Description

Class for storing information about a collision point.

#include <ChCollisionPair.h>

Collaboration diagram for chrono::ChCollisionPair:

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Public Member Functions
	ChCollisionPair ()
	Basic constructor.

	ChCollisionPair (ChGeometry mgeo1, ChGeometry mgeo2, const ChVector3d &mp1, const ChVector3d &mp2, const ChVector3f &mnormal, float *mreaction_cache=0)
	Constructor for case of contact point correctly estimated.

	ChCollisionPair (ChGeometry mgeo1, ChGeometry mgeo2)
	Constructor for case of just intersection.

void	Set (ChGeometry mgeo1, ChGeometry mgeo2, const ChVector3d &mp1, const ChVector3d &mp2, const ChVector3f &mnormal, float *mreaction_cache=0)
	Set all data at once (better: use the custom constructor)

void	SwapGeometries ()
	Swap geometries, that is geo1 becomes geo2 and viceversa; normal and so on are updates as well.

void	CacheFetchSpeedSolutionFromManifold (float &mN, float &mU, float &mV)
	Fetches normal and U,V impulsive reactions, as previously stored in a persistent contact manifold maintained by the collision engine. More...

void	CacheFetchPositionSolutionFromManifold (float &mN, float &mU, float &mV)
	Fetches normal and U,V 'positional' reactions, as previously stored in a persistent contact manifold maintained by the collision engine. More...

void	CacheStoreSpeedSolutionIntoManifold (const float mN, const float mU, const float mV)
	Stores normal and U,V reactions into a persistent contact manifold maintained by the collision engine (if any)

void	CacheStorePositionSolutionIntoManifold (const float mN, const float mU, const float mV)
	Stores normal and U,V 'positional' reactions into a persistent contact manifold maintained by the collision engine (if any)

Public Attributes
ChGeometry *	geo1
	pointer to 1st geometry which generated this collision pair

ChGeometry *	geo2
	pointer to 2nd geometry which generated this collision pair

ChVector3d	p1
	max penetration point on geo1, after refining, in abs space

ChVector3d	p2
	max penetration point on geo2, after refining, in abs space

ChVector3f	normal
	normal, on surface of master reference (geo1)

double	norm_dist
	penetration distance (negative if going inside) after refining

bool	just_intersection
	if true, only reports that two geometries are intersection, but no info is reliable

float *	reactions_cache
	about normal, p1 or p2. More...

Member Function Documentation

◆ CacheFetchPositionSolutionFromManifold()

void chrono::ChCollisionPair::CacheFetchPositionSolutionFromManifold	(	float &	mN,
		float &	mU,
		float &	mV
	)

inline

Fetches normal and U,V 'positional' reactions, as previously stored in a persistent contact manifold maintained by the collision engine.

If no cache, set as 0,0,0

◆ CacheFetchSpeedSolutionFromManifold()

void chrono::ChCollisionPair::CacheFetchSpeedSolutionFromManifold	(	float &	mN,
		float &	mU,
		float &	mV
	)

inline

Fetches normal and U,V impulsive reactions, as previously stored in a persistent contact manifold maintained by the collision engine.

If no cache, set as 0,0,0

Member Data Documentation

◆ reactions_cache

float* chrono::ChCollisionPair::reactions_cache

about normal, p1 or p2.

points to an array[3] of N,U,V reactions which might be stored in a persistent contact manifold in the collision engine

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

/builds/uwsbel/chrono/src/chrono/collision/ChCollisionPair.h