Description

Class for geometric model for collision detection.

A rigid body that interacts through contact must have a collision model.

#include <ChCollisionModelParallel.h>

Inheritance diagram for chrono::collision::ChCollisionModelParallel:

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Collaboration diagram for chrono::collision::ChCollisionModelParallel:

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Public Member Functions
virtual int	ClearModel () override
	Deletes all inserted geometries. More...

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	AddSphere (double radius, const ChVector<> &pos=ChVector<>()) override
	Add a sphere shape to this model, for collision purposes.

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	AddBox (double hx, double hy, double hz, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add a box 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	AddTriangle (ChVector<> A, ChVector<> B, ChVector<> C, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))
	Add a triangle 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...

virtual void	GetAABB (ChVector<> &bbmin, ChVector<> &bbmax) const override
	Return the axis aligned bounding box for this collision model.

ChBody *	GetBody () 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...

ChContactable *	GetContactable ()
	Gets the pointer to the contactable object.

virtual ChPhysicsItem *	GetPhysicsItem ()
	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< ConvexModel >	mData

std::vector< real3 >	local_convex_data

real3	aabb_min

real3	aabb_max

Protected Attributes
ChBody *	mbody

unsigned int	nObjects

Protected Attributes inherited from chrono::collision::ChCollisionModel
float	model_envelope

float	model_safe_margin

ChContactable *	mcontactable

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 ()

Member Function Documentation

◆ AddBarrel()

bool chrono::collision::ChCollisionModelParallel::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)`
	)

overridevirtual

Add a barrel-like shape to this model (main axis on Y direction), for collision purposes.

The barrel shape is made by lathing an arc of an ellipse around the vertical Y axis. The center of the ellipse is on Y=0 level, and it is ofsetted by R_offset from the Y axis in radial direction. The two radii of the ellipse are R_vert (for the vertical direction, i.e. the axis parellel to Y) and R_hor (for the axis that is perpendicular to Y). Also, the solid is clamped with two discs on the top and the bottom, at levels Y_low and Y_high. Currently not supported.

Implements chrono::collision::ChCollisionModel.

◆ AddConvexHull()

bool chrono::collision::ChCollisionModelParallel::AddConvexHull	(	const std::vector< ChVector< double > > &	pointlist,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a convex hull to this model.

A convex hull is simply a point cloud that describe a convex polytope. Connectivity between the vertexes, as faces/edges in triangle meshes is not necessary. Points are passed as a list, that is instantly copied into the model.

Implements chrono::collision::ChCollisionModel.

◆ AddCopyOfAnotherModel()

bool chrono::collision::ChCollisionModelParallel::AddCopyOfAnotherModel ( ChCollisionModel * another )

overridevirtual

Add all shapes already contained in another model.

Thank to the adoption of shared pointers, underlying shapes are shared (not copied) among the models; this will save memory when you must simulate thousands of objects with the same collision shape. The 'another' model must be of ChModelBullet subclass.

Implements chrono::collision::ChCollisionModel.

◆ AddTriangleMesh()

bool chrono::collision::ChCollisionModelParallel::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`
	)

overridevirtual

Add a triangle mesh to this model, passing a triangle mesh.

Add a triangle mesh to this model.

Note: if possible, for better performance, avoid triangle meshes and prefer simplified representations as compounds of primitive convex shapes (boxes, sphers, etc).

Parameters

trimesh	the triangle mesh
is_static	true if model doesn't move. May improve performance.
is_convex	if true, a convex hull is used. May improve robustness.
pos	displacement respect to COG
rot	the rotation of the mesh
sphereswept_thickness	outward sphere-swept layer (when supported)

Implements chrono::collision::ChCollisionModel.

◆ BuildModel()

int chrono::collision::ChCollisionModelParallel::BuildModel ( )

overridevirtual

Builds the BV hierarchy.

Call this function AFTER adding the geometric description. MUST be inherited by child classes! (ex for bulding BV hierarchies)

Implements chrono::collision::ChCollisionModel.

◆ ClearModel()

int chrono::collision::ChCollisionModelParallel::ClearModel ( )

overridevirtual

Deletes all inserted geometries.

Also, if you begin the definition of a model, AFTER adding the geometric description, remember to call the ClearModel(). MUST be inherited by child classes! (ex for resetting also BV hierarchies)

Implements chrono::collision::ChCollisionModel.

Reimplemented in chrono::collision::ChCollisionModelDistributed.

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

/builds/uwsbel/chrono/src/chrono_parallel/collision/ChCollisionModelParallel.h
/builds/uwsbel/chrono/src/chrono_parallel/collision/ChCollisionModelParallel.cpp

Description

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddBarrel()

◆ AddConvexHull()

◆ AddCopyOfAnotherModel()

◆ AddTriangleMesh()

◆ BuildModel()

◆ ClearModel()