Description

A wrapper to use the Bullet collision detection library.

#include <ChCModelBullet.h>

Inheritance diagram for chrono::collision::ChModelBullet:

Collaboration diagram for chrono::collision::ChModelBullet:

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

virtual int	BuildModel () override
	Builds the BV hierarchy. More...

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	AddCylinder (double rx, double rz, double hy, 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	AddCone (double rx, double rz, double hy, 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	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	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	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	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	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	AddTriangleMeshConcave (std::shared_ptr< geometry::ChTriangleMesh > trimesh, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))
	CUSTOM for this class only: add a concave triangle mesh that will be managed by GImpact mesh-mesh algorithm. More...

virtual bool	AddTriangleMeshConcaveDecomposed (std::shared_ptr< ChConvexDecomposition > mydecomposition, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))
	CUSTOM for this class only: add a concave triangle mesh that will be decomposed into a compound of convex shapes. 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	Add2Dpath (std::shared_ptr< geometry::ChLinePath > mpath, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1), const double thickness=0.001) override
	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<>()) override
	Add a point-like sphere, that will collide with other geometries, but won't ever create contacts between them. More...

virtual bool	AddTriangleProxy (ChVector<> p1, ChVector<> p2, ChVector<> p3, ChVector<> ep1, ChVector<> ep2, ChVector<> ep3, bool mowns_vertex_1, bool mowns_vertex_2, bool mowns_vertex_3, bool mowns_edge_1, bool mowns_edge_2, bool mowns_edge_3, double msphereswept_rad=0)
	Add a triangle from mesh. More...

virtual bool	AddCopyOfAnotherModel (ChCollisionModel *another) override
	Add all shapes already contained in another model. More...

virtual void	SetFamily (int mfamily) override
	By default, all collision objects belong to family n.0, but you can set family in range 0..15. More...

virtual int	GetFamily () override

virtual void	SetFamilyMaskNoCollisionWithFamily (int mfamily) override
	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) override

virtual bool	GetFamilyMaskDoesCollisionWithFamily (int mfamily) override
	Tells if the family mask of this collision object allows for the collision with another collision object belonging to a given family. More...

virtual void	SetFamilyGroup (short int group) override
	Set the collision family group of this model. More...

virtual void	SetFamilyMask (short int mask) override
	Set the collision mask for this model. More...

virtual void	GetAABB (ChVector<> &bbmin, ChVector<> &bbmax) const override
	Returns the axis aligned bounding box (AABB) of the collision model, i.e. More...

virtual void	SyncPosition () override
	Sets the position and orientation of the collision model as the current position of the corresponding ChContactable.

bool	SetSphereRadius (double coll_radius, double out_envelope)
	If the collision shape is a sphere, resize it and return true (if no sphere is found in this collision shape, return false). More...

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow deserialization of transient data from archives.

btCollisionObject *	GetBulletModel ()
	Return the pointer to the Bullet model.

Public Member Functions inherited from chrono::collision::ChCollisionModel
virtual bool	AddConvexHull (const std::vector< ChVector< double > > &pointlist, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))=0
	Add a convex hull to this model. 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 void	SetContactable (ChContactable *mc)
	Sets the pointer to the contactable object. More...

virtual ChPhysicsItem *	GetPhysicsItem ()
	Gets the pointer to the client owner ChPhysicsItem. More...

virtual short int	GetFamilyGroup () const
	Return the collision family group of this model. More...

virtual short int	GetFamilyMask () const
	Return 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() )

Protected Attributes
btCollisionObject *	bt_collision_object

std::vector< std::shared_ptr< btCollisionShape > >	shapes

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

◆ Add2Dpath()

bool chrono::collision::ChModelBullet::Add2Dpath	(	std::shared_ptr< geometry::ChLinePath >	mpath,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`,
		const double	thickness = `0.001`
	)

overridevirtual

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.

This is useful for mechanisms that work on a plane, and that require more precise collision that is not possible with current 3D shapes. For example, the line can contain concave or convex round fillets. Requirements:

the line must be clockwise for inner material, (counterclockwise=hollow, material outside)
the line must contain only ChLineSegment and ChLineArc sub-lines
the sublines must follow in the proper order, with coincident corners, and must be closed.

Reimplemented from chrono::collision::ChCollisionModel.

◆ AddBarrel()

bool chrono::collision::ChModelBullet::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 offsetted 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 parallel 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.

Implements chrono::collision::ChCollisionModel.

◆ AddConvexHull()

bool chrono::collision::ChModelBullet::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.

◆ AddCopyOfAnotherModel()

bool chrono::collision::ChModelBullet::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.

◆ AddPoint()

bool chrono::collision::ChModelBullet::AddPoint	(	double	radius = `0`,
		const ChVector<> &	pos = `ChVector<>()`
	)

overridevirtual

Add a point-like sphere, that will collide with other geometries, but won't ever create contacts between them.

Parameters

radius	the radius of the node
pos	the position of the node in model coordinates

Reimplemented from chrono::collision::ChCollisionModel.

◆ AddTriangleMesh()

bool chrono::collision::ChModelBullet::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.

◆ AddTriangleMeshConcave()

bool chrono::collision::ChModelBullet::AddTriangleMeshConcave	(	std::shared_ptr< geometry::ChTriangleMesh >	trimesh,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

virtual

CUSTOM for this class only: add a concave triangle mesh that will be managed by GImpact mesh-mesh algorithm.

Note that, despite this can work with arbitrary meshes, there could be issues of robustness and precision, so when possible, prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.. type.

◆ AddTriangleMeshConcaveDecomposed()

bool chrono::collision::ChModelBullet::AddTriangleMeshConcaveDecomposed	(	std::shared_ptr< ChConvexDecomposition >	mydecomposition,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

virtual

CUSTOM for this class only: add a concave triangle mesh that will be decomposed into a compound of convex shapes.

