chrono::collision::ChModelSphereSet Class Reference

Description

A wrapper to use the Bullet collision detection library.

#include <ChCModelSphereSet.h>

Inheritance diagram for chrono::collision::ChModelSphereSet:
Collaboration diagram for chrono::collision::ChModelSphereSet:

Public Member Functions

virtual int ClearModel ()
 Deletes all inserted geometries. More...
 
virtual int BuildModel ()
 Builds the BV hierarchy. More...
 
virtual bool AddSphere (double radius, ChVector<> *pos=0)
 Add a sphere shape to this model, for collision purposes.
 
virtual bool AddCompoundBody (int numSpheres, std::vector< ChVector< float > > *posLocal, std::vector< float > *rads)
 
virtual bool AddEllipsoid (double rx, double ry, double rz, ChVector<> *pos=0, ChMatrix33<> *rot=0)
 Add an ellipsoid shape to this model, for collision purposes.
 
virtual bool AddBox (double hx, double hy, double hz, ChVector<> *pos=0, ChMatrix33<> *rot=0)
 Add a box shape to this model, for collision purposes.
 
virtual bool AddCylinder (double rx, double rz, double hy, ChVector<> *pos=0, ChMatrix33<> *rot=0)
 Add a cylinder to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddConvexHull (std::vector< ChVector< double > > &pointlist, ChVector<> *pos=0, ChMatrix33<> *rot=0)
 Add a convex hull to this model. More...
 
virtual bool AddTriangleMesh (const geometry::ChTriangleMesh &trimesh, bool is_static, bool is_convex, ChVector<> *pos=0, ChMatrix33<> *rot=0, double sphereswept_thickness=0.0)
 Add a triangle mesh to this model, passing a triangle mesh (do not delete the triangle mesh until the collision model, because depending on the implementation of inherited ChCollisionModel classes, maybe the triangle is referenced via a striding interface or just copied) Note: if possible, in sake of high performance, avoid triangle meshes and prefer simplified representations as compounds of convex shapes of boxes/spheres/etc. More...
 
virtual bool AddTriangleMeshConcave (const geometry::ChTriangleMesh &trimesh, ChVector<> *pos=0, ChMatrix33<> *rot=0)
 CUSTOM for this class only: add a concave triangle mesh that will be managed by GImpact mesh-mesh algorithm. More...
 
virtual bool AddTriangleMeshConcaveDecomposed (ChConvexDecomposition &mydecomposition, ChVector<> *pos=0, ChMatrix33<> *rot=0)
 CUSTOM for this class only: add a concave triangle mesh that will be decomposed into a compound of convex shapes. More...
 
virtual bool AddBarrel (double Y_low, double Y_high, double R_vert, double R_hor, double R_offset, ChVector<> *pos=0, ChMatrix33<> *rot=0)
 Add a barrel-like shape to this model (main axis on Y direction), for collision purposes. More...
 
virtual bool AddCopyOfAnotherModel (ChCollisionModel *another)
 Add all shapes already contained in another model. More...
 
virtual void SetFamily (int mfamily)
 By default, all collsion objects belong to family n.0, but you can set family in range 0..15. More...
 
virtual int GetFamily ()
 
virtual void SetFamilyMaskNoCollisionWithFamily (int mfamily)
 By default, family mask is all turned on, so all families can collide with this object, but you can turn on-off some bytes of this mask so that some families do not collide. More...
 
virtual void SetFamilyMaskDoCollisionWithFamily (int mfamily)
 
virtual bool GetFamilyMaskDoesCollisionWithFamily (int mfamily)
 Tells if the family mask of this collision object allows for the collision with another collision object belonging to a given family. More...
 
virtual void GetAABB (ChVector<> &bbmin, ChVector<> &bbmax) const
 Returns the axis aligned bounding box (AABB) of the collision model, i.e. More...
 
virtual void StreamIN (ChStreamInBinary &mstream)
 Method to allow deserializing a persistent binary archive (ex: a file) into transient data. More...
 
