆ calcisSize()

void MBSim::Contact::calcisSize ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ calclaSize()

void MBSim::Contact::calclaSize ( int j )

overridevirtual

calculates size of contact force parameters

Reimplemented from MBSim::Link.

◆ calcLinkStatusRegSize()

void MBSim::Contact::calcLinkStatusRegSize ( )

overridevirtual

calculates size of vector LinkStatusReg

Reimplemented from MBSim::Link.

◆ calcLinkStatusSize()

void MBSim::Contact::calcLinkStatusSize ( )

overridevirtual

calculates size of vector LinkStatus

Reimplemented from MBSim::Link.

◆ calcrFactorSize()

void MBSim::Contact::calcrFactorSize ( int j )

overridevirtual

calculates size of rfactors

Reimplemented from MBSim::Link.

◆ calcsvSize()

void MBSim::Contact::calcsvSize ( )

overridevirtual

calculates size of stopvector (root function for event driven integration)

Reimplemented from MBSim::Link.

◆ checkActive()

void MBSim::Contact::checkActive ( int j )

overridevirtual

check if set-valued contacts are active and set corresponding attributes

Parameters

flag	to decide which criteria are used to define 'activity'

see SingleContact for the implementation and DynamicSystem for explanation

Reimplemented from MBSim::Link.

◆ checkConstraintsForTermination()

void MBSim::Contact::checkConstraintsForTermination ( )

overridevirtual

verify underlying force laws concerning given tolerances

Reimplemented from MBSim::Link.

◆ checkImpactsForTermination()

void MBSim::Contact::checkImpactsForTermination ( )

overridevirtual

verify underlying force laws on velocity level concerning given tolerances

Reimplemented from MBSim::Link.

◆ checkRoot()

void MBSim::Contact::checkRoot ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ connect()

void MBSim::Contact::connect	(	Contour *	contour1,
		Contour *	contour2
	)

connect two contours

Parameters

contour0	first contour
contour1	second contour
contactKinematics	The contact kinematics that should be used to compute the contact point.
name	Name of the contact in the output

◆ detectImpact()

bool MBSim::Contact::detectImpact ( )

overridevirtual

Returns: has an impact occured?

Reimplemented from MBSim::Link.

◆ gActiveChanged()

bool MBSim::Contact::gActiveChanged ( )

overridevirtual

Returns: has the relative distance vector changed?

Implements MBSim::Link.

◆ getFrictionDirections()

int MBSim::Contact::getFrictionDirections ( )

virtual

Returns: number of considered friction directions

◆ getLinksOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::Contact::getLinksOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getLinksPlotGroup()

H5::GroupBase * MBSim::Contact::getLinksPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ init()

void MBSim::Contact::init	(	InitStage	stage,
		const InitConfigSet &	config
	)

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::Element.

◆ initializeUsingXML()

void MBSim::Contact::initializeUsingXML ( xercesc::DOMElement * element )

overridevirtual

Reimplemented from MBSim::Element.

◆ isActive()

bool MBSim::Contact::isActive ( ) const

overridevirtual

Returns: are link equations active?

Implements MBSim::Link.

◆ isSetValued()

bool MBSim::Contact::isSetValued ( ) const

overridevirtual

asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore set valued

Returns: set valued force laws used within the link?

Reimplemented from MBSim::Link.

◆ isSingleValued()

bool MBSim::Contact::isSingleValued ( ) const

overridevirtual

asks the link if it contains single valued force laws that contribute to the right-hand side vector h

Returns: single valued force laws used within link?

Reimplemented from MBSim::Link.

◆ jacobianConstraints()

void MBSim::Contact::jacobianConstraints ( )

overridevirtual

computes JACOBIAN and mass action matrix of nonlinear contact equations

Reimplemented from MBSim::Link.

◆ jacobianImpacts()

void MBSim::Contact::jacobianImpacts ( )

overridevirtual

computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level

Reimplemented from MBSim::Link.

◆ LinearImpactEstimation()

void MBSim::Contact::LinearImpactEstimation	(	double	t,
		fmatvec::Vec &	gInActive_,
		fmatvec::Vec &	gdInActive_,
		int *	IndInActive_,
		fmatvec::Vec &	gAct_,
		int *	IndActive_
	)

overridevirtual

get gap distance and calculate gap velocity of unilateral links to estimate impacts within the next step

Parameters

gInActive	gap distance of inactive links (return)
gdInActive	gap velocities of inactive links (return)
IndInActive	index for gInActive/gdInActive; incremented with size after storage (return and input)
gAct	gap distance of active links (return)
IndActive	index for gActive; incremented with size after storage (return and input)

Reimplemented from MBSim::Link.

