Description
Class defining a collision shape.
#include <ChCollisionShape.h>
Public Types | |
| enum | Type { SPHERE, ELLIPSOID, BOX, CYLINDER, CYLSHELL, CONVEXHULL, TRIANGLEMESH, BARREL, POINT, SEGMENT, TRIANGLE, MESHTRIANGLE, CAPSULE, CONE, ROUNDEDBOX, ROUNDEDCYL, TETRAHEDRON, PATH2D, SEGMENT2D, ARC2D, UNKNOWN_SHAPE } |
| Supported collision shape types. | |
Public Member Functions | |
| ChCollisionShape (Type type=Type::UNKNOWN_SHAPE) | |
| ChCollisionShape (Type type, std::shared_ptr< ChContactMaterial > material) | |
| Type | GetType () const |
| std::shared_ptr< ChContactMaterial > | GetMaterial () const |
| ChContactMethod | GetContactMethod () const |
| virtual ChAABB | GetBoundingBox () const |
| Get the shape bounding box. More... | |
| void | SetMutable (bool val) |
| Set this collision shape as modifiable (default: false). More... | |
| bool | IsMutable () const |
| Return true if the collision shape is marked as modifiable. | |
| void | SetParentShape (std::shared_ptr< ChCollisionShape > parent) |
| Set the parent shape. More... | |
| ChCollisionShape * | GetParentShape () const |
| Get the parent shape. More... | |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) |
| Method to allow de-serialization of transient data from archives. | |
Protected Attributes | |
| Type | m_type |
| type of collision shape | |
| bool | is_mutable = false |
| flag indicating whether the shape is rigid or deformable | |
| std::shared_ptr< ChContactMaterial > | m_material = nullptr |
| surface contact material | |
| ChCollisionShape * | m_parent = nullptr |
| parent collision shape (if part of compound) | |
Friends | |
| class | ChCollisionModel |
Member Function Documentation
◆ GetBoundingBox()
|
inlinevirtual |
Get the shape bounding box.
The default implementation returns an inverted AABB.
Reimplemented in chrono::ChCollisionShapeTriangleMesh, chrono::ChCollisionShapeMeshTriangle, chrono::ChCollisionShapeRoundedBox, chrono::ChCollisionShapeRoundedCylinder, chrono::ChCollisionShapeCapsule, chrono::ChCollisionShapeBarrel, chrono::ChCollisionShapeBox, chrono::ChCollisionShapeCone, chrono::ChCollisionShapeCylinder, chrono::ChCollisionShapeCylindricalShell, chrono::ChCollisionShapeEllipsoid, chrono::ChCollisionShapeConvexHull, chrono::ChCollisionShapeSphere, chrono::ChCollisionShapeTriangle, and chrono::ChCollisionShapePoint.
◆ GetParentShape()
|
inline |
Get the parent shape.
Returns nullptr is this collision shape is not part of a compound.
◆ SetMutable()
|
inline |
Set this collision shape as modifiable (default: false).
Set to true to indicate that the asset may change and therefore requires updates (e.g. for a deformable triangular mesh). Note that this also includes changes in materials. A collision system may take advantage of this setting to accelerate rendering.
◆ SetParentShape()
| void chrono::ChCollisionShape::SetParentShape | ( | std::shared_ptr< ChCollisionShape > | parent | ) |
Set the parent shape.
This is meaningful only for collision shapes that are part of a compound (for example, a ChCollisionShapeMeshTriangle which is part of a ChCollisionShapeTriangleMesh). For collision shapes that are not part of a compound, the parent shape should be left at its default nullptr value.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/collision/ChCollisionShape.h
- /builds/uwsbel/chrono/src/chrono/collision/ChCollisionShape.cpp
