chrono::geometry::ChSphere Class Reference

Description

A spherical geometric object for collisions and visualization.

#include <ChSphere.h>

Inheritance diagram for chrono::geometry::ChSphere:
Collaboration diagram for chrono::geometry::ChSphere:

Public Member Functions

 ChSphere (ChVector<> &mc, double mrad)
 
 ChSphere (const ChSphere &source)
 
virtual ChSphereClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual GeometryType GetClassType () const override
 Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism). More...
 
virtual void GetBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const override
 Compute bounding box. More...
 
virtual ChVector Baricenter () const override
 Compute center of mass It should be overriden by inherited classes.
 
virtual void CovarianceMatrix (ChMatrix33<> &C) const override
 Compute the 3x3 covariance matrix (only the diagonal and upper part) It should be overriden by inherited classes.
 
virtual int GetManifoldDimension () const override
 This is a solid.
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow de serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::geometry::ChGeometry
 ChGeometry (const ChGeometry &source)
 
virtual void InflateBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const
 Enlarge a previous existing bounding box. More...
 
virtual double Size () const
 Returns the radius of the sphere which can enclose the geometry.
 
virtual void Evaluate (ChVector<> &pos, const double parU, const double parV=0., const double parW=0.) const
 Evaluates a point on a geometry, given parametric coordinates, if possible. More...
 
virtual void Derive (ChVector<> &dir, const double parU, const double parV=0., const double parW=0.) const
 Evaluates a tangent versor on a geometry, given parametric coordinates, if possible. More...
 
virtual void Update ()
 Generic update of internal data. More...
 

Public Attributes

ChVector center
 sphere center
 
double rad
 sphere radius
 

Additional Inherited Members

- Public Types inherited from chrono::geometry::ChGeometry
enum  GeometryType {
  NONE, SPHERE, BOX, CYLINDER,
  TRIANGLE, CAPSULE, CONE, LINE,
  LINE_ARC, LINE_BEZIER, LINE_CAM, LINE_PATH,
  LINE_POLY, LINE_SEGMENT, ROUNDED_BOX, ROUNDED_CYLINDER,
  ROUNDED_CONE, TRIANGLEMESH, TRIANGLEMESH_CONNECTED, TRIANGLEMESH_SOUP
}
 Enumeration of geometric objects.
 

Member Function Documentation

void chrono::geometry::ChSphere::GetBoundingBox ( double &  xmin,
double &  xmax,
double &  ymin,
double &  ymax,
double &  zmin,
double &  zmax,
ChMatrix33<> *  Rot = NULL 
) const
overridevirtual

Compute bounding box.

If a matrix Rot is not null, it should compute bounding box along the rotated directions represented by that transformation matrix Rot. It must be overridden by inherited classes.

Reimplemented from chrono::geometry::ChGeometry.

virtual GeometryType chrono::geometry::ChSphere::GetClassType ( ) const
overridevirtual

Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism).

Each inherited class must return an unique ID.

Reimplemented from chrono::geometry::ChGeometry.