Public Member Functions |
Protected Member Functions |
Protected Attributes |
Friends |
List of all members
chrono::ChCollisionModelBullet Class Reference
Description
Class defining the Bullet geometric model for collision detection.
#include <ChCollisionModelBullet.h>
Public Member Functions | |
| ChCollisionModelBullet (ChCollisionModel *collision_model) | |
| virtual ChAABB | GetBoundingBox () const override |
| Returns the axis aligned bounding box (AABB) of the collision model. | |
| float | GetEnvelope () |
| Return the outward safe margin. | |
| float | GetSafeMargin () |
| Return the inward safe margin. | |
| virtual void | SyncPosition () override |
| Sets the position and orientation of the collision model as the current position of the corresponding ChContactable. | |
| bool | SetSphereRadius (double coll_radius, double out_envelope) |
| If the collision shape is a sphere, resize it and return true (if no sphere is found in this collision shape, return false). | |
Protected Member Functions | |
| void | Populate () |
| Populate the collision system with the collision shapes defined in this model. | |
| virtual void | OnFamilyChange (short int family_group, short int family_mask) override |
| Additional operations to be performed on a change in collision family. | |
| void | injectShape (std::shared_ptr< ChCollisionShape > shape, std::shared_ptr< cbtCollisionShape > bt_shape, const ChFrame<> &frame) |
| void | injectPath2D (std::shared_ptr< ChCollisionShapePath2D > shape_path, const ChFrame<> &frame) |
| void | injectConvexHull (std::shared_ptr< ChCollisionShapeConvexHull > shape_hull, const ChFrame<> &frame) |
| void | injectTriangleMesh (std::shared_ptr< ChCollisionShapeTriangleMesh > shape_trimesh, const ChFrame<> &frame) |
| void | injectTriangleProxy (std::shared_ptr< ChCollisionShapeMeshTriangle > shape_triangle) |
| cbtCollisionObject * | GetBulletObject () |
| cbtScalar | GetSuggestedFullMargin () |
Protected Attributes | |
| std::unique_ptr< cbtCollisionObject > | bt_collision_object |
| Bullet collision object containing Bullet geometries. | |
| std::shared_ptr< cbtCompoundShape > | bt_compound_shape |
| compound for models with more than one shape | |
| std::vector< std::shared_ptr< cbtCollisionShape > > | m_bt_shapes |
| list of Bullet collision shapes in model | |
| std::vector< std::shared_ptr< ChCollisionShape > > | m_shapes |
| extended list of collision shapes | |
Friends | |
| class | ChCollisionSystemBullet |
| class | ChCollisionSystemBulletMulticore |
| class | chrono::fea::ChContactSurfaceMesh |
Member Function Documentation
◆ GetBoundingBox()
|
overridevirtual |
Returns the axis aligned bounding box (AABB) of the collision model.
Note that SyncPosition() should be invoked before calling this.
◆ SetSphereRadius()
| bool chrono::ChCollisionModelBullet::SetSphereRadius | ( | double | coll_radius, |
| double | out_envelope ) |
If the collision shape is a sphere, resize it and return true (if no sphere is found in this collision shape, return false).
It can also change the outward envelope; the inward margin is automatically the radius of the sphere.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono/collision/bullet/ChCollisionModelBullet.h
- C:/M/B/src/chrono-9.0.1/src/chrono/collision/bullet/ChCollisionModelBullet.cpp