This class store the combine material properties between two agx::Material's. More...

#include <Material.h>

Inheritance diagram for agx::ContactMaterial:

Public Types
enum	ContactReductionMode { REDUCE_NONE , REDUCE_GEOMETRY , REDUCE_ALL }
	Specifies the mode for contact reduction. More...

enum	FrictionDirection { PRIMARY_DIRECTION , SECONDARY_DIRECTION , BOTH_PRIMARY_AND_SECONDARY }
	Specifies the direction of friction. More...

Public Member Functions
	ContactMaterial (const ContactMaterial *other, bool implicit)
	Create a ContactMaterial copying attributes from `other`.

	ContactMaterial (const Material m1, const Material m2, bool implicit=false)
	Constructor which associates this ContactMaterial to the two given materials `m1` and `m2`.

Real	getAdhesion () const

Real	getAdhesiveOverlap () const

agx::UInt8	getContactReductionBinResolution () const

ContactReductionMode	getContactReductionMode () const
	Returns whether contact reduction is enabled for this surface material.

Real	getDamping () const
	The value is the time the contact constraint has to fulfill its violation.

Real	getFrictionCoefficient (FrictionDirection direction=PRIMARY_DIRECTION) const

FrictionModel *	getFrictionModel () const

agx::Real	getImpactCompliance () const

const Material *	getMaterial1 () const

const Material *	getMaterial2 () const

Real	getMaxElasticRestLength () const
	Get the maximum elastic rest length of the contact material.

Real	getMinElasticRestLength () const
	Get the minimum elastic rest length of the contact material.

Real	getRestitution () const

agx::Real	getRollingResistanceCoefficient () const

agx::Real	getRollingResistanceCompliance () const

bool	getSurfaceFrictionEnabled () const

Real	getSurfaceViscosity (FrictionDirection direction=PRIMARY_DIRECTION) const

Real	getTangentialCohesion (FrictionDirection direction=PRIMARY_DIRECTION) const

Real	getTangentialRestitution (FrictionDirection direction=PRIMARY_DIRECTION) const

agx::Real	getTwistingResistanceCoefficient () const

agx::Real	getTwistingResistanceCompliance () const

bool	getUseContactAreaApproach () const
	Should contacts using this contact material use the new approach for computing contact area? Default false.

Real	getWireFrictionCoefficient (FrictionDirection direction=PRIMARY_DIRECTION) const

Real	getYoungsModulus () const

bool	isExplicit () const

void	setAdhesion (Real adhesion, Real adhesiveOverlap)
	Set the adhesive force and allowed overlap between two colliding objects.

void	setContactReductionBinResolution (agx::UInt8 binResolution)
	Specify the resolution used when evaluating contacts for reduction between geometry contacts.

void	setContactReductionMode (ContactReductionMode mode)
	Specify if contact reduction should be enabled.

void	setDamping (Real damping)
	Set the damping of the material.

void	setEnableSurfaceFriction (bool flag)
	Specify if surface friction should be calculated in the solver for this contact material.

void	setFrictionCoefficient (Real friction, FrictionDirection direction=BOTH_PRIMARY_AND_SECONDARY)
	Set the friction coefficient.

void	setFrictionModel (FrictionModel *frictionModel)
	Set friction model for this contact material.

void	setImpactCompliance (agx::Real impactCompliance)
	Sets the compliance used for calculating impact forces.

bool	setMinMaxElasticRestLength (Real minElasticRestLength, Real maxElasticRestLength)
	Set the minimum and maximum elastic rest length of the contact material.

void	setRestitution (Real restitution)
	Set the restitution parameter.

void	setRollingResistanceCoefficient (agx::Real rollingCoefficient)
	Sets the rolling resistance coefficient of the contact material.

void	setRollingResistanceCompliance (agx::Real compliance)
	Sets the rolling resistance compliance in the contact material.

void	setSurfaceViscosity (Real viscosity, FrictionDirection direction=BOTH_PRIMARY_AND_SECONDARY)
	Assign the surface viscosity, i.e., how wet the friction is between the colliding materials.

void	setTangentialCohesion (Real cohesion, FrictionDirection direction=BOTH_PRIMARY_AND_SECONDARY)
	Set the tangential cohesion (Pa) of the contact material.

void	setTangentialRestitution (Real restitution, FrictionDirection direction=BOTH_PRIMARY_AND_SECONDARY)
	Set the tangential restitution coefficient for a given tangential direction, or both.

void	setTwistingResistanceCoefficient (agx::Real twistingCoefficient)
	Sets the twisting resistance coefficient of the contact material.

