Description

Collision engine based on the Bullet library.

Contains both the broadphase and the narrow phase Bullet methods.

#include <ChCollisionSystemBullet.h>

Inheritance diagram for chrono::ChCollisionSystemBullet:

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Collaboration diagram for chrono::ChCollisionSystemBullet:

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Public Member Functions
	ChCollisionSystemBullet ()

virtual void	Clear () override
	Clears all data instanced by this algorithm if any (like persistent contact manifolds)

virtual void	Add (std::shared_ptr< ChCollisionModel > model) override
	Add the specified collision model to the collision engine.

virtual void	Remove (std::shared_ptr< ChCollisionModel > model) override
	Remove the specified collision model from the collision engine.

virtual void	SetNumThreads (int nthreads) override
	Removes all collision models from the collision engine (custom data may be deallocated). More...

virtual void	Run () override
	Run the algorithm and finds all the contacts. More...

virtual ChAABB	GetBoundingBox () const override
	Return an AABB bounding all collision shapes in the system.

virtual void	ResetTimers () override
	Reset timers for collision detection.

virtual double	GetTimerCollisionBroad () const override
	Return the time (in seconds) for broadphase collision detection.

virtual double	GetTimerCollisionNarrow () const override
	Return the time (in seconds) for narrowphase collision detection.

virtual void	ReportContacts (ChContactContainer *mcontactcontainer) override
	After the Run() has completed, you can call this function to fill a 'contact container', that is an object inherited from class ChContactContainer. More...

virtual void	ReportProximities (ChProximityContainer *mproximitycontainer) override
	After the Run() has completed, you can call this function to fill a 'proximity container' (container of narrow phase pairs), that is an object inherited from class ChProximityContainer. More...

virtual bool	RayHit (const ChVector3d &from, const ChVector3d &to, ChRayhitResult &result) const override
	Perform a ray-hit test with all collision models.

virtual bool	RayHit (const ChVector3d &from, const ChVector3d &to, ChCollisionModel *model, ChRayhitResult &result) const override
	Perform a ray-hit test with the specified collision model.

virtual void	RegisterVisualizationCallback (std::shared_ptr< VisualizationCallback > callback) override
	Specify a callback object to be used for debug rendering of collision shapes.

virtual void	Visualize (int flags) override
	Method to trigger debug visualization of collision shapes. More...

cbtCollisionWorld *	GetBulletCollisionWorld ()
	Get the underlying Bullet collision world.

virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow deserialization of transient data from archives.

Public Member Functions inherited from chrono::ChCollisionSystem
bool	IsInitialized () const
	Test if the collision system was initialized.

virtual void	Initialize ()
	Initialize the collision system. More...

virtual void	BindAll ()
	Process all collision models in the associated Chrono system. More...

virtual void	BindItem (std::shared_ptr< ChPhysicsItem > item)
	Process the collision models associated with the specified Chrono physics item. More...

void	UnbindItem (std::shared_ptr< ChPhysicsItem > item)
	Remove any collision models associated with the specified physics item from the collision engine.

virtual void	PreProcess ()
	Optional synchronization operations, invoked before running the collision detection.

virtual void	PostProcess ()
	Optional synchronization operations, invoked after running the collision detection.

void	RegisterBroadphaseCallback (std::shared_ptr< BroadphaseCallback > callback)
	Specify a callback object to be used each time a pair of 'near enough' collision shapes is found by the broad-phase collision step. More...

void	RegisterNarrowphaseCallback (std::shared_ptr< NarrowphaseCallback > callback)
	Specify a callback object to be used each time a collision pair is found during the narrow-phase collision detection step. More...

void	SetSystem (ChSystem *sys)
	Set associated Chrono system.

Static Public Member Functions
static void	SetContactBreakingThreshold (double threshold)
	Change default contact breaking/merging threshold tolerance of Bullet. More...

Protected Member Functions
bool	RayHit (const ChVector3d &from, const ChVector3d &to, ChRayhitResult &result, short int filter_group, short int filter_mask) const
	Perform a ray-hit test with all collision models. More...

bool	RayHit (const ChVector3d &from, const ChVector3d &to, ChCollisionModel *model, ChRayhitResult &result, short int filter_group, short int filter_mask) const
	Perform a ray-hit test with the specified collision model. More...

void	Remove (ChCollisionModelBullet *bt_model, bool erase)
	Remove the specified Bullet model from this collision system. More...

Protected Attributes
std::vector< std::shared_ptr< ChCollisionModelBullet > >	bt_models

cbtCollisionConfiguration *	bt_collision_configuration

cbtCollisionDispatcher *	bt_dispatcher

cbtBroadphaseInterface *	bt_broadphase

cbtCollisionWorld *	bt_collision_world

cbtCollisionAlgorithmCreateFunc *	m_collision_capsule_box

cbtCollisionAlgorithmCreateFunc *	m_collision_box_capsule

cbtCollisionAlgorithmCreateFunc *	m_collision_cylshell_box

cbtCollisionAlgorithmCreateFunc *	m_collision_box_cylshell

cbtCollisionAlgorithmCreateFunc *	m_collision_arc_seg

cbtCollisionAlgorithmCreateFunc *	m_collision_seg_arc

cbtCollisionAlgorithmCreateFunc *	m_collision_arc_arc

cbtCollisionAlgorithmCreateFunc *	m_collision_cetri_cetri

void *	m_tmp_mem

cbtCollisionAlgorithmCreateFunc *	m_emptyCreateFunc

cbtIDebugDraw *	m_debug_drawer

Protected Attributes inherited from chrono::ChCollisionSystem
bool	m_initialized

ChSystem *	m_system
	associated Chrono system

std::shared_ptr< BroadphaseCallback >	broad_callback
	user callback for each near-enough pair of shapes

std::shared_ptr< NarrowphaseCallback >	narrow_callback
	user callback for each collision pair

std::shared_ptr< VisualizationCallback >	vis_callback
	user callback for debug visualization

int	m_vis_flags

Friends
class	ChCollisionModelBullet

Additional Inherited Members
Public Types inherited from chrono::ChCollisionSystem
enum	Type { Type::BULLET, Type::MULTICORE }
	Supported collision systems. More...

