Description

Class defining the geometric model for collision detection.

#include <ChCollisionModel.h>

Public Types
typedef std::pair< std::shared_ptr< ChCollisionShape >, ChFrame<> >	ShapeInstance
	A ShapeInstance is a pair of a collision shape and its position in the model.

Public Member Functions
	ChCollisionModel (const ChCollisionModel &other)

void	Clear ()
	Delete all inserted collision shapes.

void	AddShape (std::shared_ptr< ChCollisionShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add a collision shape with specified position within the model. More...

void	AddCylinder (std::shared_ptr< ChContactMaterial > material, double radius, const ChVector3d &p1, const ChVector3d &p2)
	Convenience function to add a cylinder collision shape specified through a radius and end points. More...

void	AddShapes (std::shared_ptr< ChCollisionModel > model, const ChFrame<> &frame=ChFrame<>())
	Add copies of the collision shapes in the provided model to this collision model. More...

void	SetContactable (ChContactable *contactable)
	Set the pointer to the contactable object.

ChContactable *	GetContactable ()
	Get the pointer to the contactable object.

ChPhysicsItem *	GetPhysicsItem ()
	Get the pointer to the client owner ChPhysicsItem. More...

void	SyncPosition ()
	Synchronize the position and orientation of the collision model to the associated contactable.

void	SetFamily (int family)
	Set the collision family for this model (0...15). More...

int	GetFamily ()
	Return the collision family for this model.

void	DisallowCollisionsWith (int family)
	By default, family mask is all turned on, so all families can collide with this object, but you can turn on-off some bytes of this mask so that some families do not collide. More...

void	AllowCollisionsWith (int family)

bool	CollidesWith (int family)
	Return true if this model is allowed to collide with objects in the specified collision family.

short int	GetFamilyGroup () const
	[INTERNAL USE] Return the collision family group of this model. More...

void	SetFamilyGroup (short int group)
	[INTERNAL USE] Set the collision family group of this model. More...

short int	GetFamilyMask () const
	[INTERNAL USE] Return the collision mask for this model. More...

void	SetFamilyMask (short int mask)
	[INTERNAL USE] Set the collision mask for this model. More...

void	SetSafeMargin (float margin)
	Set the suggested collision 'inward safe margin' for the shapes to be added from now on. More...

float	GetSafeMargin ()
	Return the inward safe margin (see SetSafeMargin).

void	SetEnvelope (float envelope)
	Set the suggested collision outward 'envelope' used from shapes added from now on. More...

float	GetEnvelope ()
	Return the outward safe margin (see SetEnvelope).

ChAABB	GetBoundingBox (bool local=false) const
	Return the axis aligned bounding box (AABB) of the collision model. More...

void	ArchiveOut (ChArchiveOut &archive_out)
	Method to allow serialization of transient data to archives.

void	ArchiveIn (ChArchiveIn &archive_in)
	Method to allow de-serialization of transient data from archives.

unsigned int	GetNumShapes () const
	Return the number of collision shapes in this model.

const std::vector< ShapeInstance > &	GetShapeInstances () const
	Get the list of collision shapes in this model.

const ShapeInstance &	GetShapeInstance (int index) const
	Get the collision shape with specified index.

void	SetAllShapesMaterial (std::shared_ptr< ChContactMaterial > mat)
	Set the contact material for all collision shapes in the model (all shapes will share the material). More...

bool	HasImplementation () const

ChCollisionModelImpl *	GetImplementation () const

void	RemoveImplementation ()

Static Public Member Functions
static void	SetDefaultSuggestedEnvelope (double envelope)
	Set the default envelope value. More...

static void	SetDefaultSuggestedMargin (double margin)
	Set the default margin (inward penetration). More...

static double	GetDefaultSuggestedEnvelope ()

static double	GetDefaultSuggestedMargin ()

Friends
class	ChCollisionModelImpl

Member Function Documentation

◆ AddCylinder()

void chrono::ChCollisionModel::AddCylinder	(	std::shared_ptr< ChContactMaterial >	material,
		double	radius,
		const ChVector3d &	p1,
		const ChVector3d &	p2
	)

Convenience function to add a cylinder collision shape specified through a radius and end points.

Parameters

material	surface contact material
radius	radius
p1	first end point
p2	second end point

◆ AddShape()

void chrono::ChCollisionModel::AddShape	(	std::shared_ptr< ChCollisionShape >	shape,
		const ChFrame<> &	frame = `ChFrame<>()`
	)

Add a collision shape with specified position within the model.

Parameters

shape	collision shape
frame	shape frame in model

◆ AddShapes()

void chrono::ChCollisionModel::AddShapes	(	std::shared_ptr< ChCollisionModel >	model,
		const ChFrame<> &	frame = `ChFrame<>()`
	)

Add copies of the collision shapes in the provided model to this collision model.

