Description

Chrono custom multicore collision system.

Contains both the broadphase and the narrow phase methods.

#include <ChCollisionSystemChrono.h>

Inheritance diagram for chrono::collision::ChCollisionSystemChrono:

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Collaboration diagram for chrono::collision::ChCollisionSystemChrono:

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Public Member Functions
virtual ChCollisionSystemType	GetType () const override
	Return the type of this collision system.

void	SetEnvelope (double envelope)
	Set collision envelope for rigid shapes (default: ChCollisionModel::GetDefaultSuggestedEnvelope). More...

void	SetBroadphaseGridResolution (const ChVector< int > &num_bins)
	Set a fixed number of grid bins (default 10x10x10). More...

void	SetBroadphaseGridSize (const ChVector<> &bin_size)
	Set a variable number of grids, such that each bin has roughly the specified size. More...

void	SetBroadphaseGridDensity (double density)
	Set a variable number of grid bins, such that there are roughly `density` collision shapes per bin. More...

void	SetNarrowphaseAlgorithm (ChNarrowphase::Algorithm algorithm)
	Set the narrowphase algorithm (default: ChNarrowphase::Algorithm::HYBRID). More...

void	EnableActiveBoundingBox (const ChVector<> &aabb_min, const ChVector<> &aabb_max)
	Enable monitoring of shapes outside active bounding box (default: false). More...

bool	GetActiveBoundingBox (ChVector<> &aabb_min, ChVector<> &aabb_max) const
	Get the dimensions of the "active" box. More...

virtual void	Clear (void) override
	Clear all data instanced by this algorithm if any (like persistent contact manifolds).

virtual void	Add (ChCollisionModel *model) override
	Add a collision model to the collision engine.

virtual void	Remove (ChCollisionModel *model) override
	Remove a collision model from the collision engine. More...

virtual void	SetNumThreads (int nthreads) override
	Set the number of OpenMP threads for collision detection.

virtual void	PreProcess () override
	Synchronization operations, invoked before running the collision detection. More...

virtual void	Run () override
	Run the algorithm and finds all the contacts.

virtual void	PostProcess () override
	Synchronization operations, invoked after running the collision detection. 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 any timers associated with 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 *container) override
	Fill in the provided contact container with collision information after Run().

virtual void	ReportProximities (ChProximityContainer *mproximitycontainer) override
	Fill in the provided proximity container with near point information after Run(). More...

virtual bool	RayHit (const ChVector<> &from, const ChVector<> &to, ChRayhitResult &result) const override
	Perform a ray-hit test with all collision models. More...

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. More...

virtual void	Visualize (int flags) override
	Method to trigger debug visualization of collision shapes. More...

virtual std::vector< vec2 >	GetOverlappingPairs ()
	Return the pairs of IDs for overlapping contact shapes.

Public Member Functions inherited from chrono::collision::ChCollisionSystem
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	RegisterVisualizationCallback (std::shared_ptr< VisualizationCallback > callback)
	Specify a callback object to be used for debug rendering of collision shapes.

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 Member Functions
virtual void	GetOverlappingAABB (std::vector< char > &active_id, real3 Amin, real3 Amax)
	Mark bodies whose AABB is contained within the specified box.

void	GenerateAABB ()
	Generate the current axis-aligned bounding boxes of collision shapes.

void	VisualizeShapes ()
	Visualize collision shapes (wireframe).

void	VisualizeAABB ()
	Visualize collision shape AABBs.

void	VisualizeContacts ()
	Visualize contact points and normals.

Protected Attributes
std::shared_ptr< ChCollisionData >	cd_data

collision::ChBroadphase	broadphase
	methods for broad-phase collision detection

collision::ChNarrowphase	narrowphase
	methods for narrow-phase collision detection

std::vector< char >	body_active

bool	use_aabb_active
	enable freezing of objects outside the active bounding box

real3	active_aabb_min
	lower corner of active bounding box

real3	active_aabb_max
	upper corner of active bounding box

ChTimer	m_timer_broad

ChTimer	m_timer_narrow

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

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...

Member Function Documentation

◆ EnableActiveBoundingBox()

void chrono::collision::ChCollisionSystemChrono::EnableActiveBoundingBox	(	const ChVector<> &	aabb_min,
		const ChVector<> &	aabb_max
	)

Enable monitoring of shapes outside active bounding box (default: false).

If enabled, objects whose collision shapes exit the active bounding box are deactivated (frozen). The size of the bounding box is specified by its min and max extents.

◆ GetActiveBoundingBox()

bool chrono::collision::ChCollisionSystemChrono::GetActiveBoundingBox	(	ChVector<> &	aabb_min,
		ChVector<> &	aabb_max
	)		const

Get the dimensions of the "active" box.

The return value indicates whether or not the active box feature is enabled.

