Description

Structure of arrays containing rigid collision shape information.

#include <ChCollisionData.h>

Public Attributes
std::vector< short2 >	fam_rigid
	family information

std::vector< uint >	id_rigid
	ID of associated body.

std::vector< int >	typ_rigid
	shape type

std::vector< int >	local_rigid
	local shape index in collision model of associated body

std::vector< int >	start_rigid
	start index in the appropriate container of dimensions

std::vector< int >	length_rigid
	usually 1, except for convex

std::vector< quaternion >	ObR_rigid
	shape rotations

std::vector< real3 >	ObA_rigid
	shape positions

std::vector< real3 >	obj_data_A_global

std::vector< quaternion >	obj_data_R_global

std::vector< real >	sphere_rigid
	radius for sphere shapes

std::vector< real3 >	box_like_rigid
	dimensions for box-like shapes

std::vector< real3 >	triangle_rigid
	vertices of all triangle shapes (3 per shape)

std::vector< real2 >	capsule_rigid
	radius and half-length for capsule shapes

std::vector< real4 >	rbox_like_rigid
	dimensions and radius for rbox-like shapes

std::vector< real3 >	convex_rigid
	points for convex hull shapes

std::vector< real3 >	triangle_global
	triangle vertices in global frame

The documentation for this struct was generated from the following file:

Public Attributes