Description

Utility class for specifying a collision boundary composed of multiple semi-planes.

#include <ChBoundary.h>

Inheritance diagram for chrono::ChBoundary:

Collaboration diagram for chrono::ChBoundary:

Public Member Functions
	ChBoundary (std::shared_ptr< ChBody > body)

void	AddPlane (const ChFrame<> &frame, const ChVector2<> &lengths)
	Add a collision plane with finite extent and return the plane ID. More...

void	Update ()
	Update all collision planes. More...

void	UpdatePlane (size_t id, const ChFrame<> &frame)
	Override the position of the specified collision plane. More...

void	UpdatePlane (size_t id, const ChVector2<> &lengths)
	Override the X-Y extent of the specified collision plane. More...

void	AddVisualization (size_t id, double thickness)
	Add visualization for the specified plane. More...

void	AddVisualization (double thickness)
	Add visualization for all existing planes. More...

int	GetNContacts () const
	Return the current number of collisions.

std::shared_ptr< ChBody >	GetBody () const
	Return the associated body.

Member Function Documentation

void chrono::ChBoundary::AddPlane	(	const ChFrame<> &	frame,
		const ChVector2<> &	lengths
	)

Add a collision plane with finite extent and return the plane ID.

The plane normal is in the Z-direction of the given frame.

Parameters

frame	plane reference frame, relative to associated body
lengths	X-Y extent

void chrono::ChBoundary::AddVisualization ( double thickness )

Add visualization for all existing planes.

Parameters

thickness visualization thickness

void chrono::ChBoundary::AddVisualization	(	size_t	id,
		double	thickness
	)

Add visualization for the specified plane.

Parameters

id	plane indes
thickness	visualization thickness

void chrono::ChBoundary::Update ( )

Update all collision planes.

This function should be called if the position of the associated body is modified.

void chrono::ChBoundary::UpdatePlane	(	size_t	id,
		const ChFrame<> &	frame
	)

Override the position of the specified collision plane.

Parameters

id	plane index
frame	plane reference frame, relative to associated body

void chrono::ChBoundary::UpdatePlane	(	size_t	id,
		const ChVector2<> &	lengths
	)

Override the X-Y extent of the specified collision plane.

Parameters

id	plane index
lengths	X-Y extent

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