Description
Chrono::Multicore collision_settings.
This structure that contains all settings associated with the collision detection phase.
#include <ChSettings.h>
Public Attributes | |
| real | collision_envelope |
| For stability of NSC contact, the envelope should be set to 5-10% of the smallest collision shape size (too large a value will slow down the narrowphase collision detection). More... | |
| bool | use_aabb_active |
| Flag controlling the monitoring of shapes outside active bounding box. More... | |
| real3 | aabb_min |
| Lower corner of the axis-aligned bounding box (if set to active). | |
| real3 | aabb_max |
| Upper corner of the axis-aligned bounding box (if set to active). | |
| ChBroadphase::GridType | broadphase_grid |
| Method for controlling granularity of the broadphase collision grid. | |
| vec3 | bins_per_axis |
| Number of bins for the broadphase collision grid. More... | |
| real3 | bin_size |
| Broadphase collision grid bin size. More... | |
| real | grid_density |
| Broadphase collision grid density. More... | |
| ChNarrowphase::Algorithm | narrowphase_algorithm |
| Algorithm for narrowphase collision detection phase. More... | |
Member Data Documentation
◆ bin_size
| real3 chrono::collision_settings::bin_size |
Broadphase collision grid bin size.
This value is used for dynamic tuning of the number of collision bins if the broadphase_grid type is set to FIXED_BIN_SIZE.
◆ bins_per_axis
| vec3 chrono::collision_settings::bins_per_axis |
Number of bins for the broadphase collision grid.
This is the default method to control the granularity of the collision detection grid used for the broadphase. During the broadphase stage the extents of the simulation are computed and then sliced according to the variable.
◆ collision_envelope
| real chrono::collision_settings::collision_envelope |
For stability of NSC contact, the envelope should be set to 5-10% of the smallest collision shape size (too large a value will slow down the narrowphase collision detection).
The envelope is the amount by which each collision shape is inflated prior to performing the collision detection, in order to create contact constraints before shapes actually come in contact. This collision detection system uses a global envelope, used for all rigid shapes in the system.
◆ grid_density
| real chrono::collision_settings::grid_density |
Broadphase collision grid density.
This value is used for dynamic tuning of the number of collision bins if the broadphase_grid type is set to FIXED_DENSITY.
◆ narrowphase_algorithm
| ChNarrowphase::Algorithm chrono::collision_settings::narrowphase_algorithm |
Algorithm for narrowphase collision detection phase.
The Chrono collision detection system provides several analytical collision detection algorithms, for particular pairs of shapes (see ChNarrowphasePRIMS). For general convex shapes, the collision system relies on the Minkovski Portal Refinement algorithm (see ChNarrowphaseMPR).
◆ use_aabb_active
| bool chrono::collision_settings::use_aabb_active |
Flag controlling the monitoring of shapes outside active bounding box.
If enabled, objects whose collision shapes exit the active bounding box are deactivated (frozen). The size of the bounding box is specified by its min and max extents.
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono_multicore/ChSettings.h