Parameters

model	collision model
frame	model frame in model

◆ DisallowCollisionsWith()

void chrono::ChCollisionModel::DisallowCollisionsWith ( int family )

By default, family mask is all turned on, so all families can collide with this object, but you can turn on-off some bytes of this mask so that some families do not collide.

When two objects collide, the contact is created only if the family is within the 'family mask' of the other, and viceversa.

◆ GetBoundingBox()

ChAABB chrono::ChCollisionModel::GetBoundingBox ( bool local = false ) const

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

If local=true, return the AABB expressed in the local frame of the owner contactable. Otherwise, return the AABB expressed in the absolute coordinate frame (in this case, SyncPosition() should be invoked first).

◆ GetFamilyGroup()

short int chrono::ChCollisionModel::GetFamilyGroup ( ) const

inline

[INTERNAL USE] Return the collision family group of this model.

The collision family of this model is the position of the single set bit in the return value.

◆ GetFamilyMask()

short int chrono::ChCollisionModel::GetFamilyMask ( ) const

inline

[INTERNAL USE] Return the collision mask for this model.

A bit in the mask indicates if this model collides with the corresponding family (bit set) or not (bit unset).

◆ GetPhysicsItem()

ChPhysicsItem * chrono::ChCollisionModel::GetPhysicsItem ( )

Get the pointer to the client owner ChPhysicsItem.

TODO OBSOLETE

◆ SetAllShapesMaterial()

void chrono::ChCollisionModel::SetAllShapesMaterial ( std::shared_ptr< ChContactMaterial > mat )

Set the contact material for all collision shapes in the model (all shapes will share the material).

This function is useful in adjusting contact material properties for objects imported from outside (e.g., from SolidWorks).

◆ SetDefaultSuggestedEnvelope()

void chrono::ChCollisionModel::SetDefaultSuggestedEnvelope ( double envelope )

static

Set the default envelope value.

All collision shapes in all collision models created after the call to this function will use this value. A particular collision system may ignore this suggested value.

◆ SetDefaultSuggestedMargin()

void chrono::ChCollisionModel::SetDefaultSuggestedMargin ( double margin )

static

Set the default margin (inward penetration).

All collision shapes in all collision models created after the call to this function will use this value. A particular collision system may ignore this suggested value.

◆ SetEnvelope()

void chrono::ChCollisionModel::SetEnvelope ( float envelope )

inline

Set the suggested collision outward 'envelope' used from shapes added from now on.

This 'envelope' is a surrounding invisible volume which extends outward from the surface, and it is used to detect contacts a bit before shapes come into contact, i.e. when dist>0. However contact points will stay on the true surface of the geometry, not on the external surface of the envelope. Call this BEFORE adding the shapes into the model. Side effect: AABB are 'expanded' outward by this amount, so if you exaggerate with this value, CD might be slower and too sensible. On the other hand, if you set this value to 0, contacts are detected only for dist<=0, thus causing unstable simulation.

◆ SetFamily()

void chrono::ChCollisionModel::SetFamily ( int family )

Set the collision family for this model (0...15).

By default, all collision objects belong to family 0.

◆ SetFamilyGroup()

void chrono::ChCollisionModel::SetFamilyGroup ( short int group )

[INTERNAL USE] Set the collision family group of this model.

This is an alternative way of specifying the collision family for this object. The group must have a single set bit; its position represents the collision family.

◆ SetFamilyMask()

void chrono::ChCollisionModel::SetFamilyMask ( short int mask )

[INTERNAL USE] Set the collision mask for this model.

A set bit in the mask indicates that this model collides with the family equal to the bit position.

◆ SetSafeMargin()

void chrono::ChCollisionModel::SetSafeMargin ( float margin )

inline

Set the suggested collision 'inward safe margin' for the shapes to be added from now on.

If this margin is too high for some thin or small shapes, it may be clamped. If dist<0 and inter-penetration occurs (e.g. due to numerical errors) within this 'safe margin' inward range, collision detection is still fast and reliable (beyond this, for deep penetrations, CD still works, but might be slower and less reliable) Call this BEFORE adding the shapes into the model. Side effect: think of the margin as a radius of a 'smoothing' fillet on all corners of the shapes - that's why you cannot exceed with this.

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

/builds/uwsbel/chrono/src/chrono/collision/ChCollisionModel.h
/builds/uwsbel/chrono/src/chrono/collision/ChCollisionModel.cpp

Description

Public Types

Public Member Functions

Static Public Member Functions

Friends

Member Function Documentation

◆ AddCylinder()

◆ AddShape()

◆ AddShapes()

◆ DisallowCollisionsWith()

◆ GetBoundingBox()

◆ GetFamilyGroup()

◆ GetFamilyMask()

◆ GetPhysicsItem()

◆ SetAllShapesMaterial()

◆ SetDefaultSuggestedEnvelope()

◆ SetDefaultSuggestedMargin()

◆ SetEnvelope()

◆ SetFamily()

◆ SetFamilyGroup()

◆ SetFamilyMask()

◆ SetSafeMargin()