Decomposition could be more efficient than AddTriangleMeshConcave(), but preprocessing decomposition might take a while, and decomposition result is often approximate. Therefore, despite this can work with arbitrary meshes, there could be issues of robustness and precision, so when possible, prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.. type.

◆ AddTriangleProxy()

bool chrono::collision::ChModelBullet::AddTriangleProxy	(	ChVector<> *	p1,
		ChVector<> *	p2,
		ChVector<> *	p3,
		ChVector<> *	ep1,
		ChVector<> *	ep2,
		ChVector<> *	ep3,
		bool	mowns_vertex_1,
		bool	mowns_vertex_2,
		bool	mowns_vertex_3,
		bool	mowns_edge_1,
		bool	mowns_edge_2,
		bool	mowns_edge_3,
		double	msphereswept_rad = `0`
	)

virtual

Add a triangle from mesh.

For efficiency, points are stored as pointers. Thus, the user must take care of memory management and of dangling pointers.

Parameters

p1	points to vertex1 coords
p2	points to vertex2 coords
p3	points to vertex3 coords
ep1	points to neighbouring vertex at edge1 if any
ep2	points to neighbouring vertex at edge1 if any
ep3	points to neighbouring vertex at edge1 if any
mowns_vertex_1	vertex is owned by this triangle (otherwise, owned by neighbour)
mowns_vertex_2	vertex is owned by this triangle (otherwise, owned by neighbour)
mowns_vertex_3	vertex is owned by this triangle (otherwise, owned by neighbour)
mowns_edge_1	edge is owned by this triangle (otherwise, owned by neighbour)
mowns_edge_2	edge is owned by this triangle (otherwise, owned by neighbour)
mowns_edge_3	edge is owned by this triangle (otherwise, owned by neighbour)
msphereswept_rad	sphere swept triangle ('fat' triangle, improves robustness)

◆ BuildModel()

int chrono::collision::ChModelBullet::BuildModel ( )

overridevirtual

Builds the BV hierarchy.

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

Implements chrono::collision::ChCollisionModel.

◆ ClearModel()

int chrono::collision::ChModelBullet::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.

◆ GetAABB()

void chrono::collision::ChModelBullet::GetAABB	(	ChVector<> &	bbmin,
		ChVector<> &	bbmax
	)		const

overridevirtual

Returns the axis aligned bounding box (AABB) of the collision model, i.e.

max-min along the x,y,z world axes. Remember that SyncPosition() should be invoked before calling this.

Implements chrono::collision::ChCollisionModel.

◆ GetFamilyMaskDoesCollisionWithFamily()

bool chrono::collision::ChModelBullet::GetFamilyMaskDoesCollisionWithFamily ( int mfamily )

overridevirtual

Tells if the family mask of this collision object allows for the collision with another collision object belonging to a given family.

NOTE: this function has NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). This default implementation uses the family mask.

Reimplemented from chrono::collision::ChCollisionModel.

◆ SetFamily()

void chrono::collision::ChModelBullet::SetFamily ( int mfamily )

overridevirtual

By default, all collision objects belong to family n.0, but you can set family in range 0..15.

This is used when the objects collided with another: the contact is created only if the family is within the 'family mask' of the other, and viceversa. NOTE: these functions have NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). These default implementations use the family group.

Reimplemented from chrono::collision::ChCollisionModel.

◆ SetFamilyGroup()

void chrono::collision::ChModelBullet::SetFamilyGroup ( short int group )

overridevirtual

Set the collision family group of this model.

This is an alternative way of specifying the collision family for this object. The value family_group must have a single bit set (i.e. it must be a power of 2). The corresponding family is then the bit position.

Reimplemented from chrono::collision::ChCollisionModel.

◆ SetFamilyMask()

void chrono::collision::ChModelBullet::SetFamilyMask ( short int mask )

overridevirtual

Set the collision mask for this model.

Any set bit in the specified mask indicates that this model collides with all objects whose family is equal to the bit position.

Reimplemented from chrono::collision::ChCollisionModel.

◆ SetFamilyMaskNoCollisionWithFamily()

void chrono::collision::ChModelBullet::SetFamilyMaskNoCollisionWithFamily ( int mfamily )

overridevirtual

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.

When two objects collide, the contact is created only if the family is within the 'family mask' of the other, and viceversa. NOTE: these functions have NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). These default implementations use the family mask.

Reimplemented from chrono::collision::ChCollisionModel.

◆ SetSphereRadius()

bool chrono::collision::ChModelBullet::SetSphereRadius	(	double	coll_radius,
		double	out_envelope
	)

If the collision shape is a sphere, resize it and return true (if no sphere is found in this collision shape, return false).

It can also change the outward envelope; the inward margin is automatically the radius of the sphere.

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

/builds/uwsbel/chrono/src/chrono/collision/ChCModelBullet.h
/builds/uwsbel/chrono/src/chrono/collision/ChCModelBullet.cpp

Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ Add2Dpath()

◆ AddBarrel()

◆ AddConvexHull()

◆ AddCopyOfAnotherModel()

◆ AddPoint()

◆ AddTriangleMesh()

◆ AddTriangleMeshConcave()

◆ AddTriangleMeshConcaveDecomposed()

◆ AddTriangleProxy()

◆ BuildModel()

◆ ClearModel()

◆ GetAABB()

◆ GetFamilyMaskDoesCollisionWithFamily()

◆ SetFamily()

◆ SetFamilyGroup()

◆ SetFamilyMask()

◆ SetFamilyMaskNoCollisionWithFamily()

◆ SetSphereRadius()