Description

Class for geometric model for collision detection.

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

#include <ChCollisionModelMulticore.h>

Inheritance diagram for chrono::collision::ChCollisionModelMulticore:

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Collaboration diagram for chrono::collision::ChCollisionModelMulticore:

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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 (std::shared_ptr< ChMaterialSurface > material, double radius, const ChVector<> &pos=ChVector<>()) override
	Add a sphere shape to this collision model. More...

virtual bool	AddEllipsoid (std::shared_ptr< ChMaterialSurface > material, double rx, double ry, double rz, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add an ellipsoid shape to this collision model. More...

virtual bool	AddBox (std::shared_ptr< ChMaterialSurface > material, double hx, double hy, double hz, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add a box shape to this collision model. More...

virtual bool	AddRoundedBox (std::shared_ptr< ChMaterialSurface > material, 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 collision model. More...

virtual bool	AddTriangle (std::shared_ptr< ChMaterialSurface > material, 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. More...

virtual bool	AddCylinder (std::shared_ptr< ChMaterialSurface > material, double rx, double rz, double hy, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add a cylinder to this collision model (default axis on Y direction). More...

virtual bool	AddRoundedCylinder (std::shared_ptr< ChMaterialSurface > material, 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 collision model (default axis on Y direction). More...

virtual bool	AddCone (std::shared_ptr< ChMaterialSurface > material, double rx, double rz, double hy, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add a cone to this collision model (default axis on Y direction). More...

virtual bool	AddRoundedCone (std::shared_ptr< ChMaterialSurface > material, 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 collision model (default axis on Y direction). More...

virtual bool	AddCapsule (std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add a capsule to this collision model (default axis in Y direction). More...

virtual bool	AddConvexHull (std::shared_ptr< ChMaterialSurface > material, const std::vector< ChVector< double >> &pointlist, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add a convex hull to this collision model. More...

virtual bool	AddTriangleMesh (std::shared_ptr< ChMaterialSurface > material, 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 collision model. More...

virtual bool	AddBarrel (std::shared_ptr< ChMaterialSurface > material, 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 collision model (main axis on Y direction). More...

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

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

virtual ChCoordsys	GetShapePos (int index) const override
	Return the position and orientation of the collision shape with specified index, relative to the model frame.

virtual std::vector< double >	GetShapeDimensions (int index) const override
	Return shape characteristic dimensions. More...

ChBody *	GetBody () const
	Return a pointer to the associated body.

void	SetBody (ChBody *body)
	Set the pointer to the owner rigid body.

Public Member Functions inherited from chrono::collision::ChCollisionModel
virtual bool	Add2Dpath (std::shared_ptr< ChMaterialSurface > material, 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 (std::shared_ptr< ChMaterialSurface > material, 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 (std::shared_ptr< ChMaterialSurface > material, ChStreamInAscii &mstream, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1))
	Add a cluster of convex hulls specified in a '.chulls' file description. More...

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

virtual ChPhysicsItem *	GetPhysicsItem ()
	Get 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)
	Set 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)
	Set the suggested collision outward 'envelope' (used from shapes added, from now on, to this collision model). More...

virtual float	GetEnvelope ()
	Return 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.

int	GetNumShapes () const
	Return the number of collision shapes in this model.

const std::vector< std::shared_ptr< ChCollisionShape > > &	GetShapes () const
	Get the list of collision shapes in this model.

std::shared_ptr< ChCollisionShape >	GetShape (int index)
	Get the collision shape with specified index.

void	SetShapeMaterial (int index, std::shared_ptr< ChMaterialSurface > mat)
	Set the contact material for the collision shape with specified index.

void	SetAllShapesMaterial (std::shared_ptr< ChMaterialSurface > mat)
	Set the contact material for all collision shapes in the model (all shapes will share the material). More...

Public Attributes
std::vector< real3 >	local_convex_data

real3	aabb_min

real3	aabb_max

Protected Attributes
ChBody *	mbody

Protected Attributes inherited from chrono::collision::ChCollisionModel
float	model_envelope
	Maximum envelope: surrounding volume from surface to the exterior.

float	model_safe_margin
	Maximum margin value to be used for fast penetration contact detection.

ChContactable *	mcontactable
	Pointer to the contactable object.

short int	family_group
	Collision family group.

short int	family_mask
	Collision family mask.

std::vector< std::shared_ptr< ChCollisionShape > >	m_shapes
	list of collision shapes in model

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
void	CopyShapes (ChCollisionModel *other)
	Copy the collision shapes from another model.

virtual float	GetSuggestedFullMargin ()

Member Function Documentation

◆ AddBarrel()

bool chrono::collision::ChCollisionModelMulticore::AddBarrel	(	std::shared_ptr< ChMaterialSurface >	material,
		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 collision model (main axis on Y direction).

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.

Parameters

material	surface contact material
Y_low	bottom level
Y_high	top level
R_vert	ellipse semi-axis in vertical direction
R_hor	ellipse semi-axis in horizontal direction
R_offset	lateral offset (radius at top and bottom)
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddBox()

bool chrono::collision::ChCollisionModelMulticore::AddBox	(	std::shared_ptr< ChMaterialSurface >	material,
		double	hx,
		double	hy,
		double	hz,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a box shape to this collision model.

Parameters

material	surface contact material
hx	x half-dimension
hy	y half-dimension
hz	z half-dimension
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

Reimplemented in chrono::collision::ChCollisionModelDistributed.

◆ AddCapsule()

bool chrono::collision::ChCollisionModelMulticore::AddCapsule	(	std::shared_ptr< ChMaterialSurface >	material,
		double	radius,
		double	hlen,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a capsule to this collision model (default axis in Y direction).

