chrono::collision::ChModelBullet Class Reference

#include <CHcModelBullet.h>

Inheritance diagram for chrono::collision::ChModelBullet:

Collaboration diagram for chrono::collision::ChModelBullet:

List of all members.

Public Member Functions
virtual int	ClearModel ()
virtual int	BuildModel ()
virtual bool	AddSphere (double radius, ChVector<> *pos=0)
virtual bool	AddEllipsoid (double rx, double ry, double rz, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddBox (double hx, double hy, double hz, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddCylinder (double rx, double rz, double hy, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddConvexHull (std::vector< ChVector< double > > &pointlist, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddTriangleMesh (const geometry::ChTriangleMesh &trimesh, bool is_static, bool is_convex, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddTriangleMeshConcave (const geometry::ChTriangleMesh &trimesh, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddTriangleMeshConcaveDecomposed (ChConvexDecomposition &mydecomposition, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddBarrel (double Y_low, double Y_high, double R_vert, double R_hor, double R_offset, ChVector<> *pos=0, ChMatrix33<> *rot=0)
virtual bool	AddCopyOfAnotherModel (ChCollisionModel *another)
virtual void	SetFamily (int mfamily)
virtual int	GetFamily ()
virtual void	SetFamilyMaskNoCollisionWithFamily (int mfamily)
virtual void	SetFamilyMaskDoCollisionWithFamily (int mfamily)
virtual bool	GetFamilyMaskDoesCollisionWithFamily (int mfamily)
virtual void	GetAABB (ChVector<> &bbmin, ChVector<> &bbmax) const
virtual void	StreamIN (ChStreamInBinary &mstream)
virtual void	StreamOUT (ChStreamOutBinary &mstream)
btCollisionObject *	GetBulletModel ()
short int	GetFamilyGroup ()
short int	GetFamilyMask ()
Protected Attributes
btCollisionObject *	bt_collision_object
std::vector< smartptrshapes >	shapes
short int	family_group
short int	family_mask

---

Detailed Description

A wrapper to use the Bullet collision detection library

---

Member Function Documentation

bool chrono::collision::ChModelBullet::AddBarrel	(	double	Y_low,
		double	Y_high,
		double	R_vert,
		double	R_hor,
		double	R_offset,
		ChVector<> *	pos = 0,
		ChMatrix33<> *	rot = 0
	)		[virtual]

Add a barrel-like shape to this model (main axis on Y direction), for collision purposes. The barrel shape is made by lathing an arc of an ellipse around the vertical Y axis. The center of the ellipse is on Y=0 level, and it is ofsetted by R_offset from the Y axis in radial direction. The two radii of the ellipse are R_vert (for the vertical direction, i.e. the axis parellel to Y) and R_hor (for the axis that is perpendicular to Y). Also, the solid is clamped with two discs on the top and the bottom, at levels Y_low and Y_high.

Implements chrono::collision::ChCollisionModel.

bool chrono::collision::ChModelBullet::AddConvexHull	(	std::vector< ChVector< double > > &	pointlist,
		ChVector<> *	pos = 0,
		ChMatrix33<> *	rot = 0
	)		[virtual]

Add a convex hull to this model. A convex hull is simply a point cloud that describe a convex polytope. Connectivity between the vertexes, as faces/edges in triangle meshes is not necessary. Points are passed as a list, that is instantly copied into the model.

Implements chrono::collision::ChCollisionModel.

bool chrono::collision::ChModelBullet::AddCopyOfAnotherModel

(

ChCollisionModel *

another

)

[virtual]

Add all shapes already contained in another model. Thank to the adoption of shared pointers, underlying shapes are shared (not copied) among the models; this will save memory when you must simulate thousands of objects with the same collision shape. The 'another' model must be of ChModelBullet subclass.

Implements chrono::collision::ChCollisionModel.

bool chrono::collision::ChModelBullet::AddTriangleMesh	(	const geometry::ChTriangleMesh &	trimesh,
		bool	is_static,
		bool	is_convex,
		ChVector<> *	pos = 0,
		ChMatrix33<> *	rot = 0
	)		[virtual]

Add a triangle mesh to this model.

Add a triangle mesh to this model, passing a triangle mesh (do not delete the triangle mesh until the collision model, because depending on the implementation of inherited ChCollisionModel classes, maybe the triangle is referenced via a striding interface or just copied) Note: if possible, in sake of high performance, avoid triangle meshes and prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.. type.

