chrono::collision::ChCollisionModelDistributed Class Reference

Description

This class adds the ability to track the axis-aligned bounding box for the entire model so that an entire body can be classified by which sub-domains it intersects.

#include <ChCollisionModelDistributed.h>

Inheritance diagram for chrono::collision::ChCollisionModelDistributed:
Collaboration diagram for chrono::collision::ChCollisionModelDistributed:

Public Member Functions

virtual int ClearModel () override
 Delete all inserted geometry.
 
virtual bool AddBox (std::shared_ptr< ChMaterialSurface > material, double size_x, double size_y, double size_z, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Adds a box collision shape to the model and calculates the model's new AABB. More...
 
virtual bool AddSphere (std::shared_ptr< ChMaterialSurface > material, double radius, const ChVector<> &pos=ChVector<>()) override
 Adds a sphere collision shape to the model and calculates the model's new AABB. More...
 
virtual bool AddTriangle (std::shared_ptr< ChMaterialSurface > material, ChVector<> A, ChVector<> B, ChVector<> C, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Adds a triangle collision shape to the model. More...
 
virtual void GetAABB (ChVector<> &bbmin, ChVector<> &bbmax) const override
 Gets the axis-aligned bounding box for the entire model Only valid at beginning of simulation.
 
- Public Member Functions inherited from chrono::collision::ChCollisionModelChrono
virtual ChCollisionSystemType GetType () const override
 Return the type of this collision model.
 
virtual int BuildModel () override
 Builds the BV hierarchy. More...
 
virtual void SyncPosition () override
 Sets the position and orientation of the collision model as the rigid body current position.
 
virtual void SetContactable (ChContactable *mc) override
 Sets the pointer to the contactable object.
 
virtual bool AddEllipsoid (std::shared_ptr< ChMaterialSurface > material, double axis_x, double axis_y, double axis_z, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add an ellipsoid shape to this collision model. More...
 
virtual bool AddRoundedBox (std::shared_ptr< ChMaterialSurface > material, double size_x, double size_y, double size_z, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a rounded box shape to this collision model. More...
 
virtual bool AddCylinder (std::shared_ptr< ChMaterialSurface > material, double radius, double height, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a cylinder to this collision model (axis in Z direction). More...
 
virtual bool AddCylindricalShell (std::shared_ptr< ChMaterialSurface > material, double radius, double height, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a cylindrical shell to this collision model (axis in Z direction). More...
 
virtual bool AddRoundedCylinder (std::shared_ptr< ChMaterialSurface > material, double radius, double height, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a rounded cylinder to this collision model (axis in Z direction). More...
 
virtual bool AddCone (std::shared_ptr< ChMaterialSurface > material, double radius, double height, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a cone to this collision model (axis in Z direction). More...
 
virtual bool AddCapsule (std::shared_ptr< ChMaterialSurface > material, double radius, double height, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a capsule to this collision model (axis in Z direction). More...
 
virtual bool AddConvexHull (std::shared_ptr< ChMaterialSurface > material, const std::vector< ChVector< double >> &pointlist, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a convex hull to this collision model. More...
 
virtual bool AddTriangleMesh (std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChTriangleMesh > trimesh, bool is_static, bool is_convex, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1), double sphereswept_thickness=0.0) override
 Add a triangle mesh to this collision model. More...
 
virtual bool AddBarrel (std::shared_ptr< ChMaterialSurface > material, double Y_low, double Y_high, double axis_vert, double axis_hor, double R_offset, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a barrel-like shape to this collision model (main axis on Y direction). More...
 
virtual bool AddCopyOfAnotherModel (ChCollisionModel *another) override
 Add all shapes already contained in another 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 std::vector< double > GetShapeDimensions (int index) const override
 Return shape characteristic dimensions. More...
 
ChBodyGetBody () const
 Return a pointer to the associated body.
 
void SetBody (ChBody *body)
 Set the pointer to the owner rigid body.
 