virtual void StreamOUT (ChStreamOutBinary &mstream)
 Method to allow serializing transient data into a persistent binary archive (ex: a file). More...
 
void GetGlobalSpherePos (thrust::host_vector< ChVector< float > > &globalPos)
 Gets the global positions of the spheres.
 
void GetSphereRad (thrust::host_vector< float > &rad)
 Gets the global positions of the spheres.
 
uint getNSpheres ()
 
- Public Member Functions inherited from chrono::collision::ChCollisionModel
virtual bool AddSphere (double radius, const ChVector<> &pos=ChVector<>())=0
 Add a sphere shape to this model, for collision purposes. More...
 
virtual bool AddEllipsoid (double rx, double ry, double rz, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add an ellipsoid shape to this model, for collision purposes. More...
 
virtual bool AddBox (double hx, double hy, double hz, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a box shape to this model, for collision purposes. More...
 
virtual bool AddCylinder (double rx, double rz, double hy, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a cylinder to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddCone (double rx, double rz, double hy, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a cone to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddCapsule (double radius, double hlen, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a capsule to this model (default axis in Y direction), for collision purposes. More...
 
virtual bool AddRoundedBox (double hx, double hy, double hz, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a rounded box shape to this model, for collision purposes.
 
virtual bool AddRoundedCylinder (double rx, double rz, double hy, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a rounded cylinder to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddRoundedCone (double rx, double rz, double hy, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a rounded cone to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddConvexHull (std::vector< ChVector< double > > &pointlist, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a convex hull to this model. More...
 
virtual bool AddTriangleMesh (const geometry::ChTriangleMesh &trimesh, bool is_static, bool is_convex, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1), double sphereswept_thickness=0.0)=0
 Add a triangle mesh to this model, passing a triangle mesh (do not delete the triangle mesh until the collision model, because depending on the implementation of inherited ChCollisionModel classes, maybe the triangle is referenced via a striding interface or just copied) Note: if possible, in sake of high performance, avoid triangle meshes and prefer simplified representations as compounds of convex shapes of boxes/spheres/etc. More...
 
virtual bool AddBarrel (double Y_low, double Y_high, double R_vert, double R_hor, double R_offset, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
 Add a barrel-like shape to this model (main axis on Y direction), for collision purposes. More...
 
virtual bool Add2Dpath (geometry::ChLinePath &mpath, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1), const double thickness=0.001)
 Add a 2D closed line, defined on the XY plane passing by pos and alinged as rot, that defines a 2D collision shape that will collide with another 2D line of the same type if aligned on the same plane. More...
 
virtual bool AddPoint (double radius=0, const ChVector<> &pos=ChVector<>())
 Add a point-like sphere, that will collide with other geometries, but won't ever create contacts between them. More...
 
virtual bool AddConvexHullsFromFile (ChStreamInAscii &mstream, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))
 Add a cluster of convex hulls by a '.chulls' file description. More...
 
ChContactableGetContactable ()
 Gets the pointer to the contactable object.
 
virtual void SetContactable (ChContactable *mc)
 Sets the pointer to the contactable object. More...
 
virtual ChPhysicsItemGetPhysicsItem ()
 Gets the pointer to the client owner ChPhysicsItem. More...
 
virtual void SyncPosition ()=0
 Sets the position and orientation of the collision model as the rigid body current position. More...
 
virtual short int GetFamilyGroup () const
 Return the collision family group of this model. More...
 
virtual void SetFamilyGroup (short int group)
 Set the collision family group of this model. More...
 
virtual short int GetFamilyMask () const
 Return the collision mask for this model. More...
 
virtual void SetFamilyMask (short int mask)
 Set the collision mask for this model. More...
 
virtual void SetSafeMargin (double amargin)
 Sets the suggested collision 'inward safe margin' for the shapes to be added from now on, using the AddBox, AddCylinder etc (where, if this margin is too high for some thin or small shapes, it may be clamped). More...
 
virtual float GetSafeMargin ()
 Returns the inward safe margin (see SetSafeMargin() )
 
virtual void SetEnvelope (double amargin)
 Sets the suggested collision outward 'envelope' (used from shapes added, from now on, to this collision model). More...
 
virtual float GetEnvelope ()
 Returns the outward safe margin (see SetEnvelope() )
 
virtual void ArchiveOUT (ChArchiveOut &marchive)
 
virtual void ArchiveIN (ChArchiveIn &marchive)
 Method to allow de serialization of transient data from archives.
 