◆ plot()

void MBSim::Contact::plot ( )

overridevirtual

plots time dependent data

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented from MBSim::Element.

◆ resetUpToDate()

void MBSim::Contact::resetUpToDate ( )

overridevirtual

Reimplemented from MBSim::Element.

◆ setcorrInd()

void MBSim::Contact::setcorrInd ( int corrInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setDynamicSystemSolver()

void MBSim::Contact::setDynamicSystemSolver ( DynamicSystemSolver * sys )

overridevirtual

sets the used dynamics system solver to the element

Parameters

pointer to the dynamic system solver of which the element is part of

Reimplemented from MBSim::Element.

◆ setgdInd()

void MBSim::Contact::setgdInd ( int gdInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setGeneralizedForceTolerance()

void MBSim::Contact::setGeneralizedForceTolerance ( double tol )

overridevirtual

Reimplemented from MBSim::Link.

◆ setGeneralizedImpulseTolerance()

void MBSim::Contact::setGeneralizedImpulseTolerance ( double tol )

overridevirtual

Reimplemented from MBSim::Link.

◆ setGeneralizedRelativeAccelerationTolerance()

void MBSim::Contact::setGeneralizedRelativeAccelerationTolerance ( double tol )

overridevirtual

Reimplemented from MBSim::Link.

◆ setGeneralizedRelativePositionCorrectionValue()

void MBSim::Contact::setGeneralizedRelativePositionCorrectionValue ( double corr )

overridevirtual

Reimplemented from MBSim::Link.

◆ setGeneralizedRelativePositionTolerance()

void MBSim::Contact::setGeneralizedRelativePositionTolerance ( double tol )

overridevirtual

Reimplemented from MBSim::Link.

◆ setGeneralizedRelativeVelocityCorrectionValue()

void MBSim::Contact::setGeneralizedRelativeVelocityCorrectionValue ( double corr )

overridevirtual

Reimplemented from MBSim::Link.

◆ setGeneralizedRelativeVelocityTolerance()

void MBSim::Contact::setGeneralizedRelativeVelocityTolerance ( double tol )

overridevirtual

Reimplemented from MBSim::Link.

◆ setgInd()

void MBSim::Contact::setgInd ( int gInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setlaInd()

void MBSim::Contact::setlaInd ( int laInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setLinkStatusInd()

void MBSim::Contact::setLinkStatusInd ( int LinkStatusInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setLinkStatusRegInd()

void MBSim::Contact::setLinkStatusRegInd ( int LinkStatusRegInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setrFactorInd()

void MBSim::Contact::setrFactorInd ( int rFactorInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setrMax()

void MBSim::Contact::setrMax ( double rMax_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ setsvInd()

void MBSim::Contact::setsvInd ( int svInd_ )

overridevirtual

Reimplemented from MBSim::Link.

◆ SizeLinearImpactEstimation()

void MBSim::Contact::SizeLinearImpactEstimation	(	int *	sizeInActive_,
		int *	sizeActive_
	)

overridevirtual

calculates the number of active and inactive unilateral constraints and increments sizeActive/sizeInActive

Reimplemented from MBSim::Link.

◆ solveConstraintsFixpointSingle()

void MBSim::Contact::solveConstraintsFixpointSingle ( )

overridevirtual

solve contact equations of motion with single step fixed point scheme

Reimplemented from MBSim::Link.

◆ solveConstraintsGaussSeidel()

void MBSim::Contact::solveConstraintsGaussSeidel ( )

overridevirtual

solve contact equations of motion with Gauss-Seidel scheme

Reimplemented from MBSim::Link.

◆ solveConstraintsRootFinding()

void MBSim::Contact::solveConstraintsRootFinding ( )

overridevirtual

solve contact equations of motion with Newton scheme

Reimplemented from MBSim::Link.

◆ solveImpactsFixpointSingle()

void MBSim::Contact::solveImpactsFixpointSingle ( )

overridevirtual

solve impact equations of motion with single step fixed point scheme on velocity level

Parameters

time step-size

Reimplemented from MBSim::Link.

