Base class for terrain nodes that use one of the Chrono terrain formulations.
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Type | GetType () const |
| Return the type of this terrain node.
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void | SetProxyFixed (bool fixed) |
| Set the proxy bodies as fixed to ground.
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virtual double | GetInitHeight () const override final |
| Return the terrain initial height.
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void | AddRigidObstacle (const RigidObstacle &obstacle) |
| Add a rigid obstacle.
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virtual NodeType | GetNodeType () const override |
| Return the node type as NodeType::TERRAIN.
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void | SetDimensions (double length, double width) |
| Set the terrain patch dimensions.
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void | GetDimensions (double &length, double &width) |
| Get the terrain patch dimensions.
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virtual void | Initialize () override final |
| Initialize this node.
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virtual void | Synchronize (int step_number, double time) override final |
| Synchronize this node.
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virtual void | Advance (double step_size) override final |
| Advance simulation.
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virtual void | OutputData (int frame) override final |
| Output logging and debugging data.
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virtual void | OutputVisualizationData (int frame) override |
| Output post-processing visualization data.
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virtual unsigned int | GetNumContacts () const |
| Return current number of contacts.
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std::string | GetNodeTypeString () const |
| Return the node type as a string.
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bool | IsCosimNode () const |
| Return true if this node is part of the co-simulation infrastructure.
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void | SetStepSize (double step) |
| Set the integration step size (default: 1e-4).
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double | GetStepSize () const |
| Get the integration step size.
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void | SetOutDir (const std::string &dir_name, const std::string &suffix="") |
| Set the name of the output directory and an identifying suffix.
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void | SetVerbose (bool verbose) |
| Enable/disable verbose messages during simulation (default: true).
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void | EnableRuntimeVisualization (double render_fps=100, bool save_img=false) |
| Enable run-time visualization (default: false).
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void | SetCameraPosition (const ChVector3d &cam_pos, const ChVector3d &cam_target=VNULL) |
| Set camera location and target point.
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void | SetCameraTracking (bool track) |
| Enable/disable tracking of objects (default: true).
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void | EnablePostprocessVisualization (double render_fps=100) |
| Enable Blender postprocessing (default: false).
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const std::string & | GetOutDirName () const |
| Get the output directory name for this node.
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double | GetStepExecutionTime () const |
| Get the simulation execution time for the current step on this node.
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double | GetTotalExecutionTime () const |
| Get the cumulative simulation execution time on this node.
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virtual void | OnRender () |
| Render the current simulation frame.
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void | Render (double step_size) |
| Render simulation frame.
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virtual void | WriteCheckpoint (const std::string &filename) const |
| Write checkpoint to the specified file (which will be created in the output directory).
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static std::string | GetTypeAsString (Type type) |
| Return a string describing the type of this terrain node.
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static Type | GetTypeFromString (const std::string &type) |
| Infer the terrain node type from the given string.
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static bool | ReadSpecfile (const std::string &specfile, rapidjson::Document &d) |
| Read a JSON specification file for a Chrono terrain node.
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static Type | GetTypeFromSpecfile (const std::string &specfile) |
| Get the terrain type from the given JSON specification file.
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static ChVector2d | GetSizeFromSpecfile (const std::string &specfile) |
| Get the terrain dimensions (length and width) from the given JSON specification file.
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static std::string | OutputFilename (const std::string &dir, const std::string &root, const std::string &ext, int frame, int frame_digits) |
| Utility function for creating an output file name.
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| ChVehicleCosimTerrainNodeChrono (Type type, double length, double width, ChContactMethod method) |
| Construct a base class terrain node.
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virtual void | OnInitialize (unsigned int num_objects) override |
| Initialize this Chrono terrain node.
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virtual void | OnAdvance (double step_size) override |
| Advance simulation.
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virtual ChSystem * | GetSystem ()=0 |
| Return a pointer to the underlying Chrono system.
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virtual void | Construct ()=0 |
| Construct the terrain (independent of the vehicle system).
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virtual void | CreateRigidProxy (unsigned int i)=0 |
| Create the i-th proxy rigid.
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virtual void | CreateMeshProxy (unsigned int i) |
| Create the i-th proxy mesh.
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| ChVehicleCosimTerrainNode (double length, double width) |
| Construct a terrain node to wrap a terrain patch of given length and width.
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virtual bool | SupportsMeshInterface () const =0 |
| Specify whether or not the terrain node supports the MESH communication interface.
