Chrono::Engine C++ API
Public Member Functions | Public Attributes
chrono::collision::ChCollisionPair Class Reference

#include <ChCCollisionPair.h>

Collaboration diagram for chrono::collision::ChCollisionPair:
Collaboration graph
[legend]

List of all members.

Public Member Functions

 ChCollisionPair ()
 ChCollisionPair (chrono::geometry::ChGeometry *mgeo1, chrono::geometry::ChGeometry *mgeo2, const ChVector<> &mp1, const ChVector<> &mp2, const ChVector< float > &mnormal, float *mreaction_cache=0)
 ChCollisionPair (chrono::geometry::ChGeometry *mgeo1, chrono::geometry::ChGeometry *mgeo2)
void Set (chrono::geometry::ChGeometry *mgeo1, chrono::geometry::ChGeometry *mgeo2, const ChVector<> &mp1, const ChVector<> &mp2, const ChVector< float > &mnormal, float *mreaction_cache=0)
void SwapGeometries ()
void CacheFetchSpeedSolutionFromManifold (float &mN, float &mU, float &mV)
void CacheFetchPositionSolutionFromManifold (float &mN, float &mU, float &mV)
void CacheStoreSpeedSolutionIntoManifold (const float mN, const float mU, const float mV)
void CacheStorePositionSolutionIntoManifold (const float mN, const float mU, const float mV)

Public Attributes

chrono::geometry::ChGeometrygeo1
chrono::geometry::ChGeometrygeo2
ChVector p1
ChVector p2
ChVector< float > normal
double norm_dist
bool just_intersection
float * reactions_cache

Detailed Description

Class for storing information about a collision point.


Member Function Documentation

void chrono::collision::ChCollisionPair::CacheFetchPositionSolutionFromManifold ( float &  mN,
float &  mU,
float &  mV 
)

Fetches normal and U,V 'positional' reactions, as previously stored in a persistent contact manifold maintained by the collision engine. If no cache, set as 0,0,0

void chrono::collision::ChCollisionPair::CacheFetchSpeedSolutionFromManifold ( float &  mN,
float &  mU,
float &  mV 
)

Fetches normal and U,V impulsive reactions, as previously stored in a persistent contact manifold maintained by the collision engine. If no cache, set as 0,0,0

void chrono::collision::ChCollisionPair::CacheStorePositionSolutionIntoManifold ( const float  mN,
const float  mU,
const float  mV 
)

Stores normal and U,V 'positional' reactions into a persistent contact manifold maintained by the collision engine (if any)

void chrono::collision::ChCollisionPair::CacheStoreSpeedSolutionIntoManifold ( const float  mN,
const float  mU,
const float  mV 
)

Stores normal and U,V reactions into a persistent contact manifold maintained by the collision engine (if any)

void chrono::collision::ChCollisionPair::SwapGeometries ( )

Swap geometries, that is geo1 becomes geo2 and viceversa; normal and so on are updates as well.