Description

Collaboration diagram for Utility classes:

Classes
class	chrono::utils::ChConvexHull2D
	Simple 2D convex hull class. More...

class	chrono::utils::ChRunningAverage
	Moving average filter for smoothing running data. More...

class	chrono::utils::ChMovingAverage
	Moving average filter for smoothing a data array. More...

class	chrono::utils::ChAnalogueFilter
	Base class for simulated analogue filters in the time domain. More...

class	chrono::utils::ChFilterI
	Calculate the integral of an input signal in the time domain: H(s) = 1 / ( Ti * s) More...

class	chrono::utils::ChFilterD
	Caclulate the time derivation of an input signal: H(s) = Td * s. More...

class	chrono::utils::ChFilterPT1
	Delay an input signal: H(s) = Kpt1 / ( T1 * s + 1 ) More...

class	chrono::utils::ChFilterPD1
	PD1 controller: H(s) = Kdt1 * ( Td1 * s + 1 ) More...

class	chrono::utils::ChFilterPDT1
	PDT1 controller: H(s) = Kp * ( Td1 * s + 1 ) / ( T1 * s + 1) More...

class	chrono::utils::ChButterworth_Lowpass
	Butterworth low-pass filter. More...

class	chrono::utils::ChButterworth_Highpass
	Butterworth high-pass filter. More...

class	chrono::utils::ChAbsorbed_Power_Vertical
	Filter for vertical absorbed power. More...

class	chrono::utils::ChISO2631_1_Wk
	Combined filter Wk. More...

class	chrono::utils::ChISO2631_1_Wd
	Combined filter Wd. More...

class	chrono::utils::ChISO2631_1_Wf
	Combined filter Wf. More...

class	chrono::utils::ChISO2631_5_Wxy
	ISO2631-5 weighting filter for shock like signal in horizontal direction. More...

class	chrono::utils::ChISO2631_5_Wz
	ISO2631-5 weighting filter for shock like signal in vertical direction. More...

class	chrono::utils::ChISO2631_Vibration_SeatCushionLogger
	Easy to use class for evaluation of ISO 2361-1 vibration load on sitting vehicle occupants Input: 3 seat accelerations x,y,z in [m/s^2]. More...

class	chrono::utils::ChISO2631_Shock_SeatCushionLogger
	Easy to use class for evaluation of ISO 2361-5 shock load on sitting vehicle occupants. More...

class	chrono::utils::ChParserAdams
	ADAMS input file parser. More...

class	chrono::utils::ChParserOpenSim
	OpenSim input file parser. More...

class	chrono::utils::MixtureIngredient
	Encapsulation of an ingredient of one of the supported types in a mixture. More...

class	chrono::utils::Generator
	Provides functionality for generating sets of bodies with positions drawn from a specified sampler and various mixture properties. More...

class	chrono::utils::Sampler< T >
	Base class for different types of point samplers. More...

class	chrono::utils::PDGrid< Point >
	Simple 3D grid utility class for use by the Poisson Disk sampler. More...

class	chrono::utils::PDSampler< T >
	Sampler for 3D domains (box, sphere, or cylinder) using Poisson Disk Sampling. More...

class	chrono::utils::GridSampler< T >
	Sampler for 3D volumes using a regular (equidistant) grid. More...

class	chrono::utils::HCPSampler< T >
	Sampler for 3D volumes using a Hexagonally Close Packed structure. More...

Macros
#define	YY_DECL int chrono::utils::ChParserAdams::yylex()

Enumerations
enum	chrono::utils::MixtureType { SPHERE, ELLIPSOID, BOX, CYLINDER, CONE, CAPSULE, BISPHERE, ROUNDEDCYLINDER }
	Enumeration of various geometric shapes available for mixtures.

enum	chrono::utils::SamplingType { chrono::utils::SamplingType::REGULAR_GRID, chrono::utils::SamplingType::POISSON_DISK, chrono::utils::SamplingType::HCP_PACK }
	Volumetric sampling method. More...

Functions
void	chrono::utils::AddSphereGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a sphere collision shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddEllipsoidGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddBoxGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box collision shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddBiSphereGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double cDist, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddCapsuleGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box capsule shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddCylinderGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box cylinder shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddConeGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double height, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a box cone shape and optionally a corresponding visualization asset to the specified body.

bool	chrono::utils::AddTriangleMeshGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body.

bool	chrono::utils::AddTriangleMeshConvexDecomposition (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), float skin_thickness=0.0f, bool use_original_asset=true)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	chrono::utils::AddTriangleMeshConvexDecompositionV2 (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	chrono::utils::AddTriangleMeshConvexDecompositionSplit (ChSystem *system, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos, const ChQuaternion<> &rot, double total_mass)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddTriangleGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &vertA, const ChVector<> &vertB, const ChVector<> &vertC, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a triangle collision shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddRoundedBoxGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddRoundedCylinderGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddTorusGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double thickness, int segments=20, int angle=360, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
	Add a torus collision shape (compound object created with capsules) and optionally a corresponding visualization asset to the specified body.

