chrono::ChCollisionSystemDistributed Class Reference
Description
This class scaffolds on ChCollisionSystemChronoMulticore in order to manage collision data for the system during MPI exchanges.
Maintains a mapping from a body to its shapes.
#include <ChCollisionSystemDistributed.h>
Inheritance diagram for chrono::ChCollisionSystemDistributed:
Collaboration diagram for chrono::ChCollisionSystemDistributed:
Public Member Functions | |
| ChCollisionSystemDistributed (ChMulticoreDataManager *dm, ChDistributedDataManager *ddm) | |
| virtual void | Add (ChCollisionModel *model) override |
| Add a collision model to the collision engine. More... | |
| virtual void | Remove (ChCollisionModel *model) override |
| Remove a collision model from the collision engine. More... | |
 Public Member Functions inherited from chrono::ChCollisionSystemChronoMulticore | |
| ChCollisionSystemChronoMulticore (ChMulticoreDataManager *dc) | |
| 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 | PostProcess () override |
| Synchronization operations, invoked after running the collision detection. | |
| virtual void | ReportContacts (ChContactContainer *container) override |
| Fill in the provided contact container with collision information after Run(). More... | |
| virtual void | ReportProximities (ChProximityContainer *mproximitycontainer) override |
| Fill in the provided proximity container with near point information after Run(). More... | |
| Public Member Functions inherited from chrono::ChCollisionSystemChrono | |
| 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 | Run () override |
| Run the algorithm and finds all the contacts. | |
| virtual geometry::ChAABB | GetBoundingBox () 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 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. | |
| virtual void | ArchiveOut (ChArchiveOut &marchive) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &marchive) override |
| Method to allow deserialization of transient data from archives. | |
| Public Member Functions inherited from chrono::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. | |
| void | SetSystem (ChSystem *sys) |
| Set associated Chrono system. | |
Additional Inherited Members | |
| Public Types inherited from chrono::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... | |
| Protected Member Functions inherited from chrono::ChCollisionSystemChrono | |
| 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 inherited from chrono::ChCollisionSystemChrono | |
| std::shared_ptr< ChCollisionData > | cd_data |
| ChBroadphase | broadphase |
| methods for broad-phase collision detection | |
| 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::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 |
Member Function Documentation
◆ Add()
|
overridevirtual |
Add a collision model to the collision engine.
Creates a mapping entry from the associated body to its collision shapes.
Reimplemented from chrono::ChCollisionSystemChrono.
◆ Remove()
|
overridevirtual |
Remove a collision model from the collision engine.
Deactivates the body in the data manager of Chrono::Multicore and marks the space as free.
Reimplemented from chrono::ChCollisionSystemChrono.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_distributed/collision/ChCollisionSystemDistributed.h
- /builds/uwsbel/chrono/src/chrono_distributed/collision/ChCollisionSystemDistributed.cpp
