Description

Collaboration diagram for Utility classes:

Classes
class	chrono::utils::ChConvexHull2D
	Simple 2D convex hull class. More...

class	chrono::utils::ChRunningAverage
	Moving average filter for smoothing running data. More...

class	chrono::utils::ChMovingAverage
	Moving average filter for smoothing a data array. More...

class	chrono::utils::ChAnalogueFilter
	Base class for simulated analogue filters in the time domain. More...

class	chrono::utils::ChFilterI
	Calculate the integral of an input signal in the time domain: H(s) = 1 / ( Ti * s) More...

class	chrono::utils::ChFilterD
	Caclulate the time derivation of an input signal: H(s) = Td * s. More...

class	chrono::utils::ChFilterPT1
	Delay an input signal: H(s) = Kpt1 / ( T1 * s + 1 ) More...

class	chrono::utils::ChFilterPD1
	PD1 controller: H(s) = Kdt1 * ( Td1 * s + 1 ) More...

class	chrono::utils::ChFilterPDT1
	PDT1 controller: H(s) = Kp * ( Td1 * s + 1 ) / ( T1 * s + 1) More...

class	chrono::utils::ChButterworth_Lowpass
	Butterworth low-pass filter. More...

class	chrono::utils::ChButterworth_Highpass
	Butterworth high-pass filter. More...

class	chrono::utils::ChAbsorbed_Power_Vertical
	Filter for vertical absorbed power. More...

class	chrono::utils::ChISO2631_1_Wk
	Combined filter Wk. More...

class	chrono::utils::ChISO2631_1_Wd
	Combined filter Wd. More...

class	chrono::utils::ChISO2631_1_Wf
	Combined filter Wf. More...

class	chrono::utils::ChISO2631_5_Wxy
	ISO2631-5 weighting filter for shock like signal in horizontal direction. More...

class	chrono::utils::ChISO2631_5_Wz
	ISO2631-5 weighting filter for shock like signal in vertical direction. More...

class	chrono::utils::ChISO2631_Vibration_SeatCushionLogger
	Easy to use class for evaluation of ISO 2361-1 vibration load on sitting vehicle occupants Input: 3 seat accelerations x,y,z in [m/s^2]. More...

class	chrono::utils::ChISO2631_Shock_SeatCushionLogger
	Easy to use class for evaluation of ISO 2361-5 shock load on sitting vehicle occupants. More...

class	chrono::utils::MixtureIngredient
	Encapsulation of an ingredient of one of the supported types in a mixture. More...

class	chrono::utils::Generator
	Provides functionality for generating sets of bodies with positions drawn from a specified sampler and various mixture properties. More...

class	chrono::utils::Sampler< T >
	Base class for different types of point samplers. More...

class	chrono::utils::PDGrid< Point >
	Simple 3D grid utility class for use by the Poisson Disk sampler. More...

class	chrono::utils::PDSampler< T >
	Sampler for 3D domains (box, sphere, or cylinder) using Poisson Disk Sampling. More...

class	chrono::utils::GridSampler< T >
	Sampler for 3D volumes using a regular (equidistant) grid. More...

class	chrono::utils::HCPSampler< T >
	Sampler for 3D volumes using a Hexagonally Close Packed structure. More...

Enumerations
enum	chrono::utils::MixtureType { SPHERE, ELLIPSOID, BOX, CYLINDER, CONE, CAPSULE, BISPHERE }
	Enumeration of various geometric shapes available for mixtures.

enum	chrono::utils::SamplingType { chrono::utils::SamplingType::REGULAR_GRID, chrono::utils::SamplingType::POISSON_DISK, chrono::utils::SamplingType::HCP_PACK }
	Volumetric sampling method. More...

