chrono::vehicle::ChVehicleGeometry Class Reference
Description
Utility class defining geometry (visualization and collision) and contact materials for a rigid vehicle body.
Holds vectors of primitive shapes (any one of which may be empty) and a list of contact materials. Each shape defines its position and orientation relative to the parent body, geometric dimensions, and an index into the list of contact materials.
#include <ChVehicleGeometry.h>
Collaboration diagram for chrono::vehicle::ChVehicleGeometry:
Classes | |
| struct | BoxShape |
| Box shape for visualization and/or collision. More... | |
| struct | ConvexHullsShape |
| Convex hulls shape for collision. More... | |
| struct | CylinderShape |
| Cylinder shape for visualization and/or collision. More... | |
| struct | LineShape |
| Line shape for visualization. More... | |
| struct | SphereShape |
| Sphere shape for visualization and/or collision. More... | |
| struct | TrimeshShape |
| Tri-mesh shape for collision. More... | |
Public Member Functions | |
| void | CreateVisualizationAssets (std::shared_ptr< ChBody > body, VisualizationType vis, bool visualize_collision=false) |
| Create visualization assets for the specified body. | |
| void | CreateCollisionShapes (std::shared_ptr< ChBody > body, int collision_family, ChContactMethod contact_method) |
| Create collision shapes for the specified body. | |
| AABB | CalculateAABB () |
| Calculate axis-aligned bounding box of all collision shapes. | |
Public Attributes | |
| bool | m_has_collision |
| true if body has a collision model | |
| std::vector< ChContactMaterialData > | m_materials |
| list of contact materials | |
| std::vector< BoxShape > | m_coll_boxes |
| list of collision boxes | |
| std::vector< SphereShape > | m_coll_spheres |
| list of collision spheres | |
| std::vector< CylinderShape > | m_coll_cylinders |
| list of collision cylinders | |
| std::vector< ConvexHullsShape > | m_coll_hulls |
| list of collision convex hulls | |
| std::vector< TrimeshShape > | m_coll_meshes |
| list of collision trimeshes | |
| bool | m_has_primitives |
| true if the body uses visualization primitives | |
| std::vector< BoxShape > | m_vis_boxes |
| list of visualization boxes | |
| std::vector< SphereShape > | m_vis_spheres |
| list of visualization spheres | |
| std::vector< CylinderShape > | m_vis_cylinders |
| list of visualization cylinders | |
| std::vector< LineShape > | m_vis_lines |
| list of visualization lines | |
| bool | m_has_colors |
| true if primitive colors were provided | |
| ChColor | m_color_boxes |
| visualization color | |
| ChColor | m_color_spheres |
| visualization color | |
| ChColor | m_color_cylinders |
| visualization color | |
| bool | m_has_obj |
| true if the body uses visualization from an OBJ | |
| bool | m_has_mesh |
| true if the body uses a visualization mesh | |
| std::string | m_vis_mesh_file |
| name of Wavefront OBJ file with visualization mesh | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/ChVehicleGeometry.h
- /builds/uwsbel/chrono/src/chrono_vehicle/ChVehicleGeometry.cpp
