Description

Collision convex hull shape.

A convex hull is simply a point cloud that describe a convex polytope. Connectivity between the vertexes, as faces/edges in triangle meshes is not necessary. Points are passed as a list which is then copied into the model.

#include <ChCollisionShapeConvexHull.h>

Inheritance diagram for chrono::ChCollisionShapeConvexHull:
Collaboration diagram for chrono::ChCollisionShapeConvexHull:

Public Member Functions

 ChCollisionShapeConvexHull (std::shared_ptr< ChMaterialSurface > material, const std::vector< ChVector<>> &points)
 
const std::vector< ChVector<> > & GetPoints ()
 Access the list of vertices of thje convex hull.
 
virtual void ArchiveOut (ChArchiveOut &marchive) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &marchive) override
 Method to allow de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChCollisionShape
 ChCollisionShape (Type type=Type::UNKNOWN_SHAPE)
 
 ChCollisionShape (Type type, std::shared_ptr< ChMaterialSurface > material)
 
Type GetType () const
 
std::shared_ptr< ChMaterialSurfaceGetMaterial () const
 
ChContactMethod GetContactMethod () const
 

Static Public Member Functions

static std::vector< std::shared_ptr< ChCollisionShapeConvexHull > > Read (std::shared_ptr< ChMaterialSurface > material, const std::string &filename)
 Create convex hull collsion shapes from the specified data file. More...
 

Additional Inherited Members

- Public Types inherited from chrono::ChCollisionShape
enum  Type {
  SPHERE, ELLIPSOID, BOX, CYLINDER,
  CYLSHELL, CONVEXHULL, TRIANGLEMESH, BARREL,
  POINT, TRIANGLE, MESHTRIANGLE, CAPSULE,
  CONE, ROUNDEDBOX, ROUNDEDCYL, TETRAHEDRON,
  PATH2D, SEGMENT2D, ARC2D, UNKNOWN_SHAPE
}
 Supported collision shape types.
 
- Protected Attributes inherited from chrono::ChCollisionShape
Type m_type
 type of collision shape
 
std::shared_ptr< ChMaterialSurfacem_material
 surface contact material
 

Constructor & Destructor Documentation

◆ ChCollisionShapeConvexHull()

chrono::ChCollisionShapeConvexHull::ChCollisionShapeConvexHull ( std::shared_ptr< ChMaterialSurface material,
const std::vector< ChVector<>> &  points 
)
Parameters
materialsurface contact material
pointslist of hull points

Member Function Documentation

◆ Read()

std::vector< std::shared_ptr< ChCollisionShapeConvexHull > > chrono::ChCollisionShapeConvexHull::Read ( std::shared_ptr< ChMaterialSurface material,
const std::string &  filename 
)
static

Create convex hull collsion shapes from the specified data file.

All shapes are assigned the same contact material.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/collision/ChCollisionShapeConvexHull.h
  • /builds/uwsbel/chrono/src/chrono/collision/ChCollisionShapeConvexHull.cpp