chrono::collision::ChCollisionInfo Class Reference

## Description

Class defining basic geometric information for collision pairs.

#include <ChCollisionInfo.h>

Collaboration diagram for chrono::collision::ChCollisionInfo:

## Public Member Functions

ChCollisionInfo ()
Basic default constructor.

ChCollisionInfo (const ChCollisionInfo &other, const bool swap=false)
Copy from other.

void SwapModels ()
Swap models, that is modelA becomes modelB and viceversa.

## Static Public Member Functions

Set the default effective radius of curvature (for SMC contact). More...

Return the current value of the default effective radius of curvature.

## Public Attributes

ChCollisionModelmodelA
model A

ChCollisionModelmodelB
model B

ChCollisionShapeshapeA
collision shape in model A

ChCollisionShapeshapeB
collision shape in model B

ChVector vpA
coll.point on A, in abs coords

ChVector vpB
coll.point on B, in abs coords

ChVector vN
coll.normal, respect to A, in abs coords

double distance
distance (negative for penetration)

effective radius of curvature at contact (SMC only)

float * reaction_cache
pointer to some persistent user cache of reactions

## Member Function Documentation

static

Set the default effective radius of curvature (for SMC contact).

A collision system should evaluate this value for each collision using
1/r_eff = 1/rA + 1/rB
where rA and rB are the radii of curvature of the two surfaces at the contact point.


If a collision system does not set this quantity, all collisions use this default value.

The documentation for this class was generated from the following files:
• /builds/uwsbel/chrono/src/chrono/collision/ChCollisionInfo.h
• /builds/uwsbel/chrono/src/chrono/collision/ChCollisionInfo.cpp