chrono::ChCollisionModelChrono Class Reference

Description

Geometric model for the custom multicore Chrono collision system.

#include <ChCollisionModelChrono.h>

Inheritance diagram for chrono::ChCollisionModelChrono:

Collaboration diagram for chrono::ChCollisionModelChrono:

Public Member Functions
virtual ChCollisionSystemType	GetType () const override
	Return the type of this collision model.
virtual bool	AddCopyOfAnotherModel (ChCollisionModel *another) override
	Add all shapes already contained in another model.
virtual void	SyncPosition () override
	Sets the position and orientation of the collision model as the rigid body current position.
ChBody *	GetBody () const
	Return a pointer to the associated body.
void	SetBody (ChBody *body)
	Set the pointer to the owner rigid body.
virtual void	SetContactable (ChContactable *mc) override
	Sets the pointer to the contactable object.
virtual geometry::ChAABB	GetBoundingBox () const override
	Return the axis aligned bounding box for this collision model.
virtual ChCoordsys	GetShapePos (int index) const override
	Return the position and orientation of the collision shape with specified index, relative to the model frame.
virtual void	ArchiveOut (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.
virtual void	ArchiveIn (ChArchiveIn &marchive) override
	Method to allow deserialization of transient data from archives.
Public Member Functions inherited from chrono::ChCollisionModel
void	Clear ()
	Delete all inserted collision shapes. More...
void	Build ()
	Complete the construction of the collision model. More...
void	AddShape (std::shared_ptr< ChCollisionShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add a collision shape with specified position within the model. More...
void	AddCylinder (std::shared_ptr< ChMaterialSurface > material, double radius, const ChVector<> &p1, const ChVector<> &p2)
	Convenience function to add a cylinder specified through a radius and end points. More...
ChContactable *	GetContactable ()
	Get the pointer to the contactable object.
virtual ChPhysicsItem *	GetPhysicsItem ()
	Get the pointer to the client owner ChPhysicsItem. More...
virtual void	SetFamily (int mfamily)
	By default, all collision 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 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)
	Set the suggested collision 'inward safe margin' for the shapes to be added from now on. More...
virtual float	GetSafeMargin ()
	Returns the inward safe margin (see SetSafeMargin() )
virtual void	SetEnvelope (double amargin)
	Set the suggested collision outward 'envelope' used from shapes added from now on. More...
virtual float	GetEnvelope ()
	Return the outward safe margin (see SetEnvelope() )
int	GetNumShapes () const
	Return the number of collision shapes in this model.
const std::vector< std::shared_ptr< ChCollisionShape > > &	GetShapes () const
	Get the list of collision shapes in this model.
std::shared_ptr< ChCollisionShape >	GetShape (int index)
	Get the collision shape with specified index.
std::vector< double >	GetShapeDimensions (int index) const
	Return shape characteristic dimensions. More...
void	SetShapeMaterial (int index, std::shared_ptr< ChMaterialSurface > mat)
	Set the contact material for the collision shape with specified index.
void	SetAllShapesMaterial (std::shared_ptr< ChMaterialSurface > mat)
	Set the contact material for all collision shapes in the model (all shapes will share the material). More...

Public Attributes
std::vector< real3 >	local_convex_data
ChVector	aabb_min
ChVector	aabb_max

Protected Member Functions
virtual void	Dissociate () override
	Remove this model from the collision system (if applicable).
virtual void	Associate () override
	Insert this model into the collision system (if applicable).
virtual void	Populate () override
	Populate the collision system with the collision shapes defined in this model.
Protected Member Functions inherited from chrono::ChCollisionModel
void	CopyShapes (ChCollisionModel *other)
	Copy the collision shapes from another model.
virtual float	GetSuggestedFullMargin ()

Protected Attributes
ChBody *	mbody
	associated contactable (rigid body only)
std::vector< std::shared_ptr< ctCollisionShape > >	m_ct_shapes
	list of Chrono collision shapes in model
Protected Attributes inherited from chrono::ChCollisionModel
float	model_envelope
	Maximum envelope: surrounding volume from surface to the exterior.
float	model_safe_margin
	Maximum margin value to be used for fast penetration contact detection.
ChContactable *	mcontactable
	Pointer to the contactable object.
short int	family_group
	Collision family group.
short int	family_mask
	Collision family mask.
std::vector< ShapeInstance >	m_shape_instances
	list of collision shapes and positions in model
std::vector< std::shared_ptr< ChCollisionShape > >	m_shapes
	extended list of collision shapes

Friends
class	ChCollisionSystemChrono

Additional Inherited Members
Public Types inherited from chrono::ChCollisionModel
typedef std::pair< std::shared_ptr< ChCollisionShape >, ChFrame<> >	ShapeInstance
	A ShapeInstance is a pair of a collision shape and its position in the model.
Static Public Member Functions inherited from chrono::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 ()

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

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