Description

Class defining the Bullet geometric model for collision detection.

#include <ChCollisionModelBullet.h>

Inheritance diagram for chrono::collision::ChCollisionModelBullet:

Collaboration diagram for chrono::collision::ChCollisionModelBullet:

Public Member Functions
virtual ChCollisionSystemType	GetType () const override
	Return the type of this collision model.

virtual int	ClearModel () override
	Delete all inserted geometries. More...

virtual int	BuildModel () override
	Complete the construction of the collision model (build the BV hierarchy). More...

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	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	AddCylindricalShell (std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(), const ChMatrix33<> &rot=ChMatrix33<>(1)) override
	Add a cylindrical shell to this collision model (default axis in 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	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	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	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	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	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	AddTriangleMeshConcave (std::shared_ptr< ChMaterialSurface > material, 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< ChMaterialSurface > material, 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 (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	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) 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 (std::shared_ptr< ChMaterialSurface > material, 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 (std::shared_ptr< ChMaterialSurface > material, 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 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...

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.

Public Member Functions inherited from chrono::collision::ChCollisionModel
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 void	SetContactable (ChContactable *mc)
	Set the pointer to the contactable object. More...

virtual ChPhysicsItem *	GetPhysicsItem ()
	Get 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)
	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() )

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...

Protected Attributes
std::unique_ptr< btCollisionObject >	bt_collision_object
	Bullet collision object containing Bullet geometries.

std::shared_ptr< btCompoundShape >	bt_compound_shape
	Compound for models with more than one collision shape.

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

Friends
class	ChCollisionSystemBullet

class	ChCollisionSystemBulletMulticore

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

◆ Add2Dpath()

bool chrono::collision::ChCollisionModelBullet::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`
	)

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.

Parameters

material	surface contact material
mpath	2D curve path
pos	origin position in model coordinates
rot	rotation in model coordinates
thickness	line thickness

Reimplemented from chrono::collision::ChCollisionModel.

◆ AddBarrel()

bool chrono::collision::ChCollisionModelBullet::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::ChCollisionModelBullet::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.

◆ AddCapsule()

bool chrono::collision::ChCollisionModelBullet::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()

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

inlineoverridevirtual

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::ChCollisionModelBullet::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.

◆ AddCopyOfAnotherModel()

bool chrono::collision::ChCollisionModelBullet::AddCopyOfAnotherModel ( ChCollisionModel * another )

overridevirtual

Add all shapes already contained in another model.

The 'another' model must be of ChCollisionModelBullet subclass.

Implements chrono::collision::ChCollisionModel.

◆ AddCylinder()

bool chrono::collision::ChCollisionModelBullet::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.

◆ AddCylindricalShell()

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

overridevirtual

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

Parameters

material	surface contact material
radius	cylinder radius
hlen	cylinder half length
pos	center position in model coordinates
rot	rotation in model coordinates

Implements chrono::collision::ChCollisionModel.

◆ AddEllipsoid()

bool chrono::collision::ChCollisionModelBullet::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.

◆ AddPoint()

bool chrono::collision::ChCollisionModelBullet::AddPoint	(	std::shared_ptr< ChMaterialSurface >	material,
		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

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

Reimplemented from chrono::collision::ChCollisionModel.

◆ AddRoundedBox()

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

inlineoverridevirtual

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()

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

inlineoverridevirtual

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()

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

inlineoverridevirtual

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::ChCollisionModelBullet::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.

◆ AddTriangleMesh()

bool chrono::collision::ChCollisionModelBullet::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.

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.

◆ AddTriangleMeshConcave()

bool chrono::collision::ChCollisionModelBullet::AddTriangleMeshConcave	(	std::shared_ptr< ChMaterialSurface >	material,
		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.

Parameters

material	surface contact material
trimesh	the triangle mesh
pos	origin position in model coordinates
rot	rotation in model coordinates

◆ AddTriangleMeshConcaveDecomposed()

bool chrono::collision::ChCollisionModelBullet::AddTriangleMeshConcaveDecomposed	(	std::shared_ptr< ChMaterialSurface >	material,
		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.

Parameters

material	surface contact material
mydecomposition	convex mesh decomposition
pos	origin position in model coordinates
rot	rotation in model coordinates

◆ AddTriangleProxy()

bool chrono::collision::ChCollisionModelBullet::AddTriangleProxy	(	std::shared_ptr< ChMaterialSurface >	material,
		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

material	surface contact material
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::ChCollisionModelBullet::BuildModel ( )

overridevirtual

Complete the construction of the collision model (build the BV hierarchy).

Addition of collision shapes must be done between calls to ClearModel() and BuildModel(). This function must be invoked after all geometric collision shapes have been added.

Implements chrono::collision::ChCollisionModel.

◆ ClearModel()

int chrono::collision::ChCollisionModelBullet::ClearModel ( )

overridevirtual

Delete all inserted geometries.

Addition of collision shapes must be done between calls to ClearModel() and BuildModel(). This function must be invoked before adding geometric collision shapes.

Implements chrono::collision::ChCollisionModel.

◆ GetAABB()

void chrono::collision::ChCollisionModelBullet::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::ChCollisionModelBullet::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.

This default implementation uses the family mask.

Reimplemented from chrono::collision::ChCollisionModel.

◆ GetShapeDimensions()

std::vector< double > chrono::collision::ChCollisionModelBullet::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
CYLSHELL     radius halflength

Implements chrono::collision::ChCollisionModel.

◆ SetFamily()

void chrono::collision::ChCollisionModelBullet::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. These default implementations use the family group.

Reimplemented from chrono::collision::ChCollisionModel.

◆ SetFamilyGroup()

void chrono::collision::ChCollisionModelBullet::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::ChCollisionModelBullet::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::ChCollisionModelBullet::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. These default implementations use the family mask.

Reimplemented from chrono::collision::ChCollisionModel.

◆ SetSphereRadius()

bool chrono::collision::ChCollisionModelBullet::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/ChCollisionModelBullet.h
/builds/uwsbel/chrono/src/chrono/collision/ChCollisionModelBullet.cpp

Description

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ Add2Dpath()

◆ AddBarrel()

◆ AddBox()

◆ AddCapsule()

◆ AddCone()

◆ AddConvexHull()

◆ AddCopyOfAnotherModel()

◆ AddCylinder()

◆ AddCylindricalShell()

◆ AddEllipsoid()

◆ AddPoint()

◆ AddRoundedBox()

◆ AddRoundedCone()

◆ AddRoundedCylinder()

◆ AddSphere()

◆ AddTriangleMesh()

◆ AddTriangleMeshConcave()

◆ AddTriangleMeshConcaveDecomposed()

◆ AddTriangleProxy()

◆ BuildModel()

◆ ClearModel()

◆ GetAABB()

◆ GetFamilyMaskDoesCollisionWithFamily()

◆ GetShapeDimensions()

◆ SetFamily()

◆ SetFamilyGroup()

◆ SetFamilyMask()

◆ SetFamilyMaskNoCollisionWithFamily()

◆ SetSphereRadius()