Protected Attributes

uint nSpheres
 
thrust::host_vector< ChVector
< float > > 
sphPosLocal
 
thrust::host_vector< ChVector
< float > > 
sphPosGlobal
 
thrust::host_vector< float > sphRad
 
ChVector< float > myBBminLocal
 
ChVector< float > myBBmaxLocal
 
ChVector< float > myBBminGlobal
 
ChVector< float > myBBmaxGlobal
 
int colFam
 
int noCollWith
 
- Protected Attributes inherited from chrono::collision::ChCollisionModel
float model_envelope
 
float model_safe_margin
 
ChContactablemcontactable
 
short int family_group
 
short int family_mask
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::collision::ChCollisionModel
static void SetDefaultSuggestedEnvelope (double menv)
 Using this function BEFORE you start creating collision shapes, it will make all following collision shapes to take this collision envelope (safe outward layer) as default. More...
 
static void SetDefaultSuggestedMargin (double mmargin)
 Using this function BEFORE you start creating collision shapes, it will make all following collision shapes to take this collision margin (inward penetration layer) as default. More...
 
static double GetDefaultSuggestedEnvelope ()
 
static double GetDefaultSuggestedMargin ()
 
- Protected Member Functions inherited from chrono::collision::ChCollisionModel
virtual float GetSuggestedFullMargin ()
 

Member Function Documentation

bool chrono::collision::ChModelSphereSet::AddBarrel ( double  Y_low,
double  Y_high,
double  R_vert,
double  R_hor,
double  R_offset,
ChVector<> *  pos = 0,
ChMatrix33<> *  rot = 0 
)
virtual

Add a barrel-like shape to this model (main axis on Y direction), for collision purposes.

The barrel shape is made by lathing an arc of an ellipse around the vertical Y axis. The center of the ellipse is on Y=0 level, and it is ofsetted by R_offset from the Y axis in radial direction. The two radii of the ellipse are R_vert (for the vertical direction, i.e. the axis parellel to Y) andBullet R_hor (for the axis that is perpendicular to Y). Also, the solid is clamped with two discs on the top and the bottom, at levels Y_low and Y_high.

bool chrono::collision::ChModelSphereSet::AddConvexHull ( std::vector< ChVector< double > > &  pointlist,
ChVector<> *  pos = 0,
ChMatrix33<> *  rot = 0 
)
virtual

Add a convex hull to this model.

A convex hull is simply a point cloud that describe a convex polytope. Connectivity between the vertexes, as faces/edges in triangle meshes is not necessary. Points are passed as a list, that is instantly copied into the model.

bool chrono::collision::ChModelSphereSet::AddCopyOfAnotherModel ( ChCollisionModel another)
virtual

Add all shapes already contained in another model.

Thank to the adoption of shared pointers, underlying shapes are shared (not copied) among the models; this will save memory when you must simulate thousands of objects with the same collision shape. The 'another' model must be of ChModelBullet subclass.

Implements chrono::collision::ChCollisionModel.

bool chrono::collision::ChModelSphereSet::AddTriangleMesh ( const geometry::ChTriangleMesh trimesh,
bool  is_static,
bool  is_convex,
ChVector<> *  pos = 0,
ChMatrix33<> *  rot = 0,
double  sphereswept_thickness = 0.0 
)
virtual

Add a triangle mesh to this model, passing a triangle mesh (do not delete the triangle mesh until the collision model, because depending on the implementation of inherited ChCollisionModel classes, maybe the triangle is referenced via a striding interface or just copied) Note: if possible, in sake of high performance, avoid triangle meshes and prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.

Add a triangle mesh to this model.

. type.

