Description

Class defining the Bullet geometric model for collision detection.

#include <ChCollisionModelBullet.h>

Inherits chrono::ChCollisionModelImpl.

Public Member Functions
	ChCollisionModelBullet (ChCollisionModel *collision_model)

virtual ChAABB	GetBoundingBox () const override
	Returns the axis aligned bounding box (AABB) of the collision model. More...

float	GetEnvelope ()
	Return the outward safe margin.

float	GetSafeMargin ()
	Return the inward safe margin.

virtual void	SyncPosition () override
	Sets the position and orientation of the collision model as the current position of the corresponding ChContactable.

bool	SetSphereRadius (double coll_radius, double out_envelope)
	If the collision shape is a sphere, resize it and return true (if no sphere is found in this collision shape, return false). More...

Protected Member Functions
void	Populate ()
	Populate the collision system with the collision shapes defined in this model.

virtual void	OnFamilyChange (short int family_group, short int family_mask) override
	Additional operations to be performed on a change in collision family.

void	injectShape (std::shared_ptr< ChCollisionShape > shape, std::shared_ptr< cbtCollisionShape > bt_shape, const ChFrame<> &frame)

void	injectPath2D (std::shared_ptr< ChCollisionShapePath2D > shape_path, const ChFrame<> &frame)

void	injectConvexHull (std::shared_ptr< ChCollisionShapeConvexHull > shape_hull, const ChFrame<> &frame)

void	injectTriangleMesh (std::shared_ptr< ChCollisionShapeTriangleMesh > shape_trimesh, const ChFrame<> &frame)

void	injectTriangleProxy (std::shared_ptr< ChCollisionShapeMeshTriangle > shape_triangle)

void	injectSegmentProxy (std::shared_ptr< ChCollisionShapeSegment > shape_seg)

cbtCollisionObject *	GetBulletObject ()

cbtScalar	GetSuggestedFullMargin ()

Protected Attributes
std::unique_ptr< cbtCollisionObject >	bt_collision_object
	Bullet collision object containing Bullet geometries.

std::shared_ptr< cbtCompoundShape >	bt_compound_shape
	compound for models with more than one shape

std::vector< std::shared_ptr< cbtCollisionShape > >	m_bt_shapes
	list of Bullet collision shapes in model

std::vector< std::shared_ptr< ChCollisionShape > >	m_shapes
	extended list of collision shapes

Friends
class	ChCollisionSystemBullet

class	ChCollisionSystemBulletMulticore

class	chrono::fea::ChContactSurfaceMesh

Member Function Documentation

ChAABB chrono::ChCollisionModelBullet::GetBoundingBox ( ) const

overridevirtual

Returns the axis aligned bounding box (AABB) of the collision model.

Note that SyncPosition() should be invoked before calling this.

bool chrono::ChCollisionModelBullet::SetSphereRadius	(	double	coll_radius,
		double	out_envelope
	)

If the collision shape is a sphere, resize it and return true (if no sphere is found in this collision shape, return false).

It can also change the outward envelope; the inward margin is automatically the radius of the sphere.

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