Description

Namespace for collision detection.

Namespaces
	bt_utils
	Utilities for Bullet-based collision detection.

	ch_utils
	Utilities for Chrono multicore collision detection.

	utils
	Collision detection utility functions.

Classes
class	cbtArcArcCollisionAlgorithm
	Custom override of the default Bullet algorithm for 2Darc-2Darc collision. More...

class	cbtArcSegmentCollisionAlgorithm
	Custom override of the default Bullet algorithm for 2Dsegment-2Darc collision. More...

class	cbtCapsuleBoxCollisionAlgorithm
	Custom override of the default Bullet algorithm for capsule-box collision. More...

class	cbtCEtriangleShapeCollisionAlgorithm
	Custom override of the default Bullet algorithm for triangle-triangle collision. More...

class	cbtCylshellBoxCollisionAlgorithm
	Custom override of the default Bullet algorithm for cylshell-box collision. More...

class	cbtSphereCylinderCollisionAlgorithm
	Custom override of the default Bullet algorithm for sphere-cylinder collision. More...

class	ChBroadphase
	Class for performing broad-phase collision detection. More...

class	ChCollisionData
	Global data for the custom Chrono multicore collision system. More...

class	ChCollisionInfo
	Class defining basic geometric information for collision pairs. More...

class	ChCollisionModel
	Class defining the geometric model for collision detection. More...

class	ChCollisionModelBullet
	Class defining the Bullet geometric model for collision detection. More...

class	ChCollisionModelChrono
	Geometric model for the custom multicore Chrono collision system. More...

class	ChCollisionModelDistributed
	This class adds the ability to track the axis-aligned bounding box for the entire model so that an entire body can be classified by which sub-domains it intersects. More...

class	ChCollisionPair
	Class for storing information about a collision point. More...

class	ChCollisionShape
	Class defining a collision shape. More...

class	ChCollisionShapeBullet
	Collision shape for Bullet collision detection system. More...

class	ChCollisionShapeChrono
	Collision shape for the custom multicore Chrono collision system. More...

class	ChCollisionSystem
	Base class for generic collision engine. More...

class	ChCollisionSystemBullet
	Collision engine based on the Bullet library. More...

class	ChCollisionSystemBulletMulticore
	Collision engine based on the 'Bullet' library. More...

class	ChCollisionSystemChrono
	Chrono custom multicore collision system. More...

class	ChCollisionSystemChronoMulticore
	Chrono custom multicore collision system. More...

class	ChCollisionSystemDistributed
	This class scaffolds on ChCollisionSystemChronoMulticore in order to manage collision data for the system during MPI exchanges. More...

class	ChConvexDecomposition
	Base interface class for convex decomposition. More...

class	ChConvexDecompositionHACD
	Class for wrapping the HACD convex decomposition code by Khaled Mamou. More...

class	ChConvexDecompositionHACDv2
	Class for wrapping the HACD convex decomposition code revisited by John Ratcliff. More...

class	ChNarrowphase
	Class for performing narrowphase collision detection. More...

class	ChRayTest
	Class for performing ray intersection tests. More...

class	ConvexBase
	Base class for convex contact shapes. More...

class	ConvexShape
	Convex contact shape. More...

class	ConvexShapeCustom
	Custom contact shape. More...

class	ConvexShapeSphere
	Sphere contact shape. More...

class	ConvexShapeTetrahedron
	Tetrahedron contact shape. More...

class	ConvexShapeTriangle
	Triangle contact shape. More...

struct	shape_container
	Structure of arrays containing rigid collision shape information. More...

struct	state_container
	Structure of arrays containing state data. More...

Typedefs
typedef thrust::pair< real3, real3 >	bbox

typedef int	shape_type
	Readibility type definition.

Enumerations
enum	ChCollisionSystemType { ChCollisionSystemType::BULLET, ChCollisionSystemType::CHRONO, ChCollisionSystemType::OTHER }
	Collision engine type. More...

Functions
int	addContactPoint (const cbtVector3 &pc, int iface, const cbtVector3 &hdims, const cbtTransform &X_box, cbtManifoldResult *resultOut)

int	addContactPoint (const cbtVector3 &p, const cbtVector3 &c, const cbtVector3 &a, const cbtScalar h, const cbtScalar r, const cbtTransform &X_box, cbtManifoldResult *resultOut)

void	TransformToCOG (ChBody *body, const ChVector<> &pos, const ChMatrix33<> &rot, ChFrame<> &frame)

void	DrawHemisphere (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, const ChColor &color)

void	DrawSphere (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, const ChColor &color)

void	DrawBox (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, const ChVector<> &hdim, const ChColor &color)

void	DrawCylinder (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, double hlen, const ChColor &color)

void	DrawCone (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, double hlen, const ChColor &color)

void	DrawCapsule (ChCollisionSystem::VisualizationCallback *vis, const ChCoordsys<> &csys, double radius, double hlen, const ChColor &color)

int	GetIndex (ChVector< double > vertex, std::vector< ChVector< double > > &vertexOUT, double tol)

void	FuseMesh (std::vector< ChVector< double > > &vertexIN, std::vector< ChVector< int > > &triangleIN, std::vector< ChVector< double > > &vertexOUT, std::vector< ChVector< int > > &triangleOUT, double tol=0.0)

int	GridCoord (real x, real inv_bin_edge, real minimum)

