chrono::ChCollisionShapePath2D Class Reference

Description

Collision 2D path shape.

When added to a collision model, the path is defined in the XY plane of the shape frame. This shape defines a 2D collision shape that will collide with another 2D line of the same type if aligned on the same plane. This is useful for mechanisms that work on a plane, and that require more precise collision that is not possible with current 3D shapes. For example, the line can contain concave or convex round fillets. Requirements:

  • the line must be clockwise for inner material, (counterclockwise=hollow, material outside)
  • the line must contain only ChLineSegment and ChLineArc sub-lines
  • the sublines must follow in the proper order, with coincident corners, and must be closed.

#include <ChCollisionShapePath2D.h>

Inheritance diagram for chrono::ChCollisionShapePath2D:
Collaboration diagram for chrono::ChCollisionShapePath2D:

Public Member Functions

 ChCollisionShapePath2D (std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChLinePath > path, double radius=0.001)
 
std::shared_ptr< geometry::ChLinePathGetGeometry ()
 Access the path geometry.
 
double GetSRadius () const
 Get the path thickness (the radius of a sweeping sphere).
 
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
 

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
 

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/collision/ChCollisionShapePath2D.h
  • /builds/uwsbel/chrono/src/chrono/collision/ChCollisionShapePath2D.cpp