- Public Member Functions inherited from chrono::collision::ChCollisionModel
bool AddCylinder (std::shared_ptr< ChMaterialSurface > material, double radius, const ChVector<> &p1, const ChVector<> &p2)
 Add a cylinder specified through a radius and end points. More...
 
virtual bool Add2Dpath (std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChLinePath > mpath, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1), const double thickness=0.001)
 Add a 2D closed line, defined on the XY plane passing by pos and aligned as rot, that defines a 2D collision shape that will collide with another 2D line of the same type if aligned on the same plane. More...
 
virtual bool AddPoint (std::shared_ptr< ChMaterialSurface > material, double radius=0, const ChVector<> &pos=ChVector<>())
 Add a point-like sphere, that will collide with other geometries, but won't ever create contacts between them. More...
 
virtual bool AddConvexHullsFromFile (std::shared_ptr< ChMaterialSurface > material, ChStreamInAscii &mstream, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))
 Add a cluster of convex hulls specified in a '.chulls' file description. More...
 
ChContactableGetContactable ()
 Get the pointer to the contactable object.
 
virtual ChPhysicsItemGetPhysicsItem ()
 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() )
 
virtual void ArchiveOut (ChArchiveOut &marchive)
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &marchive)
 Method to allow de-serialization of transient data from archives.
 
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< ChCollisionShapeGetShape (int index)
 Get the collision shape with specified index.
 
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< real3shape_aabb_max
 Upper AABB corners for each shape in model.
 
std::vector< real3shape_aabb_min
 Lower AABB corners for each shape in model.
 
- Public Attributes inherited from chrono::collision::ChCollisionModelChrono
std::vector< real3local_convex_data
 
ChVector aabb_min
 
ChVector aabb_max
 

Protected Attributes

ChVector< double > aabb_max
 Upper corner of model AABB.
 
ChVector< double > aabb_min
 Lower corner of model AABB.
 
bool aabb_valid
 Indicates that the bounding box has been computed.
 
- Protected Attributes inherited from chrono::collision::ChCollisionModelChrono
ChBodymbody
 
- Protected Attributes inherited from chrono::collision::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.
 
ChContactablemcontactable
 Pointer to the contactable object.
 
short int family_group
 Collision family group.
 
short int family_mask
 Collision family mask.
 
std::vector< std::shared_ptr< ChCollisionShape > > m_shapes
 list of collision shapes in model
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::collision::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 ()
 
- Protected Member Functions inherited from chrono::collision::ChCollisionModel
void CopyShapes (ChCollisionModel *other)
 Copy the collision shapes from another model.
 
virtual float GetSuggestedFullMargin ()
 

Member Function Documentation

◆ AddBox()

bool ChCollisionModelDistributed::AddBox ( std::shared_ptr< ChMaterialSurface material,
double  size_x,
double  size_y,
double  size_z,
const ChVector<> &  pos = ChVector<>(),
const ChMatrix33<> &  rot = ChMatrix33<>(1) 
)
overridevirtual

Adds a box collision shape to the model and calculates the model's new AABB.

Parameters
materialContact material
size_xdimension in X direction
size_ydimension in Y direction
size_zdimension in Z direction
posBox center location
rotBox orientation

Reimplemented from chrono::collision::ChCollisionModelChrono.

◆ AddSphere()

bool ChCollisionModelDistributed::AddSphere ( std::shared_ptr< ChMaterialSurface material,
double  radius,
const ChVector<> &  pos = ChVector<>() 
)
overridevirtual

Adds a sphere collision shape to the model and calculates the model's new AABB.

Parameters
materialContact material
radiusSphere radius
posSphere center location

Reimplemented from chrono::collision::ChCollisionModelChrono.

◆ AddTriangle()

bool ChCollisionModelDistributed::AddTriangle ( std::shared_ptr< ChMaterialSurface material,
ChVector<>  A,
ChVector<>  B,
ChVector<>  C,
const ChVector<> &  pos = ChVector<>(),
const ChMatrix33<> &  rot = ChMatrix33<>(1) 
)
overridevirtual

Adds a triangle collision shape to the model.

Parameters
materialContact material
AVertex of triangle
BVertex of triangle
CVertex of triangle
posTriangle position
rotTriangle orientation

Reimplemented from chrono::collision::ChCollisionModelChrono.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_distributed/collision/ChCollisionModelDistributed.h
  • /builds/uwsbel/chrono/src/chrono_distributed/collision/ChCollisionModelDistributed.cpp