chrono::collision Namespace Reference
Description
Namespace with classes for collision detection.
Classes | |
| class | ChCAABBGenerator |
| Generator for Axis-Aligned Bounding Boxes. More... | |
| class | ChCBroadphase |
| Class for performing broad-phase collision detection. More... | |
| class | ChCNarrowphaseDispatch |
| Class for performing narrow-phase collision detection. More... | |
| class | ChCollisionInfo |
| Class for passing basic data about contact pairs. More... | |
| class | ChCollisionModel |
| Class containing the geometric model ready for collision detection. More... | |
| class | ChCollisionModelDistributed |
| 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. More... | |
| class | ChCollisionModelParallel |
| Class for geometric model for collision detection. More... | |
| class | ChCollisionPair |
| Class for storing information about a collision point. More... | |
| class | ChCollisionSystem |
| Base class for generic collision engine. More... | |
| class | ChCollisionSystemBullet |
| Class for collision engine based on the 'Bullet' library. More... | |
| class | ChCollisionSystemBulletParallel |
| Class for collision engine based on the spatial subdivision method. More... | |
| class | ChCollisionSystemDistributed |
| This class scaffolds on ChCollisionSystemParallel in order to manage collision data for the system during MPI exchanges. More... | |
| class | ChCollisionSystemParallel |
| Class for collision engine based on the spatial subdivision method. More... | |
| class | ChCollisionUtils |
| Class with some utility functions for collision detection, as static functions. More... | |
| class | ChConvexDecomposition |
| Base interface class for convex decomposition. More... | |
| class | ChConvexDecompositionHACD |
| Class for wrapping the HACD convex decomposition code by Khaled Mamou (in the convexdecomposition/ directory) so that it is easier to use it by passing the Chrono structures of type ChTriangleMesh, ChTriangle, etc. More... | |
| class | ChConvexDecompositionHACDv2 |
| Class for wrapping the HACD convex decomposition code revisited by John Ratcliff. More... | |
| class | ChConvexDecompositionJR |
| Class for wrapping the NvConvexDecomposition code by John W. More... | |
| class | ChConvexHullLibraryWrapper |
| Wrapper for using and exporting the Bullet implementation of the convex hull library. More... | |
| class | ChModelBullet |
| A wrapper to use the Bullet collision detection library. More... | |
| class | ConvexBase |
| Base class for convex contact shapes. More... | |
| struct | ConvexModel |
| Class to encapsulate description of a convex collision shape. More... | |
| class | ConvexShape |
| Convex contact shape. More... | |
| class | ConvexShapeCustom |
| Custom contact shape. More... | |
| class | ConvexShapeSphere |
| Sphere contact shape. More... | |
| class | ConvexShapeTetrahedron |
| Tetrahedron contact shape. More... | |
| class | ConvexShapeTriangle |
| Triangle contact shape. More... | |
Typedefs | |
| typedef thrust::pair< real3, real3 > | bbox |
Enumerations | |
| enum | ShapeType { SPHERE, ELLIPSOID, BOX, CYLINDER, CONVEXHULL, TRIANGLEMESH, BARREL, CAPSULE, CONE, ROUNDEDBOX, ROUNDEDCYL, ROUNDEDCONE, CONVEX, TETRAHEDRON } |
| Shape types that can be created. | |
Functions | |
| bool | DegenerateTriangle (Vector Dx, Vector Dy) |
| int | GetIndex (ChVector< double > vertex, std::vector< ChVector< double > > &vertexOUT, double tol) |
| void | FuseMesh (std::vector< ChVector< double > > &vertexIN, std::vector< ChVector< int > > &triangleIN, std::vector< ChVector< double > > &vertexOUT, std::vector< ChVector< int > > &triangleOUT, double tol=0.0) |
| void | __recurse_add_newcollshapes (btCollisionShape *ashape, std::vector< std::shared_ptr< btCollisionShape > > &shapes) |
| template<class T > | |
| vec3 | HashMin (const T &A, const real3 &inv_bin_size_vec) |
| Convert a position into a bin index ("lower" corner). | |
| template<class T > | |
| vec3 | HashMax (const T &A, const real3 &inv_bin_size_vec) |
| Convert a position into a bin index ("upper" corner). | |