std::shared_ptr< ChBody >	chrono::utils::CreateBoxContainer (ChSystem *system, int id, std::shared_ptr< ChMaterialSurface > mat, const ChVector<> &hdim, double hthick, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool y_up=false, bool overlap=true, bool closed=false)
	Create a fixed body with contact and asset geometry representing a box with 5 walls (no top).

std::shared_ptr< ChBody >	chrono::utils::CreateCylindricalContainerFromBoxes (ChSystem *system, int id, std::shared_ptr< ChMaterialSurface > mat, const ChVector<> &hdim, double hthick, int numBoxes, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false, bool isBoxBase=true, bool partialVisualization=true)
	Create a cylindrical container body with contact and asset geometry representing a cylindrical container modeled with boxes. More...

bool	chrono::utils::LoadConvexMesh (const std::string &file_name, geometry::ChTriangleMeshConnected &convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), int hacd_maxhullcount=1024, int hacd_maxhullmerge=256, int hacd_maxhullvertexes=64, float hacd_concavity=0.01f, float hacd_smallclusterthreshold=0.0f, float hacd_fusetolerance=1e-6f)
	Load an object from a Wavefront OBJ file and generate its convex decomposition.

bool	chrono::utils::LoadConvexHulls (const std::string &file_name, geometry::ChTriangleMeshConnected &convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls)
	Given a path to an obj file, loads the obj assuming that the individual objects in the obj are convex hulls, useful when loading a precomputed set of convex hulls. More...

ChApi void	chrono::utils::AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true)
	Given a convex mesh and its decomposition add it to a ChBody use_original_asset can be used to specify if the mesh or the convex decomp should be used for visualization.

ChApi void	chrono::utils::AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
	Add a convex mesh to an object based on a set of points. More...

template<typename T >
std::vector< ChVector< T > >	chrono::utils::PDLayerSampler_BOX (ChVector< T > center, ChVector< T > hdims, T diam, T padding_factor=1.02, bool verbose=false)
	Poisson Disk sampler for sampling a 3D box in layers. More...

Variables
template<class T >
constexpr T	chrono::utils::Pi = T(3.1415926535897932385L)

Enumeration Type Documentation

◆ SamplingType

enum chrono::utils::SamplingType

strong

Volumetric sampling method.

Enumerator
REGULAR_GRID	Regular (equidistant) grid.
POISSON_DISK	Poisson Disk sampling.
HCP_PACK	Hexagonally Close Packing.

Function Documentation

◆ AddConvexCollisionModel()

ChApi void chrono::utils::AddConvexCollisionModel	(	std::shared_ptr< ChBody >	body,
		std::shared_ptr< ChMaterialSurface >	material,
		std::shared_ptr< geometry::ChTriangleMeshConnected >	convex_mesh,
		std::vector< std::vector< ChVector< double >>> &	convex_hulls,
		const ChVector<> &	pos = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`
	)

Add a convex mesh to an object based on a set of points.

This version will use the triangle mesh to set the visualization geometry.

◆ CreateCylindricalContainerFromBoxes()

ChApi std::shared_ptr< ChBody > chrono::utils::CreateCylindricalContainerFromBoxes	(	ChSystem *	system,
		int	id,
		std::shared_ptr< ChMaterialSurface >	mat,
		const ChVector<> &	hdim,
		double	hthick,
		int	numBoxes,
		const ChVector<> &	pos = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`,
		bool	collide = `true`,
		bool	overlap = `true`,
		bool	closed = `false`,
		bool	isBoxBase = `true`,
		bool	partialVisualization = `true`
	)

Create a cylindrical container body with contact and asset geometry representing a cylindrical container modeled with boxes.

The container is aligned with the z direction. The position refers to the center of the bottom inner circle. Only half of the cylinder is visualized.

◆ LoadConvexHulls()

ChApi bool chrono::utils::LoadConvexHulls	(	const std::string &	file_name,
		geometry::ChTriangleMeshConnected &	convex_mesh,
		std::vector< std::vector< ChVector< double >>> &	convex_hulls
	)

Given a path to an obj file, loads the obj assuming that the individual objects in the obj are convex hulls, useful when loading a precomputed set of convex hulls.

The output of this function is used with AddConvexCollisionModel

◆ PDLayerSampler_BOX()

template<typename T >

std::vector<ChVector<T> > chrono::utils::PDLayerSampler_BOX	(	ChVector< T >	center,
		ChVector< T >	hdims,
		T	diam,
		T	padding_factor = `1.02`,
		bool	verbose = `false`
	)

Poisson Disk sampler for sampling a 3D box in layers.

The computational efficiency of PD sampling degrades as points are added, especially for large volumes. This class provides an alternative sampling method where PD sampling is done in 2D layers, separated by a specified distance (padding_factor * diam). This significantly improves computational efficiency of the sampling but at the cost of discarding the PD uniform distribution properties in the direction orthogonal to the layers.

Parameters

center	Center of axis-aligned box to fill
hdims	Half-dimensions along the x, y, and z axes
diam	Particle diameter
padding_factor	Multiplier on particle diameter for spacing
verbose	Output progress during generation

Description

Classes

Macros

Enumerations

Functions