void	setTwistingResistanceCompliance (agx::Real compliance)
	Sets the twisting resistance compliance in the contact material.

void	setUseContactAreaApproach (bool useContactAreaApproach)
	Should contacts using this contact material use the new approach for computing contact area? Default false.

void	setWireFrictionCoefficient (Real friction, FrictionDirection direction=BOTH_PRIMARY_AND_SECONDARY)
	Set the friction coefficient used by the contact nodes in the wires.

void	setYoungsModulus (Real youngsModulus)
	Set the YoungsModulus of the material, same as spring coefficient k.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Protected Member Functions
	ContactMaterial ()

virtual	~ContactMaterial ()

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

This class store the combine material properties between two agx::Material's.

It can both be implicit, i.e. calculated (by the MaterialManager) during impact between two Geometry's materials. Or it can be explicit, i.e. created by the user and parameterized through the class interface.

Definition at line 515 of file Material.h.

Member Enumeration Documentation

◆ ContactReductionMode

enum agx::ContactMaterial::ContactReductionMode

Specifies the mode for contact reduction.

Enumerator
REDUCE_NONE	No contact reduction enabled.
REDUCE_GEOMETRY	Default: Reduce contacts between geometries.
REDUCE_ALL	Two step reduction: first between geometries, and then between rigid bodies.

Definition at line 526 of file Material.h.

◆ FrictionDirection

enum agx::ContactMaterial::FrictionDirection

Specifies the direction of friction.

Enumerator
PRIMARY_DIRECTION
SECONDARY_DIRECTION
BOTH_PRIMARY_AND_SECONDARY

Definition at line 519 of file Material.h.

Constructor & Destructor Documentation

◆ ContactMaterial() [1/3]

agx::ContactMaterial::ContactMaterial	(	const Material *	m1,
		const Material *	m2,
		bool	implicit = `false`
	)

Constructor which associates this ContactMaterial to the two given materials m1 and m2.

Parameters

m1	- A Material
m2	- A Material
implicit	- If true this will be marked as an implicit ContactMaterial.

◆ ContactMaterial() [2/3]

agx::ContactMaterial::ContactMaterial	(	const ContactMaterial *	other,
		bool	implicit
	)

Create a ContactMaterial copying attributes from other.

Parameters

other	- Attributes will be copied from this ContactMaterial
implicit	- If true this will be marked as an implicit ContactMaterial.

◆ ContactMaterial() [3/3]

agx::ContactMaterial::ContactMaterial ( )

protected

◆ ~ContactMaterial()

virtual agx::ContactMaterial::~ContactMaterial ( )

protectedvirtual

Member Function Documentation

◆ getAdhesion()

Real agx::ContactMaterial::getAdhesion ( ) const

Returns: the adhesion parameter, i.e., the attractive force between two colliding objects.

Definition at line 1105 of file Material.h.

◆ getAdhesiveOverlap()

Real agx::ContactMaterial::getAdhesiveOverlap ( ) const

Returns: the adhesive overlap for this surface material

Definition at line 1110 of file Material.h.

◆ getContactReductionBinResolution()

agx::UInt8 agx::ContactMaterial::getContactReductionBinResolution ( ) const

Returns: bin resolution used in contact reduction between geometry contacts

Definition at line 1155 of file Material.h.

◆ getContactReductionMode()

ContactMaterial::ContactReductionMode agx::ContactMaterial::getContactReductionMode ( ) const

Returns whether contact reduction is enabled for this surface material.

Returns: true if contact reduction is enabled.

Definition at line 1150 of file Material.h.

◆ getDamping()

Real agx::ContactMaterial::getDamping ( ) const

The value is the time the contact constraint has to fulfill its violation.

Returns: the damping of the material

Definition at line 1125 of file Material.h.

◆ getFrictionCoefficient()

Real agx::ContactMaterial::getFrictionCoefficient ( FrictionDirection direction = PRIMARY_DIRECTION ) const

Returns: the surface friction parameter.

Definition at line 1095 of file Material.h.

◆ getFrictionModel()

FrictionModel * agx::ContactMaterial::getFrictionModel ( ) const

Returns: the friction model used when two objects with this contact material collides

Definition at line 1130 of file Material.h.

◆ getImpactCompliance()

agx::Real agx::ContactMaterial::getImpactCompliance ( ) const

Returns: The compliance for calculating impact forces. Only used by granular body system impacts.

Definition at line 1230 of file Material.h.

