JointContactModel Class Reference

Contact model for spherical joint interactions. More...

#include "JointContactModel.h"

Inheritance diagram for JointContactModel:

Collaboration diagram for JointContactModel:

Public Member Functions
	JointContactModel (const String &name, const Properties &conf, const Properties &props, const Properties &globdat)
	Constructor with configuration and properties.
virtual bool	takeAction (const String &action, const Properties &params, const Properties &globdat) override
	Handle model actions for contact mechanics.

Static Public Member Functions
static Ref< Model >	makeNew (const String &name, const Properties &conf, const Properties &props, const Properties &globdat)
	Factory method for creating new JointContactModel instances.
static void	declare ()
	Register JointContactModel type with ModelFactory.

Static Public Attributes
Property identifiers
static const char *	TYPE_NAME = "JointContact"
	Model type name.
static const char *	PENALTY_PROP = "penalty"
	Penalty parameter.
static const char *	RADIUS_PROP = "radius"
	Joint radius.
static const char *	VERBOSE_PROP = "verbose"
	Verbose output flag.

Protected Member Functions
virtual void	findContacts_ (const Vector &disp)
	Find pairs of joints in contact.
virtual void	computeContacts_ (MatrixBuilder &mbld, const Vector &fint, const IdxVector &nodesA, const IdxVector &nodesB, const Vector &disp)
	Compute contact effects for detected contact pairs.
virtual void	computeContact_ (Matrix contactStiffness, Vector contactForce, Vector posA, Vector posB)
	Compute single contact interaction.

Detailed Description

Implements contact mechanics between joints modeled as spheres using penalty methods. Detects contact pairs and computes contact forces and stiffness contributions for joint-to-joint interactions.

Constructor & Destructor Documentation

JointContactModel()

JointContactModel::JointContactModel ( const String &  name, const Properties &  conf, const Properties &  props, const Properties &  globdat  )

explicit

Parameters

name	Model name
conf	Actually used configuration properties (output)
props	User-specified model properties
globdat	Global data container

Member Function Documentation

computeContact_()

void JointContactModel::computeContact_ ( Matrix  contactStiffness, Vector  contactForce, Vector  posA, Vector  posB  )

protectedvirtual

Parameters

contactStiffness	Contact stiffness matrix (output)
contactForce	Contact force vector (output)
posA	Position of first joint
posB	Position of second joint

computeContacts_()

void JointContactModel::computeContacts_ ( MatrixBuilder &  mbld, const Vector &  fint, const IdxVector &  nodesA, const IdxVector &  nodesB, const Vector &  disp  )

protectedvirtual

Parameters

mbld	Stiffness matrix builder
fint	Internal force vector
nodesA	Node IDs of first contact side
nodesB	Node IDs of second contact side
disp	Displacement vector of all elements

declare()

void JointContactModel::declare ( )

static

findContacts_()

void JointContactModel::findContacts_ ( const Vector &  disp )

protectedvirtual

Parameters

disp	Displacement vector of all nodes

makeNew()

Ref< Model > JointContactModel::makeNew ( const String &  name, const Properties &  conf, const Properties &  props, const Properties &  globdat  )

static

Parameters

name	Model name
conf	Actually used configuration properties (output)
props	User-specified model properties
globdat	Global data container

Returns

Reference to new JointContactModel instance

takeAction()

bool JointContactModel::takeAction ( const String &  action, const Properties &  params, const Properties &  globdat  )

overridevirtual

Parameters

action	Action name to execute
params	Action parameters
globdat	Global data container

Returns

true if action was handled

Member Data Documentation

PENALTY_PROP

const char * JointContactModel::PENALTY_PROP = "penalty"

static

RADIUS_PROP

const char * JointContactModel::RADIUS_PROP = "radius"

static

TYPE_NAME

const char * JointContactModel::TYPE_NAME = "JointContact"

static

VERBOSE_PROP

const char * JointContactModel::VERBOSE_PROP = "verbose"

static