Description

Class for performing narrow-phase collision detection.

#include <ChCollision.h>

Collaboration diagram for chrono::collision::ChCNarrowphaseDispatch:

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Public Member Functions
void	ClearContacts ()
	Clear contact data structures.

void	ProcessRigids ()
	Perform collision detection.

int	PreprocessCount ()
	Calculate total number of potential contacts.

void	PreprocessLocalToParent ()
	Transform the shape data to the global reference frame. More...

void	DispatchRigid ()

void	DispatchRigidFluid ()

void	DispatchRigidTet ()

void	DispatchFluid ()

void	SphereSphereContact (const int num_fluid_bodies, const int body_offset, const real radius, const real collision_envelope, const real3 &min_bounding_point, const real3 &max_bounding_point, const custom_vector< real3 > &pos_fluid, const custom_vector< real3 > &vel_fluid, custom_vector< real3 > &sorted_pos_fluid, custom_vector< real3 > &sorted_vel_fluid, DynamicVector< real > &v, custom_vector< int > &neighbor_fluid_fluid, custom_vector< int > &contact_counts, custom_vector< int > &particle_indices, custom_vector< int > &reverse_mapping, vec3 &bins_per_axis, uint &num_fluid_contacts)

void	RigidSphereContact (const real sphere_radius, const int num_spheres, const custom_vector< real3 > &pos_sphere, const short2 &family, custom_vector< real3 > &norm_rigid_sphere, custom_vector< real3 > &cpta_rigid_sphere, custom_vector< real > &dpth_rigid_sphere, custom_vector< int > &neighbor_rigid_sphere, custom_vector< int > &contact_counts, uint &num_contacts)

void	RigidTetContact (custom_vector< real3 > &norm_rigid_tet, custom_vector< real3 > &cpta_rigid_tet, custom_vector< real3 > &cptb_rigid_tet, custom_vector< real > &dpth_rigid_tet, custom_vector< int > &neighbor_rigid_tet, custom_vector< real4 > &face_rigid_tet, custom_vector< int > &contact_counts, uint &num_contacts)

void	MarkerTetContact (const real sphere_radius, const int num_spheres, const custom_vector< real3 > &pos_sphere, const short2 &family_sphere, custom_vector< real3 > &norm_marker_tet, custom_vector< real3 > &cptb_marker_tet, custom_vector< real > &dpth_marker_tet, custom_vector< int > &neighbor_marker_tet, custom_vector< real4 > &face_marker_tet, custom_vector< int > &contact_counts, uint &num_contacts)

void	DispatchMPR ()

void	DispatchR ()

void	DispatchHybridMPR ()

void	Dispatch_Init (uint index, uint &icoll, uint &ID_A, uint &ID_B, ConvexShape shapeA, ConvexShape shapeB)

void	Dispatch_Finalize (uint icoll, uint ID_A, uint ID_B, int nC)

Public Attributes
ChMulticoreDataManager *	data_manager

Member Function Documentation

◆ PreprocessLocalToParent()

void chrono::collision::ChCNarrowphaseDispatch::PreprocessLocalToParent ( )

Transform the shape data to the global reference frame.

Perform this as a preprocessing step to improve performance. Performance is improved because the amount of data loaded is still the same but it does not have to be transformed per contact pair, now it is transformed once per shape.

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

/builds/uwsbel/chrono/src/chrono_multicore/collision/ChCollision.h
/builds/uwsbel/chrono/src/chrono_multicore/collision/ChNarrowphaseDispatch.cpp

Description

Public Member Functions

Public Attributes

Member Function Documentation

◆ PreprocessLocalToParent()