◆ getMaterial1()

const Material * agx::ContactMaterial::getMaterial1 ( ) const

Returns: first material in this contact material

Definition at line 1140 of file Material.h.

Referenced by agxSDK::MaterialManager::getSymmetricPair().

◆ getMaterial2()

const Material * agx::ContactMaterial::getMaterial2 ( ) const

Returns: second material in this contact material

Definition at line 1145 of file Material.h.

Referenced by agxSDK::MaterialManager::getSymmetricPair().

◆ getMaxElasticRestLength()

Real agx::ContactMaterial::getMaxElasticRestLength ( ) const

Get the maximum elastic rest length of the contact material.

This is only used if the contact area approach is used (getUseContactAreaApproach()==true). For the effect of the elastic rest length, see the user manual.

Return values

maxElasticRestLength The max elastic rest length.

◆ getMinElasticRestLength()

Real agx::ContactMaterial::getMinElasticRestLength ( ) const

Get the minimum elastic rest length of the contact material.

This is only used if the contact area approach is used (getUseContactAreaApproach()==true). For the effect of the elastic rest length, see the user manual.

Return values

minElasticRestLength The min elastic rest length.

◆ getRestitution()

Real agx::ContactMaterial::getRestitution ( ) const

Returns: the restitution parameter.

Definition at line 1090 of file Material.h.

◆ getRollingResistanceCoefficient()

agx::Real agx::ContactMaterial::getRollingResistanceCoefficient ( ) const

Returns: The coefficient of the rolling resistance in the contact material.

Definition at line 1215 of file Material.h.

◆ getRollingResistanceCompliance()

agx::Real agx::ContactMaterial::getRollingResistanceCompliance ( ) const

Returns: Set the compliance of the rolling resistance constraint.

Definition at line 1220 of file Material.h.

◆ getSurfaceFrictionEnabled()

bool agx::ContactMaterial::getSurfaceFrictionEnabled ( ) const

Returns: true if surface friction should be used when calculating friction in the solver.

Definition at line 1115 of file Material.h.

◆ getSurfaceViscosity()

Real agx::ContactMaterial::getSurfaceViscosity ( FrictionDirection direction = PRIMARY_DIRECTION ) const

Returns: the surface viscosity in the primary or secondary direction.

Definition at line 1100 of file Material.h.

◆ getTangentialCohesion()

Real agx::ContactMaterial::getTangentialCohesion ( FrictionDirection direction = PRIMARY_DIRECTION ) const

Returns: the tangential cohesion parameter.

◆ getTangentialRestitution()

Real agx::ContactMaterial::getTangentialRestitution ( FrictionDirection direction = PRIMARY_DIRECTION ) const

Returns: the tangential resitution parameter for given tangential direction.

◆ getTwistingResistanceCoefficient()

agx::Real agx::ContactMaterial::getTwistingResistanceCoefficient ( ) const

Returns: The coefficient of the twisting resistance in the contact material.

◆ getTwistingResistanceCompliance()

agx::Real agx::ContactMaterial::getTwistingResistanceCompliance ( ) const

Returns: The compliance of the twisting resistance constraint.

Definition at line 1225 of file Material.h.

◆ getUseContactAreaApproach()

bool agx::ContactMaterial::getUseContactAreaApproach ( ) const

Should contacts using this contact material use the new approach for computing contact area? Default false.

Note: : experimental feature, not fully tested yet.

Definition at line 1235 of file Material.h.

◆ getWireFrictionCoefficient()

Real agx::ContactMaterial::getWireFrictionCoefficient ( FrictionDirection direction = PRIMARY_DIRECTION ) const

Returns: the wire friction parameter along the given direction

Definition at line 1240 of file Material.h.

◆ getYoungsModulus()

Real agx::ContactMaterial::getYoungsModulus ( ) const

Returns: the YoungsModulus of the material

Definition at line 1120 of file Material.h.

◆ isExplicit()

bool agx::ContactMaterial::isExplicit ( ) const

Returns: true if contact material is explicit (created by user)

Definition at line 1135 of file Material.h.

◆ setAdhesion()

void agx::ContactMaterial::setAdhesion	(	Real	adhesion,
		Real	adhesiveOverlap
	)

Set the adhesive force and allowed overlap between two colliding objects.

Parameters

adhesion	- adhesive force >= 0, i.e., the attractive force. The value is clamped between zero and INFINITY.
adhesiveOverlap	- allowed overlap (length >= 0) from surface for resting contact. At this overlap, no force is applied. At lower overlap, the adhesion force will work, at higher overlap, the (usual) contact force. The value is clamped between zero and INFINITY.

