File kernel/src/simulationTools/GlobalRollingFrictionContact.hpp#
Go to the source code of this file
Primal Fricton-Contact Non-Smooth Problem
Typedefs
-
typedef int (*GRFC3D_Driver)(GlobalRollingFrictionContactProblem*, double*, double*, double*, SolverOptions*)#
Pointer to function of the type used for drivers for GlobalRollingFrictionContact problems in Numerics.
-
class GlobalRollingFrictionContact : public GlobalFrictionContact
- #include <GlobalRollingFrictionContact.hpp>
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
-
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
-
GlobalRollingFrictionContact(int dimPb, SP::SolverOptions options)
constructor from a pre-defined solver options set
- Parameters:
options – the options set
-
inline virtual ~GlobalRollingFrictionContact()
destructor
-
inline int getGlobalRollingFrictionContactDim() const
get the type of GlobalRollingFrictionContact problem (2D or 3D)
- Returns:
an int (2 or 3)
-
inline size_t getGlobalSizeOutput() const
get dimension of the problem
- Returns:
an unsigned ing
-
inline SP::MuStorage mur() const
get a pointer to mu, the list of the friction coefficients
- Returns:
pointer on a std::vector<double>
-
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
-
virtual void initialize(SP::Simulation sim)
initialize the GlobalRollingFrictionContact problem(compute topology …)
- Parameters:
sim – the simulation, owner of this OSNSPB
-
SP::GlobalRollingFrictionContactProblem globalRollingFrictionContactProblem()
- Returns:
the friction contact problem from Numerics
-
GlobalRollingFrictionContactProblem *globalRollingFrictionContactProblemPtr()
- Returns:
the friction contact problem from Numerics (raw ptr, do not free)
-
int solve(SP::GlobalRollingFrictionContactProblem problem = SP::GlobalRollingFrictionContactProblem())
solve a friction contact problem
- Parameters:
problem – the friction contact problem
- Returns:
info solver information result
-
virtual bool preCompute(double time)
Construction of the problem.
- Parameters:
time – current time
-
virtual int compute(double time)
Compute the unknown reaction and velocity and update the Interaction (y and lambda )
- Parameters:
time – current time
-
virtual bool checkCompatibleNSLaw(NonSmoothLaw &nslaw)#
-
void updateMu()#
-
void updateMur()#
-
virtual void display() const
print the data to the screen
Protected Functions
-
ACCEPT_SERIALIZATION(GlobalRollingFrictionContact)#
Protected Attributes
-
int _contactProblemDim = 5#
Type (dimension) of the contact problem (2D or 3D)
-
GRFC3D_Driver _g_rolling_driver#
Pointer to the function used to call the Numerics driver to solve the problem.
-
GlobalRollingFrictionContactProblem _numerics_problem#
Private Functions
-
GlobalRollingFrictionContact() = default#
default constructor