chrono::geometry::ChTriangle Class Reference

Description

A triangle geometric shape for collisions and visualization.

#include <ChTriangle.h>

Inheritance diagram for chrono::geometry::ChTriangle:
Collaboration diagram for chrono::geometry::ChTriangle:

Public Member Functions

 ChTriangle (const ChVector<> &mp1, const ChVector<> &mp2, const ChVector<> &mp3)
 
 ChTriangle (const ChTriangle &source)
 
virtual ChTriangleClone () const override
 "Virtual" copy constructor (covariant return type).
 
ChTriangleoperator= (const ChTriangle &source)
 Assignment operator: copy from another triangle.
 
virtual GeometryType GetClassType () const override
 Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism). More...
 
virtual void GetBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const override
 Compute bounding box. More...
 
virtual ChVector Baricenter () const override
 Compute center of mass It should be overridden by inherited classes.
 
virtual void CovarianceMatrix (ChMatrix33<> &C) const override
 Compute the 3x3 covariance matrix (only the diagonal and upper part) It should be overridden by inherited classes.
 
virtual int GetManifoldDimension () const override
 This is a surface.
 
bool IsDegenerated () const
 
bool Normal (ChVector<> &N) const
 
ChVector GetNormal () const
 
double PointTriangleDistance (ChVector<> B, double &mu, double &mv, bool &is_into, ChVector<> &Bprojected)
 Given point B, computes the distance from this triangle plane, returning also the projection of point on the plane. 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 de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::geometry::ChGeometry
 ChGeometry (const ChGeometry &source)
 
virtual void InflateBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const
 Enlarge a previous existing bounding box. More...
 
virtual double Size () const
 Returns the radius of the sphere which can enclose the geometry.
 
virtual void Update ()
 Generic update of internal data. More...
 

Public Attributes

ChVector p1
 first triangle vertex
 
ChVector p2
 second triangle vertex
 
ChVector p3
 third triangle vertex
 

Additional Inherited Members

- Public Types inherited from chrono::geometry::ChGeometry
enum  GeometryType {
  NONE, SPHERE, BOX, CYLINDER,
  TRIANGLE, CAPSULE, CONE, LINE,
  LINE_ARC, LINE_BEZIER, LINE_CAM, LINE_PATH,
  LINE_POLY, LINE_SEGMENT, ROUNDED_BOX, ROUNDED_CYLINDER,
  ROUNDED_CONE, TRIANGLEMESH, TRIANGLEMESH_CONNECTED, TRIANGLEMESH_SOUP
}
 Enumeration of geometric objects.
 

Member Function Documentation

◆ GetBoundingBox()

void chrono::geometry::ChTriangle::GetBoundingBox ( double &  xmin,
double &  xmax,
double &  ymin,
double &  ymax,
double &  zmin,
double &  zmax,
ChMatrix33<> *  Rot = NULL 
) const
overridevirtual

Compute bounding box.

If a matrix Rot is not null, it should compute bounding box along the rotated directions represented by that transformation matrix Rot. It must be overridden by inherited classes.

Reimplemented from chrono::geometry::ChGeometry.

◆ GetClassType()

virtual GeometryType chrono::geometry::ChTriangle::GetClassType ( ) const
inlineoverridevirtual

Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism).

Each inherited class must return an unique ID.

Reimplemented from chrono::geometry::ChGeometry.

◆ PointTriangleDistance()

double chrono::geometry::ChTriangle::PointTriangleDistance ( ChVector<>  B,
double &  mu,
double &  mv,
bool &  is_into,
ChVector<> &  Bprojected 
)

Given point B, computes the distance from this triangle plane, returning also the projection of point on the plane.

Parameters
Bpoint to be measured
mureturns U parametric coord of projection
mvreturns V parametric coord of projection
is_intoreturns true if projection falls on the triangle
Bprojectedreturns the position of the projected point

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