Description

Base class for generic collision engine.

#include <ChCollisionSystem.h>

Inheritance diagram for chrono::ChCollisionSystem:

[legend]

Collaboration diagram for chrono::ChCollisionSystem:

[legend]

Classes
class	BroadphaseCallback
	Class to be used as a callback interface for user-defined actions to be performed for each 'near enough' pair of collision shapes found by the broad-phase collision step. More...

struct	ChRayhitResult
	Recover results from RayHit() raycasting. More...

class	NarrowphaseCallback
	Class to be used as a callback interface for user-defined actions to be performed at each collision pair found during the narrow-phase collision step. More...

class	VisualizationCallback
	Class to be used as a callback interface for user-defined visualization of collision shapes. More...

Public Types
enum	Type { Type::BULLET, Type::MULTICORE }
	Supported collision systems. More...

enum	VisualizationModes { VIS_None = 0, VIS_Shapes = 1 << 0, VIS_Aabb = 1 << 1, VIS_Contacts = 1 << 2, VIS_MAX_MODES }
	Enumeration of supported flags for collision debug visualization. More...

Public Member Functions
bool	IsInitialized () const
	Test if the collision system was initialized.

virtual void	Initialize ()
	Initialize the collision system. More...

virtual void	BindAll ()
	Process all collision models in the associated Chrono system. More...

virtual void	BindItem (std::shared_ptr< ChPhysicsItem > item)
	Process the collision models associated with the specified Chrono physics item. More...

void	UnbindItem (std::shared_ptr< ChPhysicsItem > item)
	Remove any collision models associated with the specified physics item from the collision engine.

virtual void	Clear ()=0
	Clears all data instanced by this algorithm if any.

virtual void	Add (std::shared_ptr< ChCollisionModel > model)=0
	Add the specified collision model to the collision engine.

virtual void	Remove (std::shared_ptr< ChCollisionModel > model)=0
	Remove the specified collision model from the collision engine.

virtual void	PreProcess ()
	Optional synchronization operations, invoked before running the collision detection.

virtual void	Run ()=0
	Run the collision detection and finds the contacts. More...

virtual void	PostProcess ()
	Optional synchronization operations, invoked after running the collision detection.

virtual ChAABB	GetBoundingBox () const =0
	Return an AABB bounding all collision shapes in the system.

virtual double	GetTimerCollisionBroad () const =0
	Return the time (in seconds) for broadphase collision detection.

virtual double	GetTimerCollisionNarrow () const =0
	Return the time (in seconds) for narrowphase collision detection.

virtual void	ResetTimers ()
	Reset any timers associated with collision detection.

virtual void	SetNumThreads (int nthreads)
	Set the number of OpenMP threads for collision detection. More...

virtual void	ReportContacts (ChContactContainer *mcontactcontainer)=0
	After the Run() has completed, you can call this function to fill a 'contact container', that is an object inherited from class ChContactContainer. More...

virtual void	ReportProximities (ChProximityContainer *mproximitycontainer)=0
	After the Run() has completed, you can call this function to fill a 'proximity container' (container of narrow phase pairs), that is an object inherited from class ChProximityContainer. More...

void	RegisterBroadphaseCallback (std::shared_ptr< BroadphaseCallback > callback)
	Specify a callback object to be used each time a pair of 'near enough' collision shapes is found by the broad-phase collision step. More...

void	RegisterNarrowphaseCallback (std::shared_ptr< NarrowphaseCallback > callback)
	Specify a callback object to be used each time a collision pair is found during the narrow-phase collision detection step. More...

virtual bool	RayHit (const ChVector3d &from, const ChVector3d &to, ChRayhitResult &result) const =0
	Perform a ray-hit test with the collision models.

virtual bool	RayHit (const ChVector3d &from, const ChVector3d &to, ChCollisionModel *model, ChRayhitResult &result) const =0
	Perform a ray-hit test with the specified collision model.

virtual void	RegisterVisualizationCallback (std::shared_ptr< VisualizationCallback > callback)
	Specify a callback object to be used for debug rendering of collision shapes.

virtual void	Visualize (int flags)
	Method to trigger debug visualization of collision shapes. More...

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

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

void	SetSystem (ChSystem *sys)
	Set associated Chrono system.

Protected Attributes
bool	m_initialized

ChSystem *	m_system
	associated Chrono system

std::shared_ptr< BroadphaseCallback >	broad_callback
	user callback for each near-enough pair of shapes

std::shared_ptr< NarrowphaseCallback >	narrow_callback
	user callback for each collision pair

std::shared_ptr< VisualizationCallback >	vis_callback
	user callback for debug visualization

int	m_vis_flags

Member Enumeration Documentation

◆ Type

enum chrono::ChCollisionSystem::Type

strong

Supported collision systems.

Enumerator
BULLET	Bullet-based collision detection system.
MULTICORE	Chrono multicore collision detection system.

◆ VisualizationModes

enum chrono::ChCollisionSystem::VisualizationModes

Enumeration of supported flags for collision debug visualization.

