#include <CHydroSoilCylinder.h>

Inheritance diagram for rigidbody::CHydroSoilCylinder:

Collaboration diagram for rigidbody::CHydroSoilCylinder:

Public Member Functions
	CHydroSoilCylinder (double innerRadius, double outerRadius, double height, double mass, CylinderEnd end, const std::string &material)

vec6	GetInternalForces (const vec6 &dX, const vec3 &r, const quat &q, environment::EnvironmentProvider environment, double time, const double states)

Public Member Functions inherited from rigidbody::CHydroCylinder
	CHydroCylinder (double innerRadius, double outerRadius, double height, double mass, CylinderEnd end, const std::string &material)

mat6	GetInertiaMatrix (const vec3 &r, double time, const double states, environment::EnvironmentProvider environment)

void	SetWaterDensity (double waterDensity)
	The water density [kg/m^3] of the buoyancy, the drag and the added mass (BASE-0054); default 1025.

Public Member Functions inherited from rigidbody::CRigidCylinder
	CRigidCylinder (double innerRadius, double outerRadius, double height, double mass, CylinderEnd end, const std::string &material)

mat6	GetInertiaMatrix (const vec3 &r, double time, const double states, environment::EnvironmentProvider environment)

vec6	GetInternalForces (const vec6 &dX, const vec3 &r, const quat &q, environment::EnvironmentProvider environment, double time, const double states)

mat64	GetGravityForceDerivative (const quat &q)

Public Member Functions inherited from rigidbody::CRigidBody
vec13	GetSecondDerivative (const vec3 &r, const quat &q, const vec3 &v, const vec3 w, const vec6 &externalForces, environment::EnvironmentProvider environment, double time, const double states)

mat13	GetSecondDerivativeJacobian (const vec3 &r, const quat &q, const vec3 &v, const vec3 &w, const vec6 &externalForces, environment::EnvironmentProvider environment, double time, const double states)

void	WriteStateJacobian (const double X, int positionIndex, int quaterIndex, int velocityIndex, int omegaIndex, const vec6 &externalForces, environment::EnvironmentProvider environment, double time, double *J, int nStates)

Public Member Functions inherited from rigidbody::soilforces::SoilElement
void	SetSeafloorForces (environment::SeafloorForcesInterface *seafloorForces)
	Sets the resource the soil load is asked from; it must be set before the element's forces are computed.

bool	InSeabedContact () const
	Whether the element was in contact with the seabed at its last force evaluation (its soil load has no Jacobian).

Additional Inherited Members
Static Public Member Functions inherited from rigidbody::CRigidBody
static vec6	GetCoriolisForce (const vec6 &dX, const mat6 &Inertia)

static mat6	GetCoriolisForceDerivative (const vec6 &dX, const mat6 &Inertia)
	d(GetCoriolisForce)/d(dX) at a fixed inertia matrix, bodylocal.

static mat6	ReorientInertiaTranslateRotate (const mat6 &Inertia, const vec6 &orientation)

static mat3	MakeDyadic (const vec3 &vector)

static mat34	RotationDerivative (const quat &q, const vec3 &x)

static mat34	ConjugateRotationDerivative (const quat &q, const vec3 &x)

static mat3	GetRotation (const vec3 &angle)

static mat6	GetRotation6 (const vec3 &angle)

Protected Member Functions inherited from rigidbody::CHydroCylinder
vec6	GetBuoyancy (const vec3 &r, const quat &q, environment::EnvironmentProvider *environment, double time) const
	The buoyancy of the wetted material volume at its centre of buoyancy, body frame (R94, BASE-0067).

Protected Attributes inherited from rigidbody::CHydroCylinder
double	m_waterDensity = marenv::seawaterDensity

Protected Attributes inherited from rigidbody::CRigidCylinder
double	iR

double	oR

double	h

double	m

double	V

CylinderEnd	endType

std::string	m_material

Protected Attributes inherited from rigidbody::soilforces::SoilElement
environment::SeafloorForcesInterface *	m_seafloorForces = nullptr

bool	m_inSeabedContact = false

Detailed Description

A hydrodynamic cylinder that also carries the soil load of an anchor shank.

The soil load comes from the environment's shared SeafloorForces resource (AnchorShank): the cylinder passes its radii, length, end type and kinematics and applies the returned load. It holds no soil parameter. The resource is set with SetSeafloorForces.

Member Function Documentation

◆ GetInternalForces()

vec6 rigidbody::CHydroSoilCylinder::GetInternalForces	(	const vec6 &	dX,
		const vec3 &	r,
		const quat &	q,
		environment::EnvironmentProvider *	environment,
		double	time,
		const double *	states
	)

virtual

Reimplemented from rigidbody::CHydroCylinder.

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

webfhsim/reloadrepos/fhsim_base/src/rigidbody/CHydroSoilCylinder.h

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ GetInternalForces()