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 (double hx, double hy, double hz, const ChVector<> &pos, const ChMatrix33<> &rot) override
 Adds a box collision shape to the model and calculates the model's new AABB.
 
virtual bool AddSphere (double radius, const ChVector<> &pos) override
 Adds a sphere collision shape to the model and calculates the model's new AABB.
 
virtual bool AddTriangle (ChVector<> A, ChVector<> B, ChVector<> C, const ChVector<> &pos, const ChMatrix33<> &rot) override
 Adds a triangle collision shape to the model.
 
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::ChCollisionModelParallel
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. More...
 
virtual void SetContactable (ChContactable *mc) override
 Sets the pointer to the contactable object.
 
virtual bool AddEllipsoid (double rx, double ry, double rz, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add an ellipsoid shape to this model, for collision purposes.
 
virtual bool AddRoundedBox (double hx, double hy, double hz, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a rounded box shape to this model, for collision purposes.
 
virtual bool AddCylinder (double rx, double ry, double rz, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a cylinder to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddRoundedCylinder (double rx, double rz, double hy, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a rounded cylinder to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddCone (double rx, double rz, double hy, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a cone to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddRoundedCone (double rx, double rz, double hy, double sphere_r, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a rounded cone to this model (default axis on Y direction), for collision purposes.
 
virtual bool AddCapsule (double radius, double hlen, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a capsule to this model (default axis in Y direction), for collision purposes.
 
virtual bool AddConvexHull (const std::vector< ChVector< double > > &pointlist, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a convex hull to this model. More...
 
virtual bool AddTriangleMesh (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 model, passing a triangle mesh. More...
 
virtual bool AddBarrel (double Y_low, double Y_high, double R_vert, double R_hor, double R_offset, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
 Add a barrel-like shape to this model (main axis on Y direction), for collision purposes. More...
 
virtual bool AddCopyOfAnotherModel (ChCollisionModel *another) override
 Add all shapes already contained in another model. More...
 
ChBodyGetBody () const
 Return a pointer to the associated body.
 
void SetBody (ChBody *body)
 Set the pointer to the owner rigid body.
 
int GetNObjects () const
 Return the number of objects in this model.
 
- Public Member Functions inherited from chrono::collision::ChCollisionModel
virtual bool Add2Dpath (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 (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 (ChStreamInAscii &mstream, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))
 Add a cluster of convex hulls by a '.chulls' file description. More...
 
ChContactableGetContactable ()
 Gets the pointer to the contactable object.
 
virtual ChPhysicsItemGetPhysicsItem ()
 Gets 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)
 Sets the suggested collision 'inward safe margin' for the shapes to be added from now on, using the AddBox, AddCylinder etc (where, if this margin is too high for some thin or small shapes, it may be clamped). More...
 
virtual float GetSafeMargin ()
 Returns the inward safe margin (see SetSafeMargin() )
 
virtual void SetEnvelope (double amargin)
 Sets the suggested collision outward 'envelope' (used from shapes added, from now on, to this collision model). More...
 
virtual float GetEnvelope ()
 Returns 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.
 

Public Attributes

std::vector< real3shape_aabb_max
 
std::vector< real3shape_aabb_min
 
- Public Attributes inherited from chrono::collision::ChCollisionModelParallel
std::vector< ConvexModelmData
 
std::vector< real3local_convex_data
 
real3 aabb_min
 
real3 aabb_max
 

Protected Attributes

ChVector< double > aabb_max
 Upper and lower vertices of the AABB.
 
ChVector< double > aabb_min
 
bool aabb_valid
 Indicates that the bounding box has been computed.
 
- Protected Attributes inherited from chrono::collision::ChCollisionModelParallel
ChBodymbody
 
unsigned int nObjects
 
- Protected Attributes inherited from chrono::collision::ChCollisionModel
float model_envelope
 
float model_safe_margin
 
ChContactablemcontactable
 
short int family_group
 
short int family_mask
 

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
virtual float GetSuggestedFullMargin ()