Parameters
trimeshthe triangle mesh
is_statictrue only if model doesn't move (es.a terrain). May improve performance
is_convextrue if mesh is used as a convex hull(only for simple mesh), otherwise if false, handle as
posconcave
rotdisplacement respect to COG (optional)
sphereswept_thicknessoptional: outward sphereswept layer (when supported)
bool chrono::collision::ChModelSphereSet::AddTriangleMeshConcave ( const geometry::ChTriangleMesh trimesh,
ChVector<> *  pos = 0,
ChMatrix33<> *  rot = 0 
)
virtual

CUSTOM for this class only: add a concave triangle mesh that will be managed by GImpact mesh-mesh algorithm.

Note that, despite this can work with arbitrary meshes, there could be issues of robustness and precision, so when possible, prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.. type.

Parameters
trimeshthe concave triangle mesh
rotdisplacement respect to COG (optional)
bool chrono::collision::ChModelSphereSet::AddTriangleMeshConcaveDecomposed ( ChConvexDecomposition mydecomposition,
ChVector<> *  pos = 0,
ChMatrix33<> *  rot = 0 
)
virtual

CUSTOM for this class only: add a concave triangle mesh that will be decomposed into a compound of convex shapes.

Decomposition could be more efficient than AddTriangleMeshConcave(), but preprocessing decomposition might take a while, and decomposition result is often approximate. Therefore, despite this can work with arbitrary meshes, there could be issues of robustness and precision, so when possible, prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.. type.

Parameters
mydecompositionthe concave triangle mesh, already decomposed
rotdisplacement respect to COG (optional)
int chrono::collision::ChModelSphereSet::BuildModel ( )
virtual

Builds the BV hierarchy.

Call this function AFTER adding the geometric description. MUST be inherited by child classes! (ex for bulding BV hierarchies)

Implements chrono::collision::ChCollisionModel.

int chrono::collision::ChModelSphereSet::ClearModel ( )
virtual

Deletes all inserted geometries.

Also, if you begin the definition of a model, AFTER adding the geometric description, remember to call the ClearModel(). MUST be inherited by child classes! (ex for resetting also BV hierarchies)

Implements chrono::collision::ChCollisionModel.

void chrono::collision::ChModelSphereSet::GetAABB ( ChVector<> &  bbmin,
ChVector<> &  bbmax 
) const
virtual

Returns the axis aligned bounding box (AABB) of the collision model, i.e.

max-min along the x,y,z world axes. Remember that SyncPosition() should be invoked before calling this.

Implements chrono::collision::ChCollisionModel.

bool chrono::collision::ChModelSphereSet::GetFamilyMaskDoesCollisionWithFamily ( int  mfamily)
virtual

Tells if the family mask of this collision object allows for the collision with another collision object belonging to a given family.

NOTE: this function has NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). This default implementation uses the family mask.

Reimplemented from chrono::collision::ChCollisionModel.

void chrono::collision::ChModelSphereSet::SetFamily ( int  mfamily)
virtual

By default, all collsion objects belong to family n.0, but you can set family in range 0..15.

This is used when the objects collided with another: the contact is created only if the family is within the 'family mask' of the other, and viceversa. NOTE: these functions have NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). These default implementations use the family group.

Reimplemented from chrono::collision::ChCollisionModel.

void chrono::collision::ChModelSphereSet::SetFamilyMaskNoCollisionWithFamily ( int  mfamily)
virtual

By default, family mask is all turned on, so all families can collide with this object, but you can turn on-off some bytes of this mask so that some families do not collide.

When two objects collide, the contact is created only if the family is within the 'family mask' of the other, and viceversa. NOTE: these functions have NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). These default implementations use the family mask.

Reimplemented from chrono::collision::ChCollisionModel.

void chrono::collision::ChModelSphereSet::StreamIN ( ChStreamInBinary mstream)
virtual

Method to allow deserializing a persistent binary archive (ex: a file) into transient data.

void chrono::collision::ChModelSphereSet::StreamOUT ( ChStreamOutBinary mstream)
virtual

Method to allow serializing transient data into a persistent binary archive (ex: a file).