chrono::collision::ChCollisionSystem Class Reference

Description

Base class for generic collision engine.

#include <ChCollisionSystem.h>

Inheritance diagram for chrono::collision::ChCollisionSystem:

Collaboration diagram for chrono::collision::ChCollisionSystem:

Classes
class	BroadphaseCallback
	Class to be used as a callback interface for user-defined actions to be performed for each 'near enough' pair of collision shapes found by the broad-phase collision step. More...
struct	ChRayhitResult
	Recover results from RayHit() raycasting. More...
class	NarrowphaseCallback
	Class to be used as a callback interface for user-defined actions to be performed at each collision pair found during the narrow-phase collision step. More...
class	VisualizationCallback
	Class to be used as a callback interface for user-defined visualization of collision shapes. More...

Public Types
enum	VisualizationModes {   VIS_None = 0, VIS_Shapes = 1 << 0, VIS_Aabb = 1 << 1, VIS_Contacts = 1 << 2,   VIS_MAX_MODES }
	Enumeration of supported flags for collision debug visualization. More...

Public Member Functions
virtual ChCollisionSystemType	GetType () const =0
	Return the type of this collision system.
virtual void	Clear (void)=0
	Clears all data instanced by this algorithm if any (like persistent contact manifolds)
virtual void	Add (ChCollisionModel *model)=0
	Adds a collision model to the collision engine (custom data may be allocated).
virtual void	Remove (ChCollisionModel *model)=0
	Removes a collision model from the collision engine (custom data may be deallocated).
virtual void	PreProcess ()
	Removes all collision models from the collision engine (custom data may be deallocated). More...
virtual void	Run ()=0
	Run the collision detection and finds the contacts. More...
virtual void	PostProcess ()
	Optional synchronization operations, invoked after running the collision detection.
virtual void	GetBoundingBox (ChVector<> &aabb_min, ChVector<> &aabb_max) const =0
	Return an AABB bounding all collision shapes in the system.
virtual double	GetTimerCollisionBroad () const =0
	Return the time (in seconds) for broadphase collision detection.
virtual double	GetTimerCollisionNarrow () const =0
	Return the time (in seconds) for narrowphase collision detection.
virtual void	ResetTimers ()
	Reset any timers associated with collision detection.
virtual void	SetNumThreads (int nthreads)
	Set the number of OpenMP threads for collision detection. More...
virtual void	ReportContacts (ChContactContainer *mcontactcontainer)=0
	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)=0
	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...
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 bool	RayHit (const ChVector<> &from, const ChVector<> &to, ChRayhitResult &result) const =0
	Perform a ray-hit test with the collision models.
virtual bool	RayHit (const ChVector<> &from, const ChVector<> &to, ChCollisionModel *model, ChRayhitResult &result) const =0
	Perform a ray-hit test with the specified collision model.
virtual void	RegisterVisualizationCallback (std::shared_ptr< VisualizationCallback > callback)
	Specify a callback object to be used for debug rendering of collision shapes.
virtual void	Visualize (int flags)
	Method to trigger debug visualization of collision shapes. 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.

Protected Attributes
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
std::shared_ptr< VisualizationCallback >	vis_callback
	user callback for debug visualization
int	m_vis_flags

Member Enumeration Documentation

VisualizationModes

enum chrono::collision::ChCollisionSystem::VisualizationModes

Enumeration of supported flags for collision debug visualization.

Enumerator
VIS_None	no debug collision visualization
VIS_Shapes	wireframe representation of collision shapes
VIS_Aabb	axis-aligned bounding boxes of collision shapes
VIS_Contacts	contact points and normals

Member Function Documentation

PreProcess()

virtual void chrono::collision::ChCollisionSystem::PreProcess ( )

inlinevirtual

Removes all collision models from the collision engine (custom data may be deallocated).

Optional synchronization operations, invoked before running the collision detection.

Reimplemented in chrono::collision::ChCollisionSystemChrono, and chrono::collision::ChCollisionSystemChronoMulticore.