Enumerator
VIS_None	no debug collision visualization
VIS_Shapes	wireframe representation of collision shapes
VIS_Aabb	axis-aligned bounding boxes of collision shapes
VIS_Contacts	contact points and normals

Member Function Documentation

◆ BindAll()

void chrono::ChCollisionSystem::BindAll ( )

virtual

Process all collision models in the associated Chrono system.

This function is called by default for a Chrono system attached to this collision system during initialization, but can also be called later if further modifications to collision models occur.

◆ BindItem()

void chrono::ChCollisionSystem::BindItem ( std::shared_ptr< ChPhysicsItem > item )

virtual

Process the collision models associated with the specified Chrono physics item.

This function must be called if a new physics item is added to the system or if changes to its collision model occur after the collision system was initialized.

◆ Initialize()

void chrono::ChCollisionSystem::Initialize ( )

virtual

Initialize the collision system.

This call must trigger a parsing of the associated Chrono system to process all collision models.

◆ RegisterBroadphaseCallback()

void chrono::ChCollisionSystem::RegisterBroadphaseCallback ( std::shared_ptr< BroadphaseCallback > callback )

inline

Specify a callback object to be used each time a pair of 'near enough' collision shapes is found by the broad-phase collision step.

The OnBroadphase() method of the provided callback object will be called for each pair of 'near enough' shapes.

◆ RegisterNarrowphaseCallback()

void chrono::ChCollisionSystem::RegisterNarrowphaseCallback ( std::shared_ptr< NarrowphaseCallback > callback )

inline

Specify a callback object to be used each time a collision pair is found during the narrow-phase collision detection step.

The OnNarrowphase() method of the provided callback object will be called for each collision pair found during narrow phase.

◆ ReportContacts()

virtual void chrono::ChCollisionSystem::ReportContacts ( ChContactContainer * mcontactcontainer )

pure virtual

After the Run() has completed, you can call this function to fill a 'contact container', that is an object inherited from class ChContactContainer.

For instance ChSystem, after each Run() collision detection, calls this method multiple times for all contact containers in the system, Children classes must implement this. The basic behavior of the implementation should be the following: collision system will call in sequence the functions BeginAddContact(), AddContact() (x n times), EndAddContact() of the contact container. In case a specialized implementation (ex. a GPU parallel collision engine) finds that the contact container is a specialized one (ex with a GPU buffer) it can call more performant methods to add directly the contacts in batches, for instance by recognizing that he can call, say, some special AddAllContactsAsGpuBuffer() instead of many AddContact().

Implemented in chrono::ChCollisionSystemBullet, chrono::ChCollisionSystemMulticore, and chrono::ChCollisionSystemChronoMulticore.

◆ ReportProximities()

virtual void chrono::ChCollisionSystem::ReportProximities ( ChProximityContainer * mproximitycontainer )

pure virtual

After the Run() has completed, you can call this function to fill a 'proximity container' (container of narrow phase pairs), that is an object inherited from class ChProximityContainer.

For instance ChSystem, after each Run() collision detection, calls this method multiple times for all proximity containers in the system, Children classes must implement this. The basic behavior of the implementation should be the following: collision system will call in sequence the functions BeginAddProximities(), AddProximity() (x n times), EndAddProximities() of the proximity container. In case a specialized implementation (ex. a GPU parallel collision engine) finds that the proximity container is a specialized one (ex with a GPU buffer) it can call more performant methods to add directly the proximities in batches, for instance by recognizing that he can call, say, some special AddAllProximitiesAsGpuBuffer() instead of many AddProximity().

Implemented in chrono::ChCollisionSystemMulticore, chrono::ChCollisionSystemBullet, and chrono::ChCollisionSystemChronoMulticore.

◆ Run()

virtual void chrono::ChCollisionSystem::Run ( )

pure virtual

Run the collision detection and finds the contacts.

This function will be called at each simulation step.

Implemented in chrono::ChCollisionSystemMulticore, and chrono::ChCollisionSystemBullet.

◆ SetNumThreads()

virtual void chrono::ChCollisionSystem::SetNumThreads ( int nthreads )

inlinevirtual

Set the number of OpenMP threads for collision detection.

The default implementation does nothing. Derived classes implement this function as applicable.

Reimplemented in chrono::ChCollisionSystemMulticore, chrono::ChCollisionSystemBullet, and chrono::ChCollisionSystemChronoMulticore.

◆ Visualize()

virtual void chrono::ChCollisionSystem::Visualize ( int flags )

inlinevirtual

Method to trigger debug visualization of collision shapes.

The 'flags' argument can be any of the VisualizationModes enums, or a combination thereof (using bit-wise operators). The calling program must invoke this function from within the simulation loop. A derived class should implement a no-op if a visualization callback was not specified.

Reimplemented in chrono::ChCollisionSystemMulticore, and chrono::ChCollisionSystemBullet.

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

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

Description

Classes

Public Types

Public Member Functions

Protected Attributes

Member Enumeration Documentation

◆ Type

◆ VisualizationModes

Member Function Documentation

◆ BindAll()

◆ BindItem()

◆ Initialize()

◆ RegisterBroadphaseCallback()

◆ RegisterNarrowphaseCallback()

◆ ReportContacts()

◆ ReportProximities()

◆ Run()

◆ SetNumThreads()

◆ Visualize()