Functions
void	chrono::utils::AddSphereGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a sphere collision shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddEllipsoidGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, const ChVector<> &axes, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddBoxGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, const ChVector<> &size, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a box collision shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddBiSphereGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, double cDist, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddCapsuleGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, double height, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a capsule shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddCylinderGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, double height, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a cylinder shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddCylinderGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, const ChVector<> &p1, const ChVector<> &p2, bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a cylinder shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddConeGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, double height, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a cone shape and optionally a corresponding visualization asset to the specified body. More...

bool	chrono::utils::AddTriangleMeshGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body. More...

bool	chrono::utils::AddTriangleMeshConvexDecomposition (ChBody *body, ChMaterialSurfaceSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), float skin_thickness=0.0f, bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	chrono::utils::AddTriangleMeshConvexDecompositionV2 (ChBody *body, ChMaterialSurfaceSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	chrono::utils::AddTriangleMeshConvexDecompositionSplit (ChSystem *system, ChMaterialSurfaceSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos, const ChQuaternion<> &rot, double total_mass)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddTriangleGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, const ChVector<> &vertA, const ChVector<> &vertB, const ChVector<> &vertC, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a triangle collision shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddRoundedBoxGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, const ChVector<> &size, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddRoundedCylinderGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, double height, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body. More...

void	chrono::utils::AddTorusGeometry (ChBody *body, ChMaterialSurfaceSharedPtr material, double radius, double thickness, int segments=20, int angle=360, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a torus collision shape (compound object created with capsules) and optionally a corresponding visualization asset to the specified body.

void	chrono::utils::AddBoxContainer (std::shared_ptr< ChBody > body, ChMaterialSurfaceSharedPtr material, const ChFrame<> &frame, const ChVector<> &size, double thickness, const ChVector< int > faces, bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add collision shapes representing a box container of specified dimensions to the given body. More...

std::shared_ptr< ChBody >	chrono::utils::CreateBoxContainer (ChSystem *system, int id, ChMaterialSurfaceSharedPtr mat, const ChVector<> &size, double thickness, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false)
	Create a fixed body with collision and visualization geometry representing a box volume. More...

std::shared_ptr< ChBody >	chrono::utils::CreateCylindricalContainerFromBoxes (ChSystem *system, int id, ChMaterialSurfaceSharedPtr mat, double radius, double height, double thickness, int numBoxes, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false, bool isBoxBase=true, bool partialVisualization=true)
	Create a fixed body with collision and visualization representing a cylindrical volume. More...

bool	chrono::utils::LoadConvexMesh (const std::string &file_name, geometry::ChTriangleMeshConnected &convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), int hacd_maxhullcount=1024, int hacd_maxhullmerge=256, int hacd_maxhullvertexes=64, float hacd_concavity=0.01f, float hacd_smallclusterthreshold=0.0f, float hacd_fusetolerance=1e-6f)
	Load an object from a Wavefront OBJ file and generate its convex decomposition.

bool	chrono::utils::LoadConvexHulls (const std::string &file_name, geometry::ChTriangleMeshConnected &convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls)
	Given a path to an obj file, loads the obj assuming that the individual objects in the obj are convex hulls, useful when loading a precomputed set of convex hulls. More...

ChApi void	chrono::utils::AddConvexCollisionModel (std::shared_ptr< ChBody > body, ChMaterialSurfaceSharedPtr material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Given a convex mesh and its decomposition add it to a ChBody use_original_asset can be used to specify if the mesh or the convex decomp should be used for visualization.

ChApi void	chrono::utils::AddConvexCollisionModel (std::shared_ptr< ChBody > body, ChMaterialSurfaceSharedPtr material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a convex mesh to an object based on a set of points. More...

template<typename T >
std::vector< ChVector< T > >	chrono::utils::PDLayerSampler_BOX (ChVector< T > center, ChVector< T > hdims, T diam, T padding_factor=1.02, bool verbose=false)
	Poisson Disk sampler for sampling a 3D box in layers. More...

Variables
template<class T >
constexpr T	chrono::utils::Pi = T(3.1415926535897932385L)

Enumeration Type Documentation

◆ SamplingType

enum chrono::utils::SamplingType

strong

Volumetric sampling method.

Enumerator
REGULAR_GRID	Regular (equidistant) grid.
POISSON_DISK	Poisson Disk sampling.
HCP_PACK	Hexagonally Close Packing.

