Description

Collision engine based on the Bullet library.

Contains both the broadphase and the narrow phase Bullet methods.

#include <ChCollisionSystemBullet.h>

Inheritance diagram for chrono::collision::ChCollisionSystemBullet:

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Collaboration diagram for chrono::collision::ChCollisionSystemBullet:

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

virtual void	Clear (void) override
	Clears all data instanced by this algorithm if any (like persistent contact manifolds)

virtual void	Add (ChCollisionModel *model) override
	Adds a collision model to the collision engine (custom data may be allocated).

virtual void	Remove (ChCollisionModel *model) override
	Removes a collision model from the collision engine (custom data may be deallocated).

virtual void	SetNumThreads (int nthreads) override
	Removes all collision models from the collision engine (custom data may be deallocated). More...

virtual void	Run () override
	Run the algorithm and finds all the contacts. More...

virtual void	GetBoundingBox (ChVector<> &aabb_min, ChVector<> &aabb_max) const override
	Return an AABB bounding all collision shapes in the system.

virtual void	ResetTimers () override
	Reset timers for collision detection.

virtual double	GetTimerCollisionBroad () const override
	Return the time (in seconds) for broadphase collision detection.

virtual double	GetTimerCollisionNarrow () const override
	Return the time (in seconds) for narrowphase collision detection.

virtual void	ReportContacts (ChContactContainer *mcontactcontainer) override
	After the Run() has completed, you can call this function to fill a 'contact container', that is an object inherited from class ChContactContainer. More...

virtual void	ReportProximities (ChProximityContainer *mproximitycontainer) override
	After the Run() has completed, you can call this function to fill a 'proximity container' (container of narrow phase pairs), that is an object inherited from class ChProximityContainer. More...

virtual bool	RayHit (const ChVector<> &from, const ChVector<> &to, ChRayhitResult &result) const override
	Perform a ray-hit test with all collision models.

virtual bool	RayHit (const ChVector<> &from, const ChVector<> &to, ChCollisionModel *model, ChRayhitResult &result) const override
	Perform a ray-hit test with the specified collision model.

btCollisionWorld *	GetBulletCollisionWorld ()

Public Member Functions inherited from chrono::collision::ChCollisionSystem
virtual void	PreProcess ()
	Removes all collision models from the collision engine (custom data may be deallocated). More...

virtual void	PostProcess ()
	Optional synchronization operations, invoked after running the collision detection.

void	RegisterBroadphaseCallback (std::shared_ptr< BroadphaseCallback > callback)
	Specify a callback object to be used each time a pair of 'near enough' collision shapes is found by the broad-phase collision step. More...

void	RegisterNarrowphaseCallback (std::shared_ptr< NarrowphaseCallback > callback)
	Specify a callback object to be used each time a collision pair is found during the narrow-phase collision detection step. More...

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.

void	SetSystem (ChSystem *sys)
	Set associated Chrono system.

Static Public Member Functions
static void	SetContactBreakingThreshold (double threshold)

Additional Inherited Members
Protected Attributes inherited from chrono::collision::ChCollisionSystem
ChSystem *	m_system
	associated Chrono system

std::shared_ptr< BroadphaseCallback >	broad_callback
	user callback for each near-enough pair of shapes

std::shared_ptr< NarrowphaseCallback >	narrow_callback
	user callback for each collision pair

Member Function Documentation

◆ ReportContacts()

void chrono::collision::ChCollisionSystemBullet::ReportContacts ( ChContactContainer * mcontactcontainer )

overridevirtual

After the Run() has completed, you can call this function to fill a 'contact container', that is an object inherited from class ChContactContainer.

For instance ChSystem, after each Run() collision detection, calls this method multiple times for all contact containers in the system, The basic behavior of the implementation is the following: collision system will call in sequence the functions BeginAddContact(), AddContact() (x n times), EndAddContact() of the contact container.

Implements chrono::collision::ChCollisionSystem.

◆ ReportProximities()

void chrono::collision::ChCollisionSystemBullet::ReportProximities ( ChProximityContainer * mproximitycontainer )

overridevirtual

After the Run() has completed, you can call this function to fill a 'proximity container' (container of narrow phase pairs), that is an object inherited from class ChProximityContainer.

For instance ChSystem, after each Run() collision detection, calls this method multiple times for all proximity containers in the system, The basic behavior of the implementation is the following: collision system will call in sequence the functions BeginAddProximities(), AddProximity() (x n times), EndAddProximities() of the proximity container.

Implements chrono::collision::ChCollisionSystem.