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virtual void | OnSynchronize (int step_number, double time) |
| Perform any additional operations after the data exchange and synchronization with the MBS node.
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virtual void | OnOutputData (int frame) |
| Perform additional output at the specified frame (called from within OutputData).
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virtual void | UpdateMeshProxy (unsigned int i, MeshState &mesh_state) |
| Update the state of the i-th proxy mesh.
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virtual void | GetForceMeshProxy (unsigned int i, MeshContact &mesh_contact) |
| Collect cumulative contact forces on the i-th proxy mesh.
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virtual void | UpdateRigidProxy (unsigned int i, BodyState &rigid_state)=0 |
| Update the state of the i-th proxy rigid.
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virtual void | GetForceRigidProxy (unsigned int i, TerrainForce &rigid_contact)=0 |
| Collect cumulative contact force and torque on the i-th proxy rigid.
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| ChVehicleCosimBaseNode (const std::string &name) |
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virtual ChSystem * | GetSystemPostprocess () const =0 |
| Get the Chrono system that holds the visualization shapes (used only for post-processing export).
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void | SendGeometry (const ChVehicleGeometry &geom, int dest) const |
| Utility function to pack and send a struct with geometry information.
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void | RecvGeometry (ChVehicleGeometry &geom, int source) const |
| Utility function to receive and unpack a struct with geometry information.
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void | ProgressBar (unsigned int x, unsigned int n, unsigned int w=50) |
| Utility function to display a progress bar to the terminal.
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Type | m_type |
| terrain type
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ChContactMethod | m_method |
| contact method (SMC or NSC)
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std::shared_ptr< ChContactMaterial > | m_material_terrain |
| material properties for terrain bodies
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double | m_init_height |
| terrain initial height
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std::vector< std::shared_ptr< Proxy > > | m_proxies |
| proxies for solid objects
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bool | m_fixed_proxies |
| are proxies fixed to ground?
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std::vector< RigidObstacle > | m_obstacles |
| list of rigid obstacles
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double | m_dimX |
| patch length (X direction)
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double | m_dimY |
| patch width (Y direction)
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bool | m_wheeled |
| comm node (true: TIRE nodes, false: tracked MBS node)
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InterfaceType | m_interface_type |
| communication interface (body or mesh)
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int | m_num_objects |
| number of interacting objects
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std::vector< ChAABB > | m_aabb |
| AABB of collision models for interacting objects.
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std::vector< ChVehicleGeometry > | m_geometry |
| contact geometry and materials for interacting objects
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std::vector< double > | m_load_mass |
| vertical load on interacting objects
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std::vector< int > | m_obj_map |
| mapping from interacting object to shape
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std::vector< MeshState > | m_mesh_state |
| mesh state (used for MESH communication)
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std::vector< BodyState > | m_rigid_state |
| rigid state (used for BODY communication interface)
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std::vector< MeshContact > | m_mesh_contact |
| mesh contact forces (used for MESH communication interface)
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std::vector< TerrainForce > | m_rigid_contact |
| rigid contact force (used for BODY communication interface)
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int | m_rank |
| MPI rank of this node (in MPI_COMM_WORLD)
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double | m_step_size |
| integration step size
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std::string | m_name |
| name of the node
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std::string | m_out_dir |
| top-level output directory
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std::string | m_node_out_dir |
| node-specific output directory
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std::ofstream | m_outf |
| output file stream
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bool | m_renderRT |
| if true, perform run-time rendering
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bool | m_renderRT_all |
| if true, render all frames
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double | m_renderRT_step |
| time step between rendered frames
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bool | m_writeRT |
| if true, write images to file
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bool | m_renderPP |
| if true, save data for post-processing
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bool | m_renderPP_all |
| if true, save data at all frames
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double | m_renderPP_step |
| time step between post-processing save frames
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bool | m_track |
| track objects
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ChVector3d | m_cam_pos |
| camera location
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ChVector3d | m_cam_target |
| camera target (lookat) point
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unsigned int | m_num_wheeled_mbs_nodes |
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unsigned int | m_num_tracked_mbs_nodes |
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unsigned int | m_num_terrain_nodes |
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unsigned int | m_num_tire_nodes |
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ChTimer | m_timer |
| timer for integration cost
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double | m_cum_sim_time |
| cumulative integration cost
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bool | m_verbose |
| verbose messages during simulation?
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