chrono::vehicle::ChVehicleGeometry Class Reference

Description

Utility class defining geometry (visualization and collision) and contact materials for a rigid vehicle 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 <ChVehicleGeometry.h>

Collaboration diagram for chrono::vehicle::ChVehicleGeometry:

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, bool visualize_collision=false)
	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.

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
bool	m_has_collision
	true if body has a collision model
std::vector< ChContactMaterialData >	m_materials
	list of contact materials
std::vector< BoxShape >	m_coll_boxes
	list of collision boxes
std::vector< SphereShape >	m_coll_spheres
	list of collision spheres
std::vector< CylinderShape >	m_coll_cylinders
	list of collision cylinders
std::vector< ConvexHullsShape >	m_coll_hulls
	list of collision convex hulls
std::vector< TrimeshShape >	m_coll_meshes
	list of collision trimeshes
bool	m_has_primitives
	true if the body uses visualization primitives
std::vector< BoxShape >	m_vis_boxes
	list of visualization boxes
std::vector< SphereShape >	m_vis_spheres
	list of visualization spheres
std::vector< CylinderShape >	m_vis_cylinders
	list of visualization cylinders
std::vector< LineShape >	m_vis_lines
	list of visualization lines
bool	m_has_colors
	true if primitive colors were provided
ChColor	m_color_boxes
	visualization color
ChColor	m_color_spheres
	visualization color
ChColor	m_color_cylinders
	visualization color
bool	m_has_obj
	true if the body uses visualization from an OBJ
bool	m_has_mesh
	true if the body uses a visualization mesh
std::string	m_vis_mesh_file
	name of Wavefront OBJ file with visualization mesh

Member Function Documentation

AddVisualizationCylinder()

std::shared_ptr< ChVisualShape > chrono::vehicle::ChVehicleGeometry::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.

---

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

• /builds/uwsbel/chrono/src/chrono_vehicle/ChVehicleGeometry.h
• /builds/uwsbel/chrono/src/chrono_vehicle/ChVehicleGeometry.cpp