Function Documentation

◆ AddBiSphereGeometry()

ChApi void chrono::utils::AddBiSphereGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		double	radius,
		double	cDist,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
radius	sphere radius
cDist	distance between centers
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddBoxContainer()

ChApi void chrono::utils::AddBoxContainer	(	std::shared_ptr< ChBody >	body,
		ChMaterialSurfaceSharedPtr	material,
		const ChFrame<> &	frame,
		const ChVector<> &	size,
		double	thickness,
		const ChVector< int >	faces,
		bool	visualization = `true`,
		ChVisualMaterialSharedPtr	vis_material = `ChVisualMaterial::Default()`
	)

Add collision shapes representing a box container of specified dimensions to the given body.

The center of the box volume is at the origin of the given frame and the the container is aligned with the frame axes. The container walls are constructed with the specified thickness. The 'faces' input vector specifies which faces of the container are to be created: for each direction, a value of -1 indicates the face in the negative direction, a value of +1 indicates the face in the positive direction, and a value of 2 indicates both faces. Setting a value of 0 does not create container faces in that direction.

Parameters

body	associated body
material	contact material
frame	position and orientation wrt body frame
size	interior container dimensions
thickness	wall thickness
faces	indices of container faces to be created
visualization	create visualization shape
vis_material	visualization material

◆ AddBoxGeometry()

ChApi void chrono::utils::AddBoxGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		const ChVector<> &	size,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a box collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
size	box side lengths
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddCapsuleGeometry()

ChApi void chrono::utils::AddCapsuleGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		double	radius,
		double	height,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a capsule shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
radius	capsule radius
height	capsule height (cylindrical portion)
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddConeGeometry()

ChApi void chrono::utils::AddConeGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		double	radius,
		double	height,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a cone shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
radius	cone radius
height	cone height
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddConvexCollisionModel()

ChApi void chrono::utils::AddConvexCollisionModel	(	std::shared_ptr< ChBody >	body,
		ChMaterialSurfaceSharedPtr	material,
		std::shared_ptr< geometry::ChTriangleMeshConnected >	convex_mesh,
		std::vector< std::vector< ChVector< double >>> &	convex_hulls,
		const ChVector<> &	pos = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`,
		ChVisualMaterialSharedPtr	vis_material = `ChVisualMaterial::Default()`
	)

Add a convex mesh to an object based on a set of points.

This version will use the triangle mesh to set the visualization geometry.

◆ AddCylinderGeometry() [1/2]

ChApi void chrono::utils::AddCylinderGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		double	radius,
		const ChVector<> &	p1,
		const ChVector<> &	p2,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a cylinder shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
radius	cylinder radius
p1	first end point
p2	second end point
visualization	create visualization shape
vis_material	visualization material

◆ AddCylinderGeometry() [2/2]

ChApi void chrono::utils::AddCylinderGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		double	radius,
		double	height,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a cylinder shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
radius	cylinder radius
height	cylinder height
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddEllipsoidGeometry()

ChApi void chrono::utils::AddEllipsoidGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		const ChVector<> &	axes,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
axes	elipsoid axes
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddRoundedBoxGeometry()

ChApi void chrono::utils::AddRoundedBoxGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		const ChVector<> &	size,
		double	srad,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
size	box side lengths
srad	radius of sweeping sphere
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddRoundedCylinderGeometry()

ChApi void chrono::utils::AddRoundedCylinderGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		double	radius,
		double	height,
		double	srad,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
radius	cylinder radius
height	cylinder radius
srad	radius of sweeping sphere
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddSphereGeometry()

ChApi void chrono::utils::AddSphereGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		double	radius,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a sphere collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
radius	sphere radius
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddTriangleGeometry()

ChApi void chrono::utils::AddTriangleGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		const ChVector<> &	vertA,
		const ChVector<> &	vertB,
		const ChVector<> &	vertC,
		const std::string &	name,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a triangle collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
vertA	first triangle vertex
vertB	second triangle vertex
vertC	third triangle vertex
name	name of generated mesh
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ AddTriangleMeshGeometry()

ChApi bool chrono::utils::AddTriangleMeshGeometry	(	ChBody *	body,
		ChMaterialSurfaceSharedPtr	material,
		const std::string &	obj_filename,
		const std::string &	name,
		const ChVector<> &	pos,
		const ChQuaternion<> &	rot,
		bool	visualization,
		ChVisualMaterialSharedPtr	vis_material
	)

Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body.

