SPH::solid_dynamics::ConstrainSolidBodyPartBySimBody Class Reference

Constrain a solid body part from the motion computed from Simbody. More...

#include <constraint_dynamics.h>

Inherits SPH::PartSimpleDynamicsByParticle, and SPH::DataDelegateSimple< BodyType, ParticlesType, MaterialType >.

Public Member Functions
	ConstrainSolidBodyPartBySimBody (SolidBody &solid_body, SolidBodyPartForSimbody &body_part, SimTK::MultibodySystem &MBsystem, SimTK::MobilizedBody &mobod, SimTK::Force::DiscreteForces &force_on_bodies, SimTK::RungeKuttaMersonIntegrator &integ)
Public Member Functions inherited from SPH::PartSimpleDynamicsByParticle
	PartSimpleDynamicsByParticle (SPHBody &sph_body, BodyPartByParticle &body_part)
virtual void	exec (Real dt=0.0) override
virtual void	parallel_exec (Real dt=0.0) override
Public Member Functions inherited from SPH::PartDynamicsByParticle
	PartDynamicsByParticle (SPHBody &sph_body, BodyPartByParticle &body_part)
Public Member Functions inherited from SPH::ParticleDynamics< void >
	ParticleDynamics (SPHBody &sph_body)
SPHBody *	getSPHBody ()
Public Member Functions inherited from SPH::DataDelegateSimple< BodyType, ParticlesType, MaterialType >
	DataDelegateSimple (SPHBody &sph_body)
BodyType *	getBody ()
ParticlesType *	getParticles ()
MaterialType *	getMaterial ()

Protected Member Functions
virtual void	setupDynamics (Real dt=0.0) override
virtual void	Update (size_t index_i, Real dt=0.0) override
Protected Member Functions inherited from SPH::ParticleDynamics< void >
void	setBodyUpdated ()

Protected Attributes
StdLargeVec< Vecd > &	pos_
StdLargeVec< Vecd > &	pos0_
StdLargeVec< Vecd > &	vel_
StdLargeVec< Vecd > &	n_
StdLargeVec< Vecd > &	n0_
SimTK::MultibodySystem &	MBsystem_
SimTK::MobilizedBody &	mobod_
SimTK::Force::DiscreteForces &	force_on_bodies_
SimTK::RungeKuttaMersonIntegrator &	integ_
const SimTK::State *	simbody_state_
Vec3d	initial_mobod_origin_location_
Protected Attributes inherited from SPH::PartSimpleDynamicsByParticle
ParticleFunctor	functor_update_
Protected Attributes inherited from SPH::PartDynamicsByParticle
IndexVector &	body_part_particles_
Protected Attributes inherited from SPH::ParticleDynamics< void >
SPHBody *	sph_body_
SPHAdaptation *	sph_adaptation_
BaseParticles *	base_particles_
Protected Attributes inherited from SPH::DataDelegateSimple< BodyType, ParticlesType, MaterialType >
BodyType *	body_
ParticlesType *	particles_
MaterialType *	material_
StdLargeVec< size_t > &	sorted_id_
StdLargeVec< size_t > &	unsorted_id_

Additional Inherited Members
Static Public Attributes inherited from SPH::GlobalStaticVariables
static Real	physical_time_ = 0.0

Detailed Description

Constrain a solid body part from the motion computed from Simbody.

Member Function Documentation

setupDynamics()

void SPH::solid_dynamics::ConstrainSolidBodyPartBySimBody::setupDynamics ( Real  dt = 0.0 )

overrideprotectedvirtual

the function for set global parameters for the particle dynamics

Reimplemented from SPH::ParticleDynamics< void >.

Update()

void SPH::solid_dynamics::ConstrainSolidBodyPartBySimBody::Update ( size_t  index_i, Real  dt = 0.0  )

overrideprotectedvirtual

this is how we calculate the particle position in after transform of MBbody. const SimTK::Rotation& R_GB = mobod_.getBodyRotation(simbody_state); const SimTK::Vec3& p_GB = mobod_.getBodyOriginLocation(simbody_state); const SimTK::Vec3 r = R_GB * rr; // re-express station vector p_BS in G (15 flops) base_particle_data_i.pos_ = (p_GB + r).getSubVec<2>(0);

this is how we calculate the particle position in after transform of MBbody. const SimTK::Rotation& R_GB = mobod_.getBodyRotation(simbody_state); const SimTK::Vec3& p_GB = mobod_.getBodyOriginLocation(simbody_state); const SimTK::Vec3 r = R_GB * rr; // re-express station vector p_BS in G (15 flops) base_particle_data_i.pos_ = (p_GB + r);

Implements SPH::PartSimpleDynamicsByParticle.

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

• SPHINXsys/src/shared/particle_dynamics/solid_dynamics/constraint_dynamics.h
• SPHINXsys/src/for_2D_build/particle_dynamics/solid_dynamics/solid_dynamics_supplementary.cpp
• SPHINXsys/src/shared/particle_dynamics/solid_dynamics/constraint_dynamics.cpp