◆ setContactReductionBinResolution()

void agx::ContactMaterial::setContactReductionBinResolution ( agx::UInt8 binResolution )

Specify the resolution used when evaluating contacts for reduction between geometry contacts.

A high value will keep more contacts, lower will result in more aggressive reduction the default. Commonly a value of 2 or 3 will give good result. Values from 0 to 10 are valid, where a value of 0 means this will be overridden by the ContactReductionBinResolution from Space.

Parameters

binResolution - parameter to ContactReducer.

◆ setContactReductionMode()

void agx::ContactMaterial::setContactReductionMode ( ContactReductionMode mode )

Specify if contact reduction should be enabled.

Parameters

mode	- The mode, default is REDUCE_GEOMETRY

◆ setDamping()

void agx::ContactMaterial::setDamping ( Real damping )

Set the damping of the material.

The value is the time the contact constraint has to fulfill its violation.

Parameters

damping The new damping value

◆ setEnableSurfaceFriction()

void agx::ContactMaterial::setEnableSurfaceFriction ( bool flag )

Specify if surface friction should be calculated in the solver for this contact material.

◆ setFrictionCoefficient()

void agx::ContactMaterial::setFrictionCoefficient	(	Real	friction,
		FrictionDirection	direction = `BOTH_PRIMARY_AND_SECONDARY`
	)

Set the friction coefficient.

The value is clamped between zero and INFINITY

Parameters

friction	- New friction coefficient
direction	- Specifies for which direction the friction value will be set. Default is BOTH_PRIMARY_AND_SECONDARY

◆ setFrictionModel()

void agx::ContactMaterial::setFrictionModel ( FrictionModel * frictionModel )

Set friction model for this contact material.

◆ setImpactCompliance()

void agx::ContactMaterial::setImpactCompliance ( agx::Real impactCompliance )

Sets the compliance used for calculating impact forces.

Only used by granular body system impacts.

Parameters

impactCompliance The compliance of the impact constraint.

◆ setMinMaxElasticRestLength()

bool agx::ContactMaterial::setMinMaxElasticRestLength	(	Real	minElasticRestLength,
		Real	maxElasticRestLength
	)

Set the minimum and maximum elastic rest length of the contact material.

This is only used if the contact area approach is used (getUseContactAreaApproach()==true). It sets the minimum and maximum allowed value for the elastic rest length of the material - values below will be clamped to the min, values above will be clamped to the max. If the value has not been set: in contact between materials m1 and m2, the min elastic rest of the contact material cm(m1, m2) will have the sum of m1's and m2's min elastic rest length, and the max elastic rest length of cm(m1, m2) will be the sum of m1's and m2's max elastic rest length. For the effect of the elastic rest length, see the user manual.

Parameters

minElasticRestLength	The min elastic rest length. Only values > 0 allowed. Has to be <= maxElasticRestLength.
maxElasticRestLength	The max elastic rest length. Only values > 0 allowed. Has to be >= minElasticRestLength.

Return values

Success - Are the values in the allowed range and have thus been applied?

◆ setRestitution()

void agx::ContactMaterial::setRestitution ( Real restitution )

Set the restitution parameter.

The value is clamped between zero and INFINITY

Parameters

restitution - New restitution value.

◆ setRollingResistanceCoefficient()

void agx::ContactMaterial::setRollingResistanceCoefficient ( agx::Real rollingCoefficient )

Sets the rolling resistance coefficient of the contact material.

Only works with contacts that include particles from GranularBodySystem.

Parameters

rollingCoefficient - The coefficient of the rolling resistance.

◆ setRollingResistanceCompliance()

void agx::ContactMaterial::setRollingResistanceCompliance ( agx::Real compliance )

Sets the rolling resistance compliance in the contact material.

Only works with contacts that include particles from GranularBodySystem.

Parameters

compliance The compliance of the rolling resistance constraint.

◆ setSurfaceViscosity()

void agx::ContactMaterial::setSurfaceViscosity	(	Real	viscosity,
		FrictionDirection	direction = `BOTH_PRIMARY_AND_SECONDARY`
	)

Assign the surface viscosity, i.e., how wet the friction is between the colliding materials.

Default: ~1E-8. It's possible to have different viscosities in primary and secondary directions.

Parameters

viscosity	- New viscosity value.
direction	- Specifies for which direction the viscosity value will be set. Default is BOTH_PRIMARY_AND_SECONDARY

◆ setTangentialCohesion()

void agx::ContactMaterial::setTangentialCohesion	(	Real	cohesion,
		FrictionDirection	direction = `BOTH_PRIMARY_AND_SECONDARY`
	)

Set the tangential cohesion (Pa) of the contact material.