Parameters

material	surface contact material
radius	radius
hlen	half-length of capsule axis
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddCone()

bool chrono::collision::ChCollisionModelMulticore::AddCone	(	std::shared_ptr< ChMaterialSurface >	material,
		double	rx,
		double	rz,
		double	hy,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a cone to this collision model (default axis on Y direction).

Parameters

material	surface contact material
rx	radius (X direction)
rz	radius (Z direction)
hy	half length
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddConvexHull()

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

overridevirtual

Add a convex hull to this collision 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 which is then copied into the model.

Parameters

material	surface contact material
pointlist	list of hull points
pos	origin position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddCylinder()

bool chrono::collision::ChCollisionModelMulticore::AddCylinder	(	std::shared_ptr< ChMaterialSurface >	material,
		double	rx,
		double	rz,
		double	hy,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a cylinder to this collision model (default axis on Y direction).

Parameters

material	surface contact material
rx	radius (X direction)
rz	radius (Z direction)
hy	half length
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddEllipsoid()

bool chrono::collision::ChCollisionModelMulticore::AddEllipsoid	(	std::shared_ptr< ChMaterialSurface >	material,
		double	rx,
		double	ry,
		double	rz,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add an ellipsoid shape to this collision model.

Parameters

material	surface contact material
rx	x semi-axis
ry	y semi-axis
rz	z semi-axis
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddRoundedBox()

bool chrono::collision::ChCollisionModelMulticore::AddRoundedBox	(	std::shared_ptr< ChMaterialSurface >	material,
		double	hx,
		double	hy,
		double	hz,
		double	sphere_r,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a rounded box shape to this collision model.

Parameters

material	surface contact material
hx	x half-dimension
hy	y half-dimension
hz	z half-dimension
sphere_r	radius of sweeping sphere
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddRoundedCone()

bool chrono::collision::ChCollisionModelMulticore::AddRoundedCone	(	std::shared_ptr< ChMaterialSurface >	material,
		double	rx,
		double	rz,
		double	hy,
		double	sphere_r,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a rounded cone to this collision model (default axis on Y direction).

Parameters

material	surface contact material
rx	radius (X direction)
rz	radius (Z direction)
hy	half length
sphere_r	radius of sweeping sphere
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddRoundedCylinder()

bool chrono::collision::ChCollisionModelMulticore::AddRoundedCylinder	(	std::shared_ptr< ChMaterialSurface >	material,
		double	rx,
		double	rz,
		double	hy,
		double	sphere_r,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

overridevirtual

Add a rounded cylinder to this collision model (default axis on Y direction).

Parameters

material	surface contact material
rx	radius (X direction)
rz	radius (Z direction)
hy	half length
sphere_r	radius of sweeping sphere
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddSphere()

bool chrono::collision::ChCollisionModelMulticore::AddSphere	(	std::shared_ptr< ChMaterialSurface >	material,
		double	radius,
		const ChVector<> &	pos = `ChVector<>()`
	)

overridevirtual

Add a sphere shape to this collision model.

Parameters

material	surface contact material
radius	sphere radius
pos	center position in model coordinates

Implements chrono::collision::ChCollisionModel.

Reimplemented in chrono::collision::ChCollisionModelDistributed.

◆ AddTriangle()

bool chrono::collision::ChCollisionModelMulticore::AddTriangle	(	std::shared_ptr< ChMaterialSurface >	material,
		ChVector<>	A,
		ChVector<>	B,
		ChVector<>	C,
		const ChVector<> &	pos = `ChVector<>()`,
		const ChMatrix33<> &	rot = `ChMatrix33<>(1)`
	)

virtual

Add a triangle shape to this model, for collision purposes.

Parameters

material	surface contact material
A	triangle vertex A
B	triangle vertex B
C	triangle vertex C
pos	center position in model coordinates
rot	rotation in model coordinates

Reimplemented in chrono::collision::ChCollisionModelDistributed.

◆ AddTriangleMesh()

bool chrono::collision::ChCollisionModelMulticore::AddTriangleMesh	(	std::shared_ptr< ChMaterialSurface >	material,
		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 collision model.

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

material	surface contact material
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	origin position in model coordinates
rot	rotation in model coordinates
sphereswept_thickness	outward sphere-swept layer (when supported)

Implements chrono::collision::ChCollisionModel.

◆ BuildModel()

int chrono::collision::ChCollisionModelMulticore::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::ChCollisionModelMulticore::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.

◆ GetShapeDimensions()

std::vector< double > chrono::collision::ChCollisionModelMulticore::GetShapeDimensions ( int index ) const

overridevirtual

Return shape characteristic dimensions.

The following collision shapes are supported:

SPHERE       radius
BOX          x-halfdim y-halfdim z-halfdim
ELLIPSOID    x-radius y-radius z-radius
CYLINDER     x-radius z-radius halflength
CONE         x-radius z-radius halfheight
CAPSULE      radius halflength
ROUNDEDBOX   x-halfdim y-halfdim z-halfdim sphere_rad
ROUNDEDCYL   x-radius z-radius halflength sphere_rad

Implements chrono::collision::ChCollisionModel.

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

/builds/uwsbel/chrono/src/chrono_multicore/collision/ChCollisionModelMulticore.h
/builds/uwsbel/chrono/src/chrono_multicore/collision/ChCollisionModelMulticore.cpp

Description

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AddBarrel()

◆ AddBox()

◆ AddCapsule()

◆ AddCone()

◆ AddConvexHull()

◆ AddCylinder()

◆ AddEllipsoid()

◆ AddRoundedBox()

◆ AddRoundedCone()

◆ AddRoundedCylinder()

◆ AddSphere()

◆ AddTriangle()

◆ AddTriangleMesh()

◆ BuildModel()

◆ ClearModel()

◆ GetShapeDimensions()