chrono::utils::ChBodyGeometry Class Reference

Description

Utility class defining geometry (visualization and collision) and contact materials for a rigid body.

Holds vectors of primitive shapes (any one of which may be empty) and a list of contact materials. Each shape defines its position and orientation relative to the parent body, geometric dimensions, and an index into the list of contact materials.

#include <ChBodyGeometry.h>

Collaboration diagram for chrono::utils::ChBodyGeometry:

Classes
struct	BoxShape
	Box shape for visualization and/or collision. More...
struct	ConvexHullsShape
	Convex hulls shape for collision. More...
struct	CylinderShape
	Cylinder shape for visualization and/or collision. More...
struct	LineShape
	Line shape for visualization. More...
struct	SphereShape
	Sphere shape for visualization and/or collision. More...
struct	TrimeshShape
	Tri-mesh shape for collision. More...

Public Member Functions
void	CreateVisualizationAssets (std::shared_ptr< ChBody > body, VisualizationType vis=VisualizationType::MODEL_FILE)
	Create visualization assets for the specified body.
void	CreateCollisionShapes (std::shared_ptr< ChBody > body, int collision_family, ChContactMethod contact_method)
	Create collision shapes for the specified body.
ChAABB	CalculateAABB ()
	Calculate axis-aligned bounding box of all collision shapes.
bool	HasCollision () const
	Indicate whether or not collision shapes are defined.
bool	HasVisualizationPrimitives () const
	Indicate whether or not visualization primitives are defined.
bool	HasVisualizationMesh () const
	Indicate whether or not a visualization mesh is defined.

Static Public Member Functions
static std::shared_ptr< ChVisualShape >	AddVisualizationCylinder (std::shared_ptr< ChBody > body, const ChVector3d &p1, const ChVector3d &p2, double radius, ChVisualMaterialSharedPtr mat=nullptr)
	Utility function for adding a cylinder visualization shape defined by the end points and a radius. More...

Public Attributes
std::vector< ChContactMaterialData >	materials
	list of contact materials
std::vector< BoxShape >	coll_boxes
	list of collision boxes
std::vector< SphereShape >	coll_spheres
	list of collision spheres
std::vector< CylinderShape >	coll_cylinders
	list of collision cylinders
std::vector< ConvexHullsShape >	coll_hulls
	list of collision convex hulls
std::vector< TrimeshShape >	coll_meshes
	list of collision trimeshes
std::vector< BoxShape >	vis_boxes
	list of visualization boxes
std::vector< SphereShape >	vis_spheres
	list of visualization spheres
std::vector< CylinderShape >	vis_cylinders
	list of visualization cylinders
std::vector< LineShape >	vis_lines
	list of visualization lines
ChColor	color_boxes
	visualization color
ChColor	color_spheres
	visualization color
ChColor	color_cylinders
	visualization color
std::string	vis_mesh_file
	name of Wavefront OBJ file with visualization mesh

Member Function Documentation

AddVisualizationCylinder()

std::shared_ptr< ChVisualShape > chrono::utils::ChBodyGeometry::AddVisualizationCylinder ( std::shared_ptr< ChBody >  body, const ChVector3d &  p1, const ChVector3d &  p2, double  radius, ChVisualMaterialSharedPtr  mat = nullptr  )

static

Utility function for adding a cylinder visualization shape defined by the end points and a radius.

This function adds the visualization shape to the body's visual model and returns the shape.

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

• /builds/uwsbel/chrono/src/chrono/utils/ChBodyGeometry.h
• /builds/uwsbel/chrono/src/chrono/utils/ChBodyGeometry.cpp