The value is clamped between zero and INFINITY

Parameters

cohesion	- The tangential cohesion (Pa)
direction	- Specifies for which direction the tangential cohesion value will be set. Default is BOTH_PRIMARY_AND_SECONDARY

◆ setTangentialRestitution()

void agx::ContactMaterial::setTangentialRestitution	(	Real	restitution,
		FrictionDirection	direction = `BOTH_PRIMARY_AND_SECONDARY`
	)

Set the tangential restitution coefficient for a given tangential direction, or both.

The default tangential restitutions are zero and restitution will be clamped between zero and infinity.

Parameters

restitution	- New tangential restitution value.
direction	- Specifies for which direction the tangential restitution value will be set. Default is BOTH_PRIMARY_AND_SECONDARY.

◆ setTwistingResistanceCoefficient()

void agx::ContactMaterial::setTwistingResistanceCoefficient ( agx::Real twistingCoefficient )

Sets the twisting resistance coefficient of the contact material.

Only works with contacts that include particles from GranularBodySystem.

Parameters

twistingCoefficient - The coefficient of the twisting resistance.

◆ setTwistingResistanceCompliance()

void agx::ContactMaterial::setTwistingResistanceCompliance ( agx::Real compliance )

Sets the twisting resistance compliance in the contact material.

Only works with contacts that include particles from GranularBodySystem.

Parameters

compliance The compliance of the twisting resistance constraint.

◆ setUseContactAreaApproach()

void agx::ContactMaterial::setUseContactAreaApproach ( bool useContactAreaApproach )

Should contacts using this contact material use the new approach for computing contact area? Default false.

Note: : experimental feature, not fully tested yet.

◆ setWireFrictionCoefficient()

void agx::ContactMaterial::setWireFrictionCoefficient	(	Real	friction,
		FrictionDirection	direction = `BOTH_PRIMARY_AND_SECONDARY`
	)

Set the friction coefficient used by the contact nodes in the wires.

The primary direction is along the wire and the secondary direction is long the contact edge on the object the wire contact is sliding (close to orthogonal to the wire direction). The value is clamped between zero and INFINITY

Parameters

friction	- New friction coefficient
direction	- Specifies for which direction the friction value will be set. Default is BOTH_PRIMARY_AND_SECONDARY.

◆ setYoungsModulus()

void agx::ContactMaterial::setYoungsModulus ( Real youngsModulus )

Set the YoungsModulus of the material, same as spring coefficient k.

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

Material.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ContactReductionMode

◆ FrictionDirection

Constructor & Destructor Documentation

◆ ContactMaterial() [1/3]

◆ ContactMaterial() [2/3]

◆ ContactMaterial() [3/3]

◆ ~ContactMaterial()

Member Function Documentation

◆ getAdhesion()

◆ getAdhesiveOverlap()

◆ getContactReductionBinResolution()

◆ getContactReductionMode()

◆ getDamping()

◆ getFrictionCoefficient()

◆ getFrictionModel()

◆ getImpactCompliance()

◆ getMaterial1()

◆ getMaterial2()

◆ getMaxElasticRestLength()

◆ getMinElasticRestLength()

◆ getRestitution()

◆ getRollingResistanceCoefficient()

◆ getRollingResistanceCompliance()

◆ getSurfaceFrictionEnabled()

◆ getSurfaceViscosity()

◆ getTangentialCohesion()

◆ getTangentialRestitution()

◆ getTwistingResistanceCoefficient()

◆ getTwistingResistanceCompliance()

◆ getUseContactAreaApproach()

◆ getWireFrictionCoefficient()

◆ getYoungsModulus()

◆ isExplicit()

◆ setAdhesion()

◆ setContactReductionBinResolution()

◆ setContactReductionMode()

◆ setDamping()

◆ setEnableSurfaceFriction()

◆ setFrictionCoefficient()

◆ setFrictionModel()

◆ setImpactCompliance()

◆ setMinMaxElasticRestLength()

◆ setRestitution()

◆ setRollingResistanceCoefficient()

◆ setRollingResistanceCompliance()

◆ setSurfaceViscosity()

◆ setTangentialCohesion()

◆ setTangentialRestitution()

◆ setTwistingResistanceCoefficient()

◆ setTwistingResistanceCompliance()

◆ setUseContactAreaApproach()

◆ setWireFrictionCoefficient()

◆ setYoungsModulus()