| void | TransformToCOG (ChBody *body, const ChVector<> &pos, const ChMatrix33<> &rot, ChFrame<> &frame) |
| int | GridCoord (real x, real inv_bin_edge, real minimum) |
| int | GridHash (int x, int y, int z, const vec3 &bins_per_axis) |
| CH_PARALLEL_API bool | MPRContact (const ConvexBase *ShapeA, const ConvexBase *ShapeB, const real &envelope, real3 &returnNormal, real3 &point, real &depth) |
| CH_PARALLEL_API bool | MPRCollision (const ConvexBase *ShapeA, const ConvexBase *ShapeB, real envelope, real3 &returnNormal, real3 &pointA, real3 &pointB, real &depth) |
| CH_PARALLEL_API void | MPRGetPoints (const ConvexBase *ShapeA, const ConvexBase *ShapeB, const real &envelope, real3 &N, real3 p0, real3 &p1, real3 &p2) |
| CH_PARALLEL_API bool | MPRSphereSphere (const ConvexBase *ShapeA, const ConvexBase *ShapeB, real3 &N, real &dist, real3 &p1, real3 &p2) |
| void | SetDefaultEdgeRadius (real radius) |
| Set the fictitious radius of curvature used for collision with a corner or an edge. | |
| real | GetDefaultEdgeRadius () |
| Return the fictitious radius of curvature used for collisions with a corner or an edge. | |
| bool | RCollision (const ConvexBase *shapeA, const ConvexBase *shapeB, real separation, real3 *ct_norm, real3 *ct_pt1, real3 *ct_pt2, real *ct_depth, real *ct_eff_rad, int &nC) |
| Dispatcher for analytic collision functions. More... | |
| bool | sphere_sphere (const real3 &pos1, const real &radius1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius) |
| Analytical sphere vs. sphere collision function. | |
| bool | capsule_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius) |
| Analytical capsule vs. sphere collision function. | |
| bool | cylinder_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius) |
| Analytical cylinder vs. sphere collision function. | |
| bool | roundedcyl_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real &srad1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius) |
| Analytical rounded cylinder vs. sphere collision function. | |
| bool | box_sphere (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius) |
| Analytical box vs. sphere collision function. | |
| bool | roundedbox_sphere (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real &srad1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius) |
| Analytical rounded box vs. sphere collision function. | |
| bool | face_sphere (const real3 &A1, const real3 &B1, const real3 &C1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius) |
| Analytical triangle face vs. sphere collision function. | |
| int | capsule_capsule (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const quaternion &rot2, const real &radius2, const real &hlen2, const real &separation, real3 *norm, real *depth, real3 *pt1, real3 *pt2, real *eff_radius) |
| Analytical capsule vs. capsule collision function. | |
| int | box_capsule (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 &pos2, const quaternion &rot2, const real &radius2, const real &hlen2, const real &separation, real3 *norm, real *depth, real3 *pt1, real3 *pt2, real *eff_radius) |
| Analytical box vs. capsule collision function. | |
| int | box_box (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 &pos2, const quaternion &rot2, const real3 &hdims2, real3 *norm, real *depth, real3 *pt1, real3 *pt2, real *eff_radius) |
| Analytical box vs. box collision function (not yet completed). | |
| real3 | face_normal (const real3 &A, const real3 &B, const real3 &C) |
| This utility function returns the normal to the triangular face defined by the vertices A, B, and C. More... | |
| bool | snap_to_face (const real3 &A, const real3 &B, const real3 &C, const real3 &P, real3 &res) |
| This utility function takes the location 'P' and snaps it to the closest point on the triangular face with given vertices (A, B, and C). More... | |
| uint | snap_to_cylinder (const real &rad, const real &hlen, real3 &loc) |
| This utility function snaps the specified location to a point on a cylinder with given radius and half-length. More... | |
| uint | snap_to_box (const real3 &hdims, real3 &loc) |