◆ solveImpactsGaussSeidel()

void MBSim::Contact::solveImpactsGaussSeidel ( )

overridevirtual

solve impact equations of motion with Gauss-Seidel scheme on velocity level

Parameters

time step-size

Reimplemented from MBSim::Link.

◆ solveImpactsRootFinding()

void MBSim::Contact::solveImpactsRootFinding ( )

overridevirtual

solve impact equations of motion with Newton scheme on velocity level

Parameters

time step-size

Reimplemented from MBSim::Link.

◆ updatecorr()

void MBSim::Contact::updatecorr ( int j )

overridevirtual

Reimplemented from MBSim::Link.

◆ updatecorrRef()

void MBSim::Contact::updatecorrRef ( fmatvec::Vec & ref )

overridevirtual

Reimplemented from MBSim::Link.

◆ updateg()

void MBSim::Contact::updateg ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updategd()

void MBSim::Contact::updategd ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updategdRef()

void MBSim::Contact::updategdRef ( fmatvec::Vec & ref )

overridevirtual

references to contact relative velocities of dynamic system parent

Reimplemented from MBSim::Link.

◆ updateGeneralizedPositions()

void MBSim::Contact::updateGeneralizedPositions ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updategRef()

void MBSim::Contact::updategRef ( fmatvec::Vec & ref )

overridevirtual

references to contact relative distances of dynamic system parent

Reimplemented from MBSim::Link.

◆ updateh()

void MBSim::Contact::updateh ( int i = 0 )

overridevirtual

Reimplemented from MBSim::Link.

◆ updatehRef()

void MBSim::Contact::updatehRef	(	fmatvec::Vec &	hRef,
		int	i = `0`
	)

overridevirtual

references to complete and link smooth force vector of dynamic system parent

Implements MBSim::Link.

◆ updateInternalStateRef()

void MBSim::Contact::updateInternalStateRef	(	fmatvec::Vec &	cur,
		fmatvec::Vec &	next
	)

overridevirtual

references to internal state of dynamic system parent

Reimplemented from MBSim::Link.

◆ updateJacobians()

void MBSim::Contact::updateJacobians ( int j = 0 )

overridevirtual

Reimplemented from MBSim::Link.

◆ updatejsvRef()

void MBSim::Contact::updatejsvRef ( fmatvec::VecInt & jsvParent )

overridevirtual

references to stopvector evaluation of dynamic system parent (root detection with corresponding bool array by event driven integrator)

Reimplemented from MBSim::Link.

◆ updatelaRef()

void MBSim::Contact::updatelaRef ( fmatvec::Vec & ref )

overridevirtual

references to contact force parameter of dynamic system parent

Reimplemented from MBSim::Link.

◆ updateLaRef()

void MBSim::Contact::updateLaRef ( fmatvec::Vec & ref )

overridevirtual

references to contact force parameter of dynamic system parent

Reimplemented from MBSim::Link.

◆ updateLinkStatus()

void MBSim::Contact::updateLinkStatus ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updateLinkStatusRef()

void MBSim::Contact::updateLinkStatusRef ( fmatvec::VecInt & LinkStatusParent )

overridevirtual

reference to vector of link status (for set valued links with piecewise link equations)

Reimplemented from MBSim::Link.

◆ updateLinkStatusReg()

void MBSim::Contact::updateLinkStatusReg ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updateLinkStatusRegRef()

void MBSim::Contact::updateLinkStatusRegRef ( fmatvec::VecInt & LinkStatusRegParent )

overridevirtual

reference to vector of link status (for single-valued links)

Reimplemented from MBSim::Link.

◆ updateresRef()

void MBSim::Contact::updateresRef ( fmatvec::Vec & ref )

overridevirtual

references to residuum of nonlinear contact equations of dynamic system parent

Reimplemented from MBSim::Link.

◆ updaterFactorRef()

void MBSim::Contact::updaterFactorRef ( fmatvec::Vec & ref )

overridevirtual

references to rfactors of dynamic system parent

Reimplemented from MBSim::Link.

◆ updaterFactors()

void MBSim::Contact::updaterFactors ( )

overridevirtual

update relaxation factors for contact equations

Reimplemented from MBSim::Link.

◆ updaterRef()

void MBSim::Contact::updaterRef	(	fmatvec::Vec &	ref,
		int	i = `0`
	)

overridevirtual

references to nonsmooth force vector of dynamic system parent

Implements MBSim::Link.

