MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::collision::ChCollisionPair Class Reference

#include <CHcCollisionPair.h>

Collaboration diagram for chrono::collision::ChCollisionPair:

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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::ChGeometry *	geo1
chrono::geometry::ChGeometry *	geo2
ChVector	p1
ChVector	p2
ChVector< float >	normal
double	norm_dist
bool	just_intersection
float *	reactions_cache

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Detailed Description

Class for storing information about a collision point.

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Constructor & Destructor Documentation

chrono::collision::ChCollisionPair::ChCollisionPair

(

)

Basic constructor.

chrono::collision::ChCollisionPair::ChCollisionPair	(	chrono::geometry::ChGeometry *	mgeo1,
		chrono::geometry::ChGeometry *	mgeo2,
		const ChVector<> &	mp1,
		const ChVector<> &	mp2,
		const ChVector< float > &	mnormal,
		float *	mreaction_cache = 0
	)

Constructor for case of contact point correctly estimated.

chrono::collision::ChCollisionPair::ChCollisionPair	(	chrono::geometry::ChGeometry *	mgeo1,
		chrono::geometry::ChGeometry *	mgeo2
	)

Constructor for case of just intersection.

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Member Function Documentation

void chrono::collision::ChCollisionPair::Set	(	chrono::geometry::ChGeometry *	mgeo1,
		chrono::geometry::ChGeometry *	mgeo2,
		const ChVector<> &	mp1,
		const ChVector<> &	mp2,
		const ChVector< float > &	mnormal,
		float *	mreaction_cache = 0
	)

Set all data at once (better: use the custom constructor).

void chrono::collision::ChCollisionPair::SwapGeometries

(

)

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

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::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::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::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)

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Member Data Documentation

chrono::geometry::ChGeometry* chrono::collision::ChCollisionPair::geo1

pointer to 1st geometry which generated this collision pair

chrono::geometry::ChGeometry* chrono::collision::ChCollisionPair::geo2

pointer to 2nd geometry which generated this collision pair

ChVector chrono::collision::ChCollisionPair::p1

max penetration point on geo1, after refining, in abs space

ChVector chrono::collision::ChCollisionPair::p2

max penetration point on geo2, after refining, in abs space

ChVector<float> chrono::collision::ChCollisionPair::normal

normal, on surface of master reference (geo1)

double chrono::collision::ChCollisionPair::norm_dist

penetration distance (negative if going inside) after refining

bool chrono::collision::ChCollisionPair::just_intersection

if true, only reports that two geometries are intersection, but no info is reliable about normal, p1 or p2.

float* chrono::collision::ChCollisionPair::reactions_cache

points to an array[3] of N,U,V reactions which might be stored in a persistent contact manifold in the collision engine

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CHRONO::ENGINE
C++ library for multibody simulation, (C) Alessandro Tasora
This API documentation has been generated on 17 Jul 2009 by Doxygen