| This utility function snaps the specified location to a point on a box with given half-dimensions. More... | |
| real3 | box_farthest_corner (const real3 &hdims, const real3 &dir) |
| This utility function returns the corner of a box of given dimensions that if farthest in the direction 'dir', which is assumed to be given in the frame of the box. | |
| real3 | box_closest_corner (const real3 &hdims, const real3 &dir) |
| This utility function returns the corner of a box of given dimensions that if closest in the direction 'dir', which is assumed to be given in the frame of the box. | |
| uint | box_closest_feature (const real3 &dir) |
| This utility function returns a code that indicates the closest feature of a box in the specified direction. More... | |
| bool | box_intersects_box (const real3 &hdims1, const real3 &hdims2, const real3 &pos, const quaternion &rot, real3 &dir) |
| This function returns a boolean indicating whether or not a box1 with dimensions hdims1 intersects a second box with the dimensions hdims2. More... | |
| real3 | GetSupportPoint_Sphere (const real &radius, const real3 &n) |
| Support point for a sphere (for GJK and MPR). | |
| real3 | GetSupportPoint_Triangle (const real3 *t, const real3 &n) |
| Support point for a triangle (for GJK and MPR). | |
| real3 | GetSupportPoint_Box (const real3 &B, const real3 &n) |
| Support point for a box (for GJK and MPR). | |
| real3 | GetSupportPoint_Ellipsoid (const real3 &B, const real3 &n) |
| Support point for an ellipsoid (for GJK and MPR). | |
| real3 | GetSupportPoint_Cylinder (const real3 &B, const real3 &n) |
| Support point for a cylinder (for GJK and MPR). | |
| real3 | GetSupportPoint_Plane (const real3 &B, const real3 &n) |
| Support point for a plane (for GJK and MPR). | |
| real3 | GetSupportPoint_Cone (const real3 &B, const real3 &n) |
| Support point for a cone (for GJK and MPR). | |
| real3 | GetSupportPoint_Seg (const real B, const real3 &n) |
| Support point for a line segment (for GJK and MPR). | |
| real3 | GetSupportPoint_Capsule (const real2 &B, const real3 &n) |
| Support point for a capsule (for GJK and MPR). | |
| real3 | GetSupportPoint_Disk (const real &B, const real3 &n) |
| Support point for a disk (for GJK and MPR). | |
| real3 | GetSupportPoint_Rect (const real3 &B, const real3 &n) |
| Support point for a rectangle (for GJK and MPR). | |
| real3 | GetSupportPoint_RoundedBox (const real4 &B, const real3 &n) |
| Support point for a rounded box, i.e. a sphere-swept box (for GJK and MPR). | |
| real3 | GetSupportPoint_RoundedCylinder (const real4 &B, const real3 &n) |
| Support point for a rounded cylinder, i.e. a sphere-swept cylinder (for GJK and MPR). | |
| real3 | GetSupportPoint_RoundedCone (const real4 &B, const real3 &n) |
| Support point for a rounded cone, i.e. a sphere-swept cone (for GJK and MPR). | |
| real3 | GetSupportPoint_Convex (const int size, const real3 *convex_data, const real3 &n) |
| Support point for a gneric convex sphae (for GJK and MPR). | |
| real3 | GetSupportPoint_Tetrahedron (const uvec4 indices, const real3 *nodes, const real3 &n) |
| Support point for a tetrahedron (for GJK and MPR). | |
| real3 | GetCenter_Sphere () |
| real3 | GetCenter_Triangle (const real3 *t) |
| real3 | GetCenter_Box () |
| real3 | GetCenter_Ellipsoid () |
| real3 | GetCenter_Cylinder () |
| real3 | GetCenter_Plane () |
| real3 | GetCenter_Cone (const real3 &B) |
| real3 | GetCenter_Convex (const int size, const real3 *convex_data) |
| real3 | GetCenter_Tetrahedron (const uvec4 indices, const real3 *nodes) |
| real3 | SupportVertNoMargin (const chrono::collision::ConvexBase *Shape, const real3 &nv, const real &envelope) |
| real3 | LocalSupportVert (const chrono::collision::ConvexBase *Shape, const real3 &n, const real &envelope) |
| real3 | TransformSupportVert (const chrono::collision::ConvexBase *Shape, const real3 &n, const real &envelope) |
Variables | |
| auto | inverted |
Variable Documentation
◆ inverted
| auto chrono::collision::inverted |
Initial value:
= thrust::make_tuple(real3(+C_LARGE_REAL, +C_LARGE_REAL, +C_LARGE_REAL),
real3(-C_LARGE_REAL, -C_LARGE_REAL, -C_LARGE_REAL),
0)
