Description

Utility class defining geometry (visualization and collision) and contact materials for a rigid vehicle body.

Holds vectors of primitive shapes (any one of which may be empty) and a list of contact materials. Each shape defines its position and orientation relative to the parent body, geometric dimensions, and an index into the list of contact materials.

#include <ChSubsysDefs.h>

Collaboration diagram for chrono::vehicle::ChVehicleGeometry:

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Classes
struct	BoxShape
	Box shape for visualization and/or collision. More...

struct	ConvexHullsShape
	Convex hulls shape for collision. More...

struct	CylinderShape
	Cylinder shape for visualization and/or collision. More...

struct	SphereShape
	Sphere shape for visualization and/or collision. More...

struct	TrimeshShape
	Tri-mesh shape for collision. More...

Public Member Functions
void	AddVisualizationAssets (std::shared_ptr< ChBody > body, VisualizationType vis)
	Create visualization assets for the specified body.

void	AddCollisionShapes (std::shared_ptr< ChBody > body, int collision_family)
	Create collision shapes for the specified body.

Public Attributes
bool	m_has_collision
	true if body has a collision model

std::vector< std::shared_ptr< ChMaterialSurface > >	m_materials
	list of contact materials

std::vector< BoxShape >	m_coll_boxes
	list of collision boxes

std::vector< SphereShape >	m_coll_spheres
	list of collision spheres

std::vector< CylinderShape >	m_coll_cylinders
	list of collision cylinders

std::vector< ConvexHullsShape >	m_coll_hulls
	list of collision convex hulls

std::vector< TrimeshShape >	m_coll_meshes
	list of collision trimeshes

bool	m_has_primitives
	true if the body uses visualization primitives

std::vector< BoxShape >	m_vis_boxes
	list of visualization boxes

std::vector< SphereShape >	m_vis_spheres
	list of visualization spheres

std::vector< CylinderShape >	m_vis_cylinders
	list of visualization cylinders

bool	m_has_colors
	true if primitive colors were provided

ChColor	m_color_boxes
	visualization color

ChColor	m_color_spheres
	visualization color

ChColor	m_color_cylinders
	visualization color

bool	m_has_mesh
	true if the body uses a visualization mesh

std::string	m_vis_mesh_file
	name of Wavefront OBJ file with visualizaiton mesh

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

/builds/uwsbel/chrono/src/chrono_vehicle/ChSubsysDefs.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChSubsysDefs.cpp

Description

Classes

Public Member Functions

Public Attributes