chrono::collision_settings Class Reference

Description

Chrono::Multicore collision_settings.

This structure that contains all settings associated with the collision detection phase.

#include <ChSettings.h>

Collaboration diagram for chrono::collision_settings:

Public Attributes

real collision_envelope
 For stability of NSC contact, the envelope should be set to 5-10% of the smallest collision shape size (too large a value will slow down the narrowphase collision detection). More...
 
bool use_aabb_active
 Flag controlling the monitoring of shapes outside active bounding box. More...
 
real3 aabb_min
 Lower corner of the axis-aligned bounding box (if set to active).
 
real3 aabb_max
 Upper corner of the axis-aligned bounding box (if set to active).
 
ChBroadphase::GridType broadphase_grid
 Method for controlling granularity of the broadphase collision grid.
 
vec3 bins_per_axis
 Number of bins for the broadphase collision grid. More...
 
real3 bin_size
 Broadphase collision grid bin size. More...
 
real grid_density
 Broadphase collision grid density. More...
 
ChNarrowphase::Algorithm narrowphase_algorithm
 Algorithm for narrowphase collision detection phase. More...
 

Member Data Documentation

◆ bin_size

real3 chrono::collision_settings::bin_size

Broadphase collision grid bin size.

This value is used for dynamic tuning of the number of collision bins if the broadphase_grid type is set to FIXED_BIN_SIZE.

◆ bins_per_axis

vec3 chrono::collision_settings::bins_per_axis

Number of bins for the broadphase collision grid.

This is the default method to control the granularity of the collision detection grid used for the broadphase. During the broadphase stage the extents of the simulation are computed and then sliced according to the variable.

◆ collision_envelope

real chrono::collision_settings::collision_envelope

For stability of NSC contact, the envelope should be set to 5-10% of the smallest collision shape size (too large a value will slow down the narrowphase collision detection).

The envelope is the amount by which each collision shape is inflated prior to performing the collision detection, in order to create contact constraints before shapes actually come in contact. This collision detection system uses a global envelope, used for all rigid shapes in the system.

◆ grid_density

real chrono::collision_settings::grid_density

Broadphase collision grid density.

This value is used for dynamic tuning of the number of collision bins if the broadphase_grid type is set to FIXED_DENSITY.

◆ narrowphase_algorithm

ChNarrowphase::Algorithm chrono::collision_settings::narrowphase_algorithm

Algorithm for narrowphase collision detection phase.

The Chrono collision detection system provides several analytical collision detection algorithms, for particular pairs of shapes (see ChNarrowphasePRIMS). For general convex shapes, the collision system relies on the Minkovski Portal Refinement algorithm (see ChNarrowphaseMPR).

◆ use_aabb_active

bool chrono::collision_settings::use_aabb_active

Flag controlling the monitoring of shapes outside active bounding box.

If enabled, objects whose collision shapes exit the active bounding box are deactivated (frozen). The size of the bounding box is specified by its min and max extents.


The documentation for this class was generated from the following file:
  • /builds/uwsbel/chrono/src/chrono_multicore/ChSettings.h