enum	VisualizationModes { VIS_None = 0, VIS_Shapes = 1 << 0, VIS_Aabb = 1 << 1, VIS_Contacts = 1 << 2, VIS_MAX_MODES }
	Enumeration of supported flags for collision debug visualization. More...

Constructor & Destructor Documentation

◆ ChCollisionSystemBullet()

chrono::ChCollisionSystemBullet::ChCollisionSystemBullet ( )

bt_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE, CYLINDER_SHAPE_PROXYTYPE, m_collision_sph_cyl); /bt_dispatcher->registerCollisionCreateFunc(CYLINDER_SHAPE_PROXYTYPE, SPHERE_SHAPE_PROXYTYPE, m_collision_cyl_sph);

Member Function Documentation

◆ RayHit() [1/2]

bool chrono::ChCollisionSystemBullet::RayHit	(	const ChVector3d &	from,
		const ChVector3d &	to,
		ChCollisionModel *	model,
		ChRayhitResult &	result,
		short int	filter_group,
		short int	filter_mask
	)		const

protected

Perform a ray-hit test with the specified collision model.

This version allows specifying the Bullet collision filter group and mask (see cbtBroadphaseProxy::CollisionFilterGroups).

◆ RayHit() [2/2]

bool chrono::ChCollisionSystemBullet::RayHit	(	const ChVector3d &	from,
		const ChVector3d &	to,
		ChRayhitResult &	result,
		short int	filter_group,
		short int	filter_mask
	)		const

protected

Perform a ray-hit test with all collision models.

This version allows specifying the Bullet collision filter group and mask (see cbtBroadphaseProxy::CollisionFilterGroups).

◆ Remove()

void chrono::ChCollisionSystemBullet::Remove	(	ChCollisionModelBullet *	bt_model,
		bool	erase
	)

protected

Remove the specified Bullet model from this collision system.

If erase=true, also remove from the bt_models list.

◆ ReportContacts()

void chrono::ChCollisionSystemBullet::ReportContacts ( ChContactContainer * mcontactcontainer )

overridevirtual

After the Run() has completed, you can call this function to fill a 'contact container', that is an object inherited from class ChContactContainer.

For instance ChSystem, after each Run() collision detection, calls this method multiple times for all contact containers in the system, The basic behavior of the implementation is the following: collision system will call in sequence the functions BeginAddContact(), AddContact() (x n times), EndAddContact() of the contact container.

std::cout << " typeA=" << icontact.shapeA->m_type << " typeB=" << icontact.shapeB->m_type << std::endl;

Implements chrono::ChCollisionSystem.

◆ ReportProximities()

void chrono::ChCollisionSystemBullet::ReportProximities ( ChProximityContainer * mproximitycontainer )

overridevirtual

After the Run() has completed, you can call this function to fill a 'proximity container' (container of narrow phase pairs), that is an object inherited from class ChProximityContainer.

For instance ChSystem, after each Run() collision detection, calls this method multiple times for all proximity containers in the system, The basic behavior of the implementation is the following: collision system will call in sequence the functions BeginAddProximities(), AddProximity() (x n times), EndAddProximities() of the proximity container.

Implements chrono::ChCollisionSystem.

◆ Run()

void chrono::ChCollisionSystemBullet::Run ( )

overridevirtual

Run the algorithm and finds all the contacts.

(Contacts will be managed by the Bullet persistent contact cache).

Implements chrono::ChCollisionSystem.

◆ SetContactBreakingThreshold()

void chrono::ChCollisionSystemBullet::SetContactBreakingThreshold ( double threshold )

static

Change default contact breaking/merging threshold tolerance of Bullet.

This is the static gContactBreakingThreshold scalar in Bullet. Call this function only once, before running the simulation.

◆ SetNumThreads()

void chrono::ChCollisionSystemBullet::SetNumThreads ( int nthreads )

overridevirtual

Removes all collision models from the collision engine (custom data may be deallocated).

Set the number of OpenMP threads for collision detection.

Reimplemented from chrono::ChCollisionSystem.

◆ Visualize()

void chrono::ChCollisionSystemBullet::Visualize ( int flags )

overridevirtual

Method to trigger debug visualization of collision shapes.

The 'flags' argument can be any of the VisualizationModes enums, or a combination thereof (using bit-wise operators). The calling program must invoke this function from within the simulation loop. No-op if a visualization callback was not specified with RegisterVisualizationCallback().

Reimplemented from chrono::ChCollisionSystem.

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

/builds/uwsbel/chrono/src/chrono/collision/bullet/ChCollisionSystemBullet.h
/builds/uwsbel/chrono/src/chrono/collision/bullet/ChCollisionSystemBullet.cpp

Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChCollisionSystemBullet()

Member Function Documentation

◆ RayHit() [1/2]

◆ RayHit() [2/2]

◆ Remove()

◆ ReportContacts()

◆ ReportProximities()

◆ Run()

◆ SetContactBreakingThreshold()

◆ SetNumThreads()

◆ Visualize()