Parameters

body	associated body
material	contact material
obj_filename	name of Wavefront OBJ file
name	mesh name
pos	position on body
rot	orientation wrt body frame
visualization	create visualization shape
vis_material	visualization material

◆ CreateBoxContainer()

ChApi std::shared_ptr< ChBody > chrono::utils::CreateBoxContainer	(	ChSystem *	system,
		int	id,
		ChMaterialSurfaceSharedPtr	mat,
		const ChVector<> &	size,
		double	thickness,
		const ChVector<> &	pos = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`,
		bool	collide = `true`,
		bool	overlap = `true`,
		bool	closed = `false`
	)

Create a fixed body with collision and visualization geometry representing a box volume.

The center of the bottom box wall is at the body origin.

Parameters

system	containing system
id	body identifier
mat	contact material
size	interior container dimensions
thickness	wall thickness
pos	body position
rot	body orientation
collide	enable collision
overlap	include overlap at container edges
closed	create top wall

◆ CreateCylindricalContainerFromBoxes()

ChApi std::shared_ptr< ChBody > chrono::utils::CreateCylindricalContainerFromBoxes	(	ChSystem *	system,
		int	id,
		ChMaterialSurfaceSharedPtr	mat,
		double	radius,
		double	height,
		double	thickness,
		int	numBoxes,
		const ChVector<> &	pos = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`,
		bool	collide = `true`,
		bool	overlap = `true`,
		bool	closed = `false`,
		bool	isBoxBase = `true`,
		bool	partialVisualization = `true`
	)

Create a fixed body with collision and visualization representing a cylindrical volume.

The volume geometry is modeled using boxes. The container is aligned with the z direction with the center of the bottom at the body origin. Optionally, the side boxes in the first quadrant are not visualized.

Parameters

system	containing system
id	body identifier
mat	contact material
radius	container inner radius
height	container inner height
thickness	wall thickness
numBoxes	number of circumference boxes
pos	body position
rot	body orientation
collide	enable collision
overlap	include overlap at box edges
closed	create top
isBoxBase	use a box or a cylinder for bases
partialVisualization	visualize only half of the boxes

◆ LoadConvexHulls()

ChApi bool chrono::utils::LoadConvexHulls	(	const std::string &	file_name,
		geometry::ChTriangleMeshConnected &	convex_mesh,
		std::vector< std::vector< ChVector< double >>> &	convex_hulls
	)

Given a path to an obj file, loads the obj assuming that the individual objects in the obj are convex hulls, useful when loading a precomputed set of convex hulls.

The output of this function is used with AddConvexCollisionModel

◆ PDLayerSampler_BOX()

template<typename T >

std::vector<ChVector<T> > chrono::utils::PDLayerSampler_BOX	(	ChVector< T >	center,
		ChVector< T >	hdims,
		T	diam,
		T	padding_factor = `1.02`,
		bool	verbose = `false`
	)

Poisson Disk sampler for sampling a 3D box in layers.

The computational efficiency of PD sampling degrades as points are added, especially for large volumes. This class provides an alternative sampling method where PD sampling is done in 2D layers, separated by a specified distance (padding_factor * diam). This significantly improves computational efficiency of the sampling but at the cost of discarding the PD uniform distribution properties in the direction orthogonal to the layers.

Parameters

center	Center of axis-aligned box to fill
hdims	Half-dimensions along the x, y, and z axes
diam	Particle diameter
padding_factor	Multiplier on particle diameter for spacing
verbose	Output progress during generation

Description

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ SamplingType

Function Documentation

◆ AddBiSphereGeometry()

◆ AddBoxContainer()

◆ AddBoxGeometry()

◆ AddCapsuleGeometry()

◆ AddConeGeometry()

◆ AddConvexCollisionModel()

◆ AddCylinderGeometry() [1/2]

◆ AddCylinderGeometry() [2/2]

◆ AddEllipsoidGeometry()

◆ AddRoundedBoxGeometry()

◆ AddRoundedCylinderGeometry()

◆ AddSphereGeometry()

◆ AddTriangleGeometry()

◆ AddTriangleMeshGeometry()

◆ CreateBoxContainer()

◆ CreateCylindricalContainerFromBoxes()

◆ LoadConvexHulls()

◆ PDLayerSampler_BOX()