◆ updateStopVector()

void MBSim::Contact::updateStopVector ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updateStopVectorParameters()

void MBSim::Contact::updateStopVectorParameters ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updatesvRef()

void MBSim::Contact::updatesvRef ( fmatvec::Vec & sv )

overridevirtual

references to stopvector of dynamic system parent (root function for event driven integration)

Reimplemented from MBSim::Link.

◆ updateV()

void MBSim::Contact::updateV ( int i = 0 )

overridevirtual

Reimplemented from MBSim::Link.

◆ updateVRef()

void MBSim::Contact::updateVRef	(	fmatvec::Mat &	ref,
		int	i = `0`
	)

overridevirtual

references to condensed contact force direction matrix of dynamic system parent

Implements MBSim::Link.

◆ updateW()

void MBSim::Contact::updateW ( int i = 0 )

overridevirtual

Reimplemented from MBSim::Link.

◆ updatewb()

void MBSim::Contact::updatewb ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updatewbRef()

void MBSim::Contact::updatewbRef ( fmatvec::Vec & ref )

overridevirtual

references to TODO of dynamic system parent

Reimplemented from MBSim::Link.

◆ updateWRef()

void MBSim::Contact::updateWRef	(	fmatvec::Mat &	ref,
		int	i = `0`
	)

overridevirtual

references to contact force direction matrix of dynamic system parent

Implements MBSim::Link.

Member Data Documentation

◆ plotFeatureMap

std::map<std::pair<std::string, std::size_t>, bool> MBSim::Contact::plotFeatureMap

protected

plotFeatures of sub-contacts

Todo:: : see remark of ckNames

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

/mbsim-env/mbsim/kernel/mbsim/links/contact.h
/mbsim-env/mbsim/kernel/mbsim/links/contact.cc

Public Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Contact()

Member Function Documentation

◆ calccorrSize()

◆ calcgdSize()

◆ calcgSize()

◆ calcisSize()

◆ calclaSize()

◆ calcLinkStatusRegSize()

◆ calcLinkStatusSize()

◆ calcrFactorSize()

◆ calcsvSize()

◆ checkActive()

◆ checkConstraintsForTermination()

◆ checkImpactsForTermination()

◆ checkRoot()

◆ connect()

◆ detectImpact()

◆ gActiveChanged()

◆ getFrictionDirections()

◆ getLinksOpenMBVGrp()

◆ getLinksPlotGroup()

◆ init()

◆ initializeUsingXML()

◆ isActive()

◆ isSetValued()

◆ isSingleValued()

◆ jacobianConstraints()

◆ jacobianImpacts()

◆ LinearImpactEstimation()

◆ plot()

◆ resetUpToDate()

◆ setcorrInd()

◆ setDynamicSystemSolver()

◆ setgdInd()

◆ setGeneralizedForceTolerance()

◆ setGeneralizedImpulseTolerance()

◆ setGeneralizedRelativeAccelerationTolerance()

◆ setGeneralizedRelativePositionCorrectionValue()

◆ setGeneralizedRelativePositionTolerance()

◆ setGeneralizedRelativeVelocityCorrectionValue()

◆ setGeneralizedRelativeVelocityTolerance()

◆ setgInd()

◆ setlaInd()

◆ setLinkStatusInd()

◆ setLinkStatusRegInd()

◆ setrFactorInd()

◆ setrMax()

◆ setsvInd()

◆ SizeLinearImpactEstimation()

◆ solveConstraintsFixpointSingle()

◆ solveConstraintsGaussSeidel()

◆ solveConstraintsRootFinding()

◆ solveImpactsFixpointSingle()

◆ solveImpactsGaussSeidel()

◆ solveImpactsRootFinding()

◆ updatecorr()

◆ updatecorrRef()

◆ updateg()

◆ updategd()

◆ updategdRef()

◆ updateGeneralizedPositions()

◆ updategRef()

◆ updateh()

◆ updatehRef()

◆ updateInternalStateRef()

◆ updateJacobians()

◆ updatejsvRef()

◆ updatelaRef()

◆ updateLaRef()

◆ updateLinkStatus()

◆ updateLinkStatusRef()

◆ updateLinkStatusReg()

◆ updateLinkStatusRegRef()

◆ updateresRef()