Parameters:

trimesh	the triangle mesh
is_static	true only if model doesn't move (es.a terrain). May improve performance
is_convex	true if mesh is used as a convex hull(only for simple mesh), otherwise if false, handle as concave
rot	displacement respect to COG (optional)

Implements chrono::collision::ChCollisionModel.

bool chrono::collision::ChModelBullet::AddTriangleMeshConcave	(	const geometry::ChTriangleMesh &	trimesh,
		ChVector<> *	pos = 0,
		ChMatrix33<> *	rot = 0
	)		[virtual]

CUSTOM for this class only: add a concave triangle mesh that will be managed by GImpact mesh-mesh algorithm. Note that, despite this can work with arbitrary meshes, there could be issues of robustness and precision, so when possible, prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.. type.

Parameters:

trimesh	the concave triangle mesh
rot	displacement respect to COG (optional)

bool chrono::collision::ChModelBullet::AddTriangleMeshConcaveDecomposed	(	ChConvexDecomposition &	mydecomposition,
		ChVector<> *	pos = 0,
		ChMatrix33<> *	rot = 0
	)		[virtual]

CUSTOM for this class only: add a concave triangle mesh that will be decomposed into a compound of convex shapes. Decomposition could be more efficient than AddTriangleMeshConcave(), but preprocessing decomposition might take a while, and decomposition result is often approximate. Therefore, despite this can work with arbitrary meshes, there could be issues of robustness and precision, so when possible, prefer simplified representations as compounds of convex shapes of boxes/spheres/etc.. type.

Parameters:

mydecomposition	the concave triangle mesh, already decomposed
rot	displacement respect to COG (optional)

int chrono::collision::ChModelBullet::BuildModel

(

)

[virtual]

Builds the BV hierarchy. Call this function AFTER adding the geometric description. MUST be inherited by child classes! (ex for bulding BV hierarchies)

Implements chrono::collision::ChCollisionModel.

int chrono::collision::ChModelBullet::ClearModel

(

)

[virtual]

Deletes all inserted geometries. Also, if you begin the definition of a model, AFTER adding the geometric description, remember to call the ClearModel(). MUST be inherited by child classes! (ex for resetting also BV hierarchies)

Implements chrono::collision::ChCollisionModel.

void chrono::collision::ChModelBullet::GetAABB	(	ChVector<> &	bbmin,
		ChVector<> &	bbmax
	)		const [virtual]

Returns the axis aligned bounding box (AABB) of the collision model, i.e. max-min along the x,y,z world axes. Remember that SyncPosition() should be invoked before calling this.

Implements chrono::collision::ChCollisionModel.

bool chrono::collision::ChModelBullet::GetFamilyMaskDoesCollisionWithFamily

(

int

mfamily

)

[virtual]

Tells if the family mask of this collision object allows for the collision with another collision object belonging to a given family. NOTE: this function has NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody().

Implements chrono::collision::ChCollisionModel.

void chrono::collision::ChModelBullet::SetFamily

(

int

mfamily

)

[virtual]

By default, all collsion objects belong to family n.0, but you can set family in range 0..15. This is used when the objects collided with another: the contact is created only if the family is within the 'family mask' of the other, and viceversa. NOTE: these functions have NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). MUST be implemented by child classes!

Implements chrono::collision::ChCollisionModel.

void chrono::collision::ChModelBullet::SetFamilyMaskNoCollisionWithFamily

(

int

mfamily

)

[virtual]

By default, family mask is all turned on, so all families can collide with this object, but you can turn on-off some bytes of this mask so that some families do not collide. When two objects collide, the contact is created only if the family is within the 'family mask' of the other, and viceversa. NOTE: these functions have NO effect if used before you add the body to a ChSystem, using AddBody(). Use after AddBody(). MUST be implemented by child classes!

Implements chrono::collision::ChCollisionModel.

void chrono::collision::ChModelBullet::StreamIN

(

ChStreamInBinary &

mstream

)

[virtual]

Method to allow deserializing a persistent binary archive (ex: a file) into transient data.

Reimplemented from chrono::collision::ChCollisionModel.

void chrono::collision::ChModelBullet::StreamOUT

(

ChStreamOutBinary &

mstream

)

[virtual]

Method to allow serializing transient data into a persistent binary archive (ex: a file).

Reimplemented from chrono::collision::ChCollisionModel.