nimble::PenaltyContactEnforcement Struct Reference

#include <nimble_contact_manager.h>

Public Member Functions
	PenaltyContactEnforcement ()
template<typename VecType>
NIMBLE_INLINE_FUNCTION void	EnforceContact (const ContactEntity &node, ContactEntity &face, const double gap, const double normal[3], const double barycentric_coordinates[3], VecType &full_contact_force) const

Public Attributes
double	penalty

Constructor & Destructor Documentation

PenaltyContactEnforcement()

nimble::PenaltyContactEnforcement::PenaltyContactEnforcement ( )

inline

: penalty(0.0) {}

Member Function Documentation

EnforceContact()

template<typename VecType>

NIMBLE_INLINE_FUNCTION void nimble::PenaltyContactEnforcement::EnforceContact ( const ContactEntity & node, ContactEntity & face, const double gap, const double normal[3], const double barycentric_coordinates[3], VecType & full_contact_force ) const

inline

  {
    constexpr int dim_vec = 3;
    double        contact_force[dim_vec]{};
    details::getContactForce(penalty, gap, normal, contact_force);
    //
    //--- Create a local dummy copy of 'face' to avoid "critical" section
    //
    ContactEntity tmp_face;
    tmp_face.entity_type_                   = face.entity_type_;
    tmp_face.node_id_for_node_1_            = face.node_id_for_node_1_;
    tmp_face.node_id_for_node_2_            = face.node_id_for_node_2_;
    tmp_face.node_id_1_for_fictitious_node_ = face.node_id_1_for_fictitious_node_;
    tmp_face.node_id_2_for_fictitious_node_ = face.node_id_2_for_fictitious_node_;
    tmp_face.node_id_3_for_fictitious_node_ = face.node_id_3_for_fictitious_node_;
    tmp_face.node_id_4_for_fictitious_node_ = face.node_id_4_for_fictitious_node_;
    tmp_face.SetNodalContactForces(contact_force, barycentric_coordinates);
    tmp_face.ScatterForceToContactManagerForceVector<VecType>(full_contact_force);
    //
    //--- Create a local dummy copy of 'node' to avoid "critical" section
    //
    ContactEntity tmp_node;
    tmp_node.entity_type_        = ContactEntity::NODE;
    tmp_node.node_id_for_node_1_ = node.node_id_for_node_1_;
    tmp_node.SetNodalContactForces(contact_force);
    tmp_node.ScatterForceToContactManagerForceVector<VecType>(full_contact_force);
  }

Member Data Documentation

penalty

double nimble::PenaltyContactEnforcement::penalty

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The documentation for this struct was generated from the following file:

• src/nimble_contact_manager.h