int	GridHash (int x, int y, int z, const vec3 &bins_per_axis)

real3	GetCenter (const ConvexBase *Shape)

void	FindCenter (const ConvexBase shapeA, const ConvexBase shapeB, simplex &portal)

void	MPRSupport (const ConvexBase shapeA, const ConvexBase shapeB, const real3 &n, const real &envelope, support &s)

void	ExpandPortal (simplex &portal)

real3	PortalDir (const simplex &portal)

void	FindPos (const simplex &portal, real3 &point)

int	portalEncapsulesOrigin (const simplex &portal, const real3 &n)

int	portalCanEncapsuleOrigin (const simplex &portal, const real3 &n)

int	portalReachTolerance (const simplex &portal, const real3 &n)

real	Vec3Dist2 (const real3 a, const real3 b)

real	Vec3PointSegmentDist2 (const real3 &P, const real3 &x0, const real3 &b, real3 &witness)

real	Vec3PointSegmentDist2 (const real3 &P, const real3 &x0, const real3 &b)

real	Vec3PointTriDist2 (const real3 &P, const real3 &x0, const real3 &B, const real3 &C, real3 &witness)

real	Vec3PointTriDist2 (const real3 &P, const real3 &V0, const real3 &V1, const real3 &V2)

void	FindPenetration (const ConvexBase shapeA, const ConvexBase shapeB, const real &envelope, simplex &portal, real &depth, real3 &n, real3 &point)

void	FindPenetrationTouch (const ConvexBase shapeA, const ConvexBase shapeB, simplex &portal, real &depth, real3 &n, real3 &point)

void	FindPenetrationSegment (const ConvexBase shapeA, const ConvexBase shapeB, simplex &portal, real &depth, real3 &n, real3 &point)

bool	FindPortal (const ConvexBase shapeA, const ConvexBase shapeB, const real &envelope, simplex &portal, real3 &n)

int	DiscoverPortal (const ConvexBase shapeA, const ConvexBase shapeB, const real &envelope, simplex &portal)

int	RefinePortal (const ConvexBase shapeA, const ConvexBase shapeB, const real &envelope, simplex &portal)

bool	MPRContact (const ConvexBase shapeA, const ConvexBase shapeB, const real &envelope, real3 &returnNormal, real3 &point, real &depth)

void	MPRGetPoints (const ConvexBase shapeA, const ConvexBase shapeB, const real &envelope, real3 &N, real3 p0, real3 &p1, real3 &p2)

bool	sphere_sphere (const real3 &pos1, const real &radius1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)

bool	capsule_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)

bool	cylinder_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)

bool	roundedcyl_sphere (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real &srad1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)

bool	box_sphere (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)

bool	roundedbox_sphere (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real &srad1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)

bool	triangle_sphere (const real3 &A1, const real3 &B1, const real3 &C1, const real3 &pos2, const real &radius2, const real &separation, real3 &norm, real &depth, real3 &pt1, real3 &pt2, real &eff_radius)

int	capsule_capsule (const real3 &pos1, const quaternion &rot1, const real &radius1, const real &hlen1, const real3 &pos2, const quaternion &rot2, const real &radius2, const real &hlen2, const real &separation, real3 norm, real depth, real3 pt1, real3 pt2, real *eff_radius)

int	box_capsule (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 &pos2, const quaternion &rot2, const real &radius2, const real &hlen2, const real &separation, real3 norm, real depth, real3 pt1, real3 pt2, real *eff_radius)

int	box_cylshell (const real3 &pos1, const quaternion &rot1, const real3 &hdims, const real3 &pos2, const quaternion &rot2, const real &radius, const real &hlen, const real &separation, real3 norm, real depth, real3 pt1, real3 pt2, real *eff_radius)

int	box_box (const real3 &posT, const quaternion &rotT, const real3 &hdimsT, const real3 &posO, const quaternion &rotO, const real3 &hdimsO, const real &separation, real3 norm, real depth, real3 ptT, real3 ptO, real *eff_radius)

int	triangle_box (const real3 &pos1, const quaternion &rot1, const real3 &hdims1, const real3 v2, const real &separation, real3 norm, real depth, real3 pt1, real3 pt2, real eff_radius)

bool	sphere_ray (const real3 &pos, const real &radius, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

bool	aabb_ray (const real3 &hdims, const real3 &start, const real3 &end, real &t, real3 &loc, real3 &normal)

bool	box_ray (const real3 &pos, const quaternion &rot, const real3 &hdims, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

bool	cylsurf_ray (const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

bool	hemisphere_ray (int cap, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

bool	disk_ray (int cap, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

bool	capsule_ray (const real3 &pos, const quaternion &rot, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

bool	cylinder_ray (const real3 &pos, const quaternion &rot, const real &radius, const real &hlen, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

bool	triangle_ray (const real3 &A, const real3 &B, const real3 &C, const real3 &start, const real3 &end, real3 &normal, real &mindist2)

Variables
auto	inverted

Variable Documentation

◆ inverted

auto chrono::collision::inverted

Initial value:

=

thrust::make_tuple(real3(+C_REAL_MAX, +C_REAL_MAX, +C_REAL_MAX), real3(-C_REAL_MAX, -C_REAL_MAX, -C_REAL_MAX), 0)

Description

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Variable Documentation

◆ inverted