RegisterBroadphaseCallback()

void chrono::collision::ChCollisionSystem::RegisterBroadphaseCallback ( std::shared_ptr< BroadphaseCallback >  callback )

inline

Specify a callback object to be used each time a pair of 'near enough' collision shapes is found by the broad-phase collision step.

The OnBroadphase() method of the provided callback object will be called for each pair of 'near enough' shapes.

RegisterNarrowphaseCallback()

void chrono::collision::ChCollisionSystem::RegisterNarrowphaseCallback ( std::shared_ptr< NarrowphaseCallback >  callback )

inline

Specify a callback object to be used each time a collision pair is found during the narrow-phase collision detection step.

The OnNarrowphase() method of the provided callback object will be called for each collision pair found during narrow phase.

ReportContacts()

virtual void chrono::collision::ChCollisionSystem::ReportContacts ( ChContactContainer *  mcontactcontainer )

pure virtual

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, Children classes must implement this. The basic behavior of the implementation should be the following: collision system will call in sequence the functions BeginAddContact(), AddContact() (x n times), EndAddContact() of the contact container. In case a specialized implementation (ex. a GPU parallel collision engine) finds that the contact container is a specialized one (ex with a GPU buffer) it can call more performant methods to add directly the contacts in batches, for instance by recognizing that he can call, say, some special AddAllContactsAsGpuBuffer() instead of many AddContact().

Implemented in chrono::collision::ChCollisionSystemBulletMulticore, chrono::collision::ChCollisionSystemBullet, chrono::collision::ChCollisionSystemChrono, and chrono::collision::ChCollisionSystemChronoMulticore.

ReportProximities()

virtual void chrono::collision::ChCollisionSystem::ReportProximities ( ChProximityContainer *  mproximitycontainer )

pure virtual

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, Children classes must implement this. The basic behavior of the implementation should be the following: collision system will call in sequence the functions BeginAddProximities(), AddProximity() (x n times), EndAddProximities() of the proximity container. In case a specialized implementation (ex. a GPU parallel collision engine) finds that the proximity container is a specialized one (ex with a GPU buffer) it can call more performant methods to add directly the proximities in batches, for instance by recognizing that he can call, say, some special AddAllProximitiesAsGpuBuffer() instead of many AddProximity().

Implemented in chrono::collision::ChCollisionSystemChrono, chrono::collision::ChCollisionSystemBullet, chrono::collision::ChCollisionSystemBulletMulticore, and chrono::collision::ChCollisionSystemChronoMulticore.

Run()

virtual void chrono::collision::ChCollisionSystem::Run ( )

pure virtual

Run the collision detection and finds the contacts.

This function will be called at each simulation step.

Implemented in chrono::collision::ChCollisionSystemChrono, chrono::collision::ChCollisionSystemBulletMulticore, and chrono::collision::ChCollisionSystemBullet.

SetNumThreads()

virtual void chrono::collision::ChCollisionSystem::SetNumThreads ( int  nthreads )

inlinevirtual

Set the number of OpenMP threads for collision detection.

The default implementation does nothing. Derived classes implement this function as applicable.

Reimplemented in chrono::collision::ChCollisionSystemChrono, chrono::collision::ChCollisionSystemBulletMulticore, chrono::collision::ChCollisionSystemBullet, and chrono::collision::ChCollisionSystemChronoMulticore.

Visualize()

virtual void chrono::collision::ChCollisionSystem::Visualize ( int  flags )

inlinevirtual

Method to trigger debug visualization of collision shapes.

The 'flags' argument can be any of the VisualizationModes enums, or a combination thereof (using bit-wise operators). The calling program must invoke this function from within the simulation loop. A derived class should implement a no-op if a visualization callback was not specified.

Reimplemented in chrono::collision::ChCollisionSystemChrono, and chrono::collision::ChCollisionSystemBullet.

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

• /builds/uwsbel/chrono/src/chrono/collision/ChCollisionSystem.h