Description
Collision engine based on the Bullet library.
Contains both the broadphase and the narrow phase Bullet methods.
#include <ChCollisionSystemBullet.h>
Public Member Functions | |
| ChCollisionSystemBullet () | |
| virtual ChCollisionSystemType | GetType () const override |
| Return the type of this collision system. | |
| virtual void | Clear (void) override |
| Clears all data instanced by this algorithm if any (like persistent contact manifolds) | |
| virtual void | Add (ChCollisionModel *model) override |
| Adds a collision model to the collision engine (custom data may be allocated). | |
| virtual void | Remove (ChCollisionModel *model) override |
| Removes a collision model from the collision engine (custom data may be deallocated). | |
| virtual void | SetNumThreads (int nthreads) override |
| Removes all collision models from the collision engine (custom data may be deallocated). More... | |
| virtual void | Run () override |
| Run the algorithm and finds all the contacts. More... | |
| virtual void | GetBoundingBox (ChVector<> &aabb_min, ChVector<> &aabb_max) const override |
| Return an AABB bounding all collision shapes in the system. | |
| virtual void | ResetTimers () override |
| Reset timers for collision detection. | |
| virtual double | GetTimerCollisionBroad () const override |
| Return the time (in seconds) for broadphase collision detection. | |
| virtual double | GetTimerCollisionNarrow () const override |
| Return the time (in seconds) for narrowphase collision detection. | |
| virtual void | ReportContacts (ChContactContainer *mcontactcontainer) override |
| 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) override |
| 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... | |
| virtual bool | RayHit (const ChVector<> &from, const ChVector<> &to, ChRayhitResult &result) const override |
| Perform a ray-hit test with all collision models. | |
| virtual bool | RayHit (const ChVector<> &from, const ChVector<> &to, ChCollisionModel *model, ChRayhitResult &result) const override |
| Perform a ray-hit test with the specified collision model. | |
| virtual void | RegisterVisualizationCallback (std::shared_ptr< VisualizationCallback > callback) override |
| Specify a callback object to be used for debug rendering of collision shapes. | |
| virtual void | Visualize (int flags) override |
| Method to trigger debug visualization of collision shapes. More... | |
| cbtCollisionWorld * | GetBulletCollisionWorld () |
 Public Member Functions inherited from chrono::collision::ChCollisionSystem | |
| virtual void | PreProcess () |
| Removes all collision models from the collision engine (custom data may be deallocated). More... | |
| virtual void | PostProcess () |
| Optional synchronization operations, invoked after running the collision detection. | |
| 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 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. | |
Static Public Member Functions | |
| static void | SetContactBreakingThreshold (double threshold) |
Additional Inherited Members | |
| Public Types inherited from chrono::collision::ChCollisionSystem | |
| 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... | |
| Protected Attributes inherited from chrono::collision::ChCollisionSystem | |
| 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 |
Constructor & Destructor Documentation
◆ ChCollisionSystemBullet()
| chrono::collision::ChCollisionSystemBullet::ChCollisionSystemBullet | ( | ) |
bt_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE, CYLINDER_SHAPE_PROXYTYPE, m_collision_sph_cyl); /bt_dispatcher->registerCollisionCreateFunc(CYLINDER_SHAPE_PROXYTYPE, SPHERE_SHAPE_PROXYTYPE, m_collision_cyl_sph);
Member Function Documentation
◆ ReportContacts()
|
overridevirtual |
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, The basic behavior of the implementation is the following: collision system will call in sequence the functions BeginAddContact(), AddContact() (x n times), EndAddContact() of the contact container.
Implements chrono::collision::ChCollisionSystem.
◆ ReportProximities()
|
overridevirtual |
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, The basic behavior of the implementation is the following: collision system will call in sequence the functions BeginAddProximities(), AddProximity() (x n times), EndAddProximities() of the proximity container.
Implements chrono::collision::ChCollisionSystem.
◆ Run()
|
overridevirtual |
Run the algorithm and finds all the contacts.
(Contacts will be managed by the Bullet persistent contact cache).
Implements chrono::collision::ChCollisionSystem.
◆ SetNumThreads()
|
overridevirtual |
Removes all collision models from the collision engine (custom data may be deallocated).
Set the number of OpenMP threads for collision detection.
Reimplemented from chrono::collision::ChCollisionSystem.
◆ Visualize()
|
overridevirtual |
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. No-op if a visualization callback was not specified with RegisterVisualizationCallback().
Reimplemented from chrono::collision::ChCollisionSystem.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/collision/ChCollisionSystemBullet.h
- /builds/uwsbel/chrono/src/chrono/collision/ChCollisionSystemBullet.cpp
