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MULTIBODY SIMULATION SOFTWARE - API documentation |
#include <CHcCollisionSystem.h>
Public Member Functions | |
| ChCollisionSystem (unsigned int max_objects=16000, double scene_size=500) | |
| virtual void | SetContactContainer (ChContactContainerBase *mc) |
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virtual ChContactContainerBase * | GetContactContainer () |
| virtual void | Clear (void)=0 |
| virtual void | Add (ChCollisionModel *model)=0 |
| virtual void | Remove (ChCollisionModel *model)=0 |
| virtual void | Run ()=0 |
| void | SetBroadPhaseCallback (ChBroadPhaseCallback *mcallback) |
| void | SetNarrowPhaseCallback (ChNarrowPhaseCallback *mcallback) |
| virtual bool | RayHit (const ChVector<> &from, const ChVector<> &to, ChRayhitResult &mresult)=0 |
Protected Attributes | |
| ChContactContainerBase * | contact_container |
| ChBroadPhaseCallback * | broad_callback |
| ChNarrowPhaseCallback * | narrow_callback |
Classes | |
| struct | ChRayhitResult |
| This will be used to recover results from RayHit() raycasting. More... | |
| virtual void chrono::collision::ChCollisionSystem::Clear | ( | void | ) | [pure virtual] |
Clears all data instanced by this algorithm if any (like persistent contact manifolds)
Implemented in chrono::collision::ChCollisionSystemBullet, and chrono::collision::ChCollisionSystemGPU.
| virtual void chrono::collision::ChCollisionSystem::Add | ( | ChCollisionModel * | model | ) | [pure virtual] |
Adds a collision model to the collision engine (custom data may be allocated).
Implemented in chrono::collision::ChCollisionSystemBullet, and chrono::collision::ChCollisionSystemGPU.
| virtual void chrono::collision::ChCollisionSystem::Remove | ( | ChCollisionModel * | model | ) | [pure virtual] |
Removes a collision model from the collision engine (custom data may be deallocated).
Implemented in chrono::collision::ChCollisionSystemBullet, and chrono::collision::ChCollisionSystemGPU.
| virtual void chrono::collision::ChCollisionSystem::Run | ( | ) | [pure virtual] |
Removes all collision models from the collision engine (custom data may be deallocated). RUN THE ALGORITHM and finds the contacts. This is the most important function - it will be called at each simulation step.
Implemented in chrono::collision::ChCollisionSystemBullet, and chrono::collision::ChCollisionSystemGPU.
| void chrono::collision::ChCollisionSystem::SetBroadPhaseCallback | ( | ChBroadPhaseCallback * | mcallback | ) |
Sets the user ChBroadPhaseCallback to be used to tell the near-enough pairs found during the Run() execution. It will be executed for near enough pair of bodies.
| void chrono::collision::ChCollisionSystem::SetNarrowPhaseCallback | ( | ChNarrowPhaseCallback * | mcallback | ) |
Sets the used ChNarrowPhaseCallback to be used to report the contacts found during the Run() execution. It will be executed for each contact point.
| virtual bool chrono::collision::ChCollisionSystem::RayHit | ( | const ChVector<> & | from, | |
| const ChVector<> & | to, | |||
| ChRayhitResult & | mresult | |||
| ) | [pure virtual] |
Perform a ray-hit test with the collision models.
CHRONO::ENGINE