Description
Base class for geometric objects used for collisions and visualization.
#include <ChGeometry.h>
Public Types | |
| enum | GeometryType { NONE, SPHERE, BOX, CYLINDER, TRIANGLE, CAPSULE, CONE, LINE, LINE_ARC, LINE_BEZIER, LINE_CAM, LINE_PATH, LINE_POLY, LINE_SEGMENT, ROUNDED_BOX, ROUNDED_CYLINDER, ROUNDED_CONE, TRIANGLEMESH, TRIANGLEMESH_CONNECTED, TRIANGLEMESH_SOUP } |
| Enumeration of geometric objects. | |
Public Member Functions | |
| ChGeometry (const ChGeometry &source) | |
| virtual ChGeometry * | Clone () const =0 |
| "Virtual" copy constructor. | |
| virtual GeometryType | GetClassType () const |
| Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism). More... | |
| virtual void | GetBoundingBox (ChVector<> &cmin, ChVector<> &cmax, const ChMatrix33<> &rot) const |
| Compute bounding box along the directions defined by the given rotation matrix. More... | |
| void | InflateBoundingBox (ChVector<> &cmin, ChVector<> &cmax, const ChMatrix33<> &rot) const |
| Enlarge the given existing bounding box with the bounding box of this object. | |
| virtual double | GetBoundingSphereRadius () const |
| Returns the radius of a bounding sphere for this geometry. More... | |
| virtual ChVector | Baricenter () const |
| Compute center of mass. | |
| virtual int | GetManifoldDimension () const |
| Returns the dimension of the geometry (0=point, 1=line, 2=surface, 3=solid) | |
| virtual void | Update () |
| Generic update of internal data. | |
| 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. | |
Member Function Documentation
◆ GetBoundingBox()
|
virtual |
Compute bounding box along the directions defined by the given rotation matrix.
The default implementation returns a bounding box with zeros dimensions.
Reimplemented in chrono::geometry::ChTriangleMeshConnected, chrono::geometry::ChTriangleMesh, chrono::geometry::ChTriangle, chrono::geometry::ChCone, chrono::geometry::ChCylinder, chrono::geometry::ChRoundedBox, chrono::geometry::ChBox, chrono::geometry::ChCapsule, chrono::geometry::ChEllipsoid, and chrono::geometry::ChSphere.
◆ GetBoundingSphereRadius()
|
virtual |
Returns the radius of a bounding sphere for this geometry.
The default implementation returns the radius of a sphere bounding the geometry bounding box, which is not always the tightest possible.
Reimplemented in chrono::geometry::ChCapsule, chrono::geometry::ChEllipsoid, and chrono::geometry::ChSphere.
◆ GetClassType()
|
inlinevirtual |
Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism).
Each inherited class must return an unique ID.
Reimplemented in chrono::geometry::ChTriangleMeshConnected, chrono::geometry::ChLineCam, chrono::geometry::ChTriangleMeshSoup, chrono::geometry::ChTriangleMesh, chrono::geometry::ChLineArc, chrono::geometry::ChLine, chrono::geometry::ChTriangle, chrono::geometry::ChLineBezier, chrono::geometry::ChLinePath, chrono::geometry::ChCylinder, chrono::geometry::ChLinePoly, chrono::geometry::ChLineSegment, chrono::geometry::ChCone, chrono::geometry::ChRoundedBox, chrono::geometry::ChBox, chrono::geometry::ChRoundedCone, chrono::geometry::ChCapsule, chrono::geometry::ChEllipsoid, chrono::geometry::ChRoundedCylinder, and chrono::geometry::ChSphere.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/geometry/ChGeometry.h
- /builds/uwsbel/chrono/src/chrono/geometry/ChGeometry.cpp
