chrono::ChCollisionInfo Class Reference

Description

Class defining basic geometric information for collision pairs.

#include <ChCollisionInfo.h>

Collaboration diagram for chrono::ChCollisionInfo:

Public Member Functions
	ChCollisionInfo ()
	Basic default constructor.
	ChCollisionInfo (const ChCollisionInfo &other, const bool swap=false)
	Copy from other.
void	SwapModels ()
	Swap models, that is modelA becomes modelB and viceversa.

Static Public Member Functions
static void	SetDefaultEffectiveCurvatureRadius (double eff_radius)
	Set the default effective radius of curvature (for SMC contact). More...
static double	GetDefaultEffectiveCurvatureRadius ()
	Return the current value of the default effective radius of curvature.

Public Attributes
ChCollisionModel *	modelA
	model A
ChCollisionModel *	modelB
	model B
ChCollisionShape *	shapeA
	collision shape in model A
ChCollisionShape *	shapeB
	collision shape in model B
ChVector3d	vpA
	coll.point on A, in abs coords
ChVector3d	vpB
	coll.point on B, in abs coords
ChVector3d	vN
	coll.normal, respect to A, in abs coords
double	distance
	distance (negative for penetration)
double	eff_radius
	effective radius of curvature at contact (SMC only)
float *	reaction_cache
	pointer to some persistent user cache of reactions

Member Function Documentation

SetDefaultEffectiveCurvatureRadius()

void chrono::ChCollisionInfo::SetDefaultEffectiveCurvatureRadius ( double  eff_radius )

static

Set the default effective radius of curvature (for SMC contact).

A collision system should evaluate this value for each collision using
    1/r_eff = 1/rA + 1/rB
where rA and rB are the radii of curvature of the two surfaces at the contact point.

If a collision system does not set this quantity, all collisions use this default value.

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

• /builds/uwsbel/chrono/src/chrono/collision/ChCollisionInfo.h
• /builds/uwsbel/chrono/src/chrono/collision/ChCollisionInfo.cpp