◆ PostProcess()

void chrono::collision::ChCollisionSystemChrono::PostProcess ( )

overridevirtual

Synchronization operations, invoked after running the collision detection.

This function updates the list of active bodies (if active bounding box enabled).

Reimplemented from chrono::collision::ChCollisionSystem.

Reimplemented in chrono::collision::ChCollisionSystemChronoMulticore.

◆ PreProcess()

void chrono::collision::ChCollisionSystemChrono::PreProcess ( )

overridevirtual

Synchronization operations, invoked before running the collision detection.

This function copies contactable state information in the collision system's data structures.

Reimplemented from chrono::collision::ChCollisionSystem.

Reimplemented in chrono::collision::ChCollisionSystemChronoMulticore.

◆ RayHit() [1/2]

bool chrono::collision::ChCollisionSystemChrono::RayHit	(	const ChVector<> &	from,
		const ChVector<> &	to,
		ChCollisionModel *	model,
		ChRayhitResult &	result
	)		const

overridevirtual

Perform a ray-hit test with the specified collision model.

Currently not implemented.

Implements chrono::collision::ChCollisionSystem.

◆ RayHit() [2/2]

bool chrono::collision::ChCollisionSystemChrono::RayHit	(	const ChVector<> &	from,
		const ChVector<> &	to,
		ChRayhitResult &	result
	)		const

overridevirtual

Perform a ray-hit test with all collision models.

Currently not implemented.

Implements chrono::collision::ChCollisionSystem.

◆ Remove()

void chrono::collision::ChCollisionSystemChrono::Remove ( ChCollisionModel * model )

overridevirtual

Remove a collision model from the collision engine.

Currently not implemented.

Implements chrono::collision::ChCollisionSystem.

Reimplemented in chrono::collision::ChCollisionSystemDistributed.

◆ ReportProximities()

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

inlineoverridevirtual

Fill in the provided proximity container with near point information after Run().

Not used.

Implements chrono::collision::ChCollisionSystem.

Reimplemented in chrono::collision::ChCollisionSystemChronoMulticore.

◆ SetBroadphaseGridDensity()

void chrono::collision::ChCollisionSystemChrono::SetBroadphaseGridDensity ( double density )

Set a variable number of grid bins, such that there are roughly density collision shapes per bin.

By default, a fixed number of bins is used (see SetBroadphaseGridResolution).

◆ SetBroadphaseGridResolution()

void chrono::collision::ChCollisionSystemChrono::SetBroadphaseGridResolution ( const ChVector< int > & num_bins )

Set a fixed number of grid bins (default 10x10x10).

This is the default setting; to continuously adjust the number of bins, use SetBroadphaseGridSize or SetBroadphaseGridDensity.

◆ SetBroadphaseGridSize()

void chrono::collision::ChCollisionSystemChrono::SetBroadphaseGridSize ( const ChVector<> & bin_size )

Set a variable number of grids, such that each bin has roughly the specified size.

By default, a fixed grid resolution is used (see SetBroadphaseGridResolution).

◆ SetEnvelope()

void chrono::collision::ChCollisionSystemChrono::SetEnvelope ( double envelope )

Set collision envelope for rigid shapes (default: ChCollisionModel::GetDefaultSuggestedEnvelope).

For stability of NSC contact, the envelope should be set to 5-10% of the smallest collision shape size (too large a value will slow down the narrowphase collision detection). The envelope is the amount by which each collision shape is inflated prior to performing the collision detection, in order to create contact constraints before shapes actually come in contact. This collision detection system uses a global envelope, used for all rigid shapes in the system.

◆ SetNarrowphaseAlgorithm()

void chrono::collision::ChCollisionSystemChrono::SetNarrowphaseAlgorithm ( ChNarrowphase::Algorithm algorithm )

Set the narrowphase algorithm (default: ChNarrowphase::Algorithm::HYBRID).

The Chrono collision detection system provides several analytical collision detection algorithms, for particular pairs of shapes (see ChNarrowphasePRIMS). For general convex shapes, the collision system relies on the Minkovski Portal Refinement algorithm (see ChNarrowphaseMPR).

◆ Visualize()

void chrono::collision::ChCollisionSystemChrono::Visualize ( int flags )

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/ChCollisionSystemChrono.h
/builds/uwsbel/chrono/src/chrono/collision/ChCollisionSystemChrono.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ EnableActiveBoundingBox()

◆ GetActiveBoundingBox()

◆ PostProcess()

◆ PreProcess()

◆ RayHit() [1/2]

◆ RayHit() [2/2]

◆ Remove()

◆ ReportProximities()

◆ SetBroadphaseGridDensity()

◆ SetBroadphaseGridResolution()

◆ SetBroadphaseGridSize()

◆ SetEnvelope()

◆ SetNarrowphaseAlgorithm()

◆ Visualize()