Class GlobalRollingFrictionContact¶
Defined in Program listing for file kernel/src/simulationTools/GlobalRollingFrictionContact.hpp
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class GlobalRollingFrictionContact : public GlobalFrictionContact¶
Formalization and Resolution of a Friction-Contact Problem.
This class is devoted to the formalization and the resolution of primal friction contact problems defined by :
\[\begin{split} M velocity = q + H reaction \\ globalVelocities = H^T velocity + tildeGlobalVelocities \end{split}\]and \( globalVelocities, reaction \) belongs to the Coulomb friction law with unilateral contact.
With:
\( velocity \in R^{n} \) and \( reaction \in R^{n} \) the unknowns,
\( M \in R^{n \times n } \) and \( q \in R^{n} \)
\( globalVelocities \in R^{m} \) and \( reaction \in R^{m} \) the unknowns,
\( tildeGlobalVelocities \in R^{m} \) is the modified local velocity ( \( e U_{N,k} \))
\( M \in R^{n \times n } \) and \( q \in R^{n} \)
\( H \in R^{n \times m } \)
The dimension of the problem (2D or 3D) is given by the variable contactProblemDim and the right Numerics driver will be called according to this value.
Construction:
Constructor from data (inputs = Simulations*, id, SP::NonSmoothSolver) - The solver is optional. Main functions:
Main functions:
formalization of the problem: computes M,q using the set of “active” Interactions from the simulation and
the interactionBlock-matrices saved in the field interactionBlocks.
Functions: initialize(), computeInteractionBlock(), preCompute()solving of the GlobalRollingFrictionContact problem: function compute()
, used to call solvers from Numerics through
the frictionContact2D_driver() or frictionContact3D_driver() interface of Numerics.
post-treatment of data: set values of y/lambda variables of the active Interaction
(ie Interactions) using
ouput results from the solver (velocity,reaction); function
postCompute().
For details regarding the available options, see Nonsmooth problems formulations and available solvers in users’ guide.
Public Functions
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GlobalRollingFrictionContact(int dimPb, int numericsSolverId = SICONOS_GLOBAL_ROLLING_FRICTION_3D_NSGS_WR)¶
constructor (solver id and dimension)
- Parameters
dimPb – dimension (2D or 3D) of the friction-contact problem
numericsSolverId – id of the solver to be used, optional, default : SICONOS_GLOBAL_FRICTION_3D_NSGS
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GlobalRollingFrictionContact(int dimPb, SP::SolverOptions options)¶
constructor from a pre-defined solver options set
- Parameters
options – the options set
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inline virtual ~GlobalRollingFrictionContact()¶
destructor
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inline int getGlobalRollingFrictionContactDim() const¶
get the type of GlobalRollingFrictionContact problem (2D or 3D)
- Returns
an int (2 or 3)
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inline size_t getGlobalSizeOutput() const¶
get dimension of the problem
- Returns
an unsigned ing
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inline SP::MuStorage mur() const¶
get a pointer to mu, the list of the friction coefficients
- Returns
pointer on a std::vector<double>
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inline double getMur(unsigned int i) const¶
get the value of the component number i of mu, the vector of the friction coefficients
- Returns
the friction coefficient for the ith contact
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virtual void initialize(SP::Simulation sim)¶
initialize the GlobalRollingFrictionContact problem(compute topology …)
- Parameters
sim – the simulation, owner of this OSNSPB
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SP::GlobalRollingFrictionContactProblem globalRollingFrictionContactProblem()¶
- Returns
the friction contact problem from Numerics
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GlobalRollingFrictionContactProblem *globalRollingFrictionContactProblemPtr()¶
- Returns
the friction contact problem from Numerics (raw ptr, do not free)
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int solve(SP::GlobalRollingFrictionContactProblem problem = SP::GlobalRollingFrictionContactProblem())¶
solve a friction contact problem
- Parameters
problem – the friction contact problem
- Returns
info solver information result
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virtual bool preCompute(double time)¶
Construction of the problem.
- Parameters
time – current time
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virtual int compute(double time)¶
Compute the unknown reaction and velocity and update the Interaction (y and lambda )
- Parameters
time – current time
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virtual void display() const¶
print the data to the screen