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Static Public Member Functions |
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chrono::utils::ChBodyGeometry Class Reference
Description
Utility class defining geometry (visualization and collision) and contact materials for a rigid 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 <ChBodyGeometry.h>
Collaboration diagram for chrono::utils::ChBodyGeometry:
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=VisualizationType::MODEL_FILE) |
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. | |
ChAABB | CalculateAABB () |
Calculate axis-aligned bounding box of all collision shapes. | |
bool | HasCollision () const |
Indicate whether or not collision shapes are defined. | |
bool | HasVisualizationPrimitives () const |
Indicate whether or not visualization primitives are defined. | |
bool | HasVisualizationMesh () const |
Indicate whether or not a visualization mesh is defined. | |
Static Public Member Functions | |
static std::shared_ptr< ChVisualShape > | AddVisualizationCylinder (std::shared_ptr< ChBody > body, const ChVector3d &p1, const ChVector3d &p2, double radius, ChVisualMaterialSharedPtr mat=nullptr) |
Utility function for adding a cylinder visualization shape defined by the end points and a radius. More... | |
Public Attributes | |
std::vector< ChContactMaterialData > | materials |
list of contact materials | |
std::vector< BoxShape > | coll_boxes |
list of collision boxes | |
std::vector< SphereShape > | coll_spheres |
list of collision spheres | |
std::vector< CylinderShape > | coll_cylinders |
list of collision cylinders | |
std::vector< ConvexHullsShape > | coll_hulls |
list of collision convex hulls | |
std::vector< TrimeshShape > | coll_meshes |
list of collision trimeshes | |
std::vector< BoxShape > | vis_boxes |
list of visualization boxes | |
std::vector< SphereShape > | vis_spheres |
list of visualization spheres | |
std::vector< CylinderShape > | vis_cylinders |
list of visualization cylinders | |
std::vector< LineShape > | vis_lines |
list of visualization lines | |
ChColor | color_boxes |
visualization color | |
ChColor | color_spheres |
visualization color | |
ChColor | color_cylinders |
visualization color | |
std::string | vis_mesh_file |
name of Wavefront OBJ file with visualization mesh | |
Member Function Documentation
◆ AddVisualizationCylinder()
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static |
Utility function for adding a cylinder visualization shape defined by the end points and a radius.
This function adds the visualization shape to the body's visual model and returns the shape.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/utils/ChBodyGeometry.h
- /builds/uwsbel/chrono/src/chrono/utils/ChBodyGeometry.cpp