Description

Collision convex hull shape.

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 which is then copied into the model.

#include <ChCollisionShapeConvexHull.h>

Inheritance diagram for chrono::ChCollisionShapeConvexHull:
Collaboration diagram for chrono::ChCollisionShapeConvexHull:

Public Member Functions

 ChCollisionShapeConvexHull (std::shared_ptr< ChContactMaterial > material, const std::vector< ChVector3d > &points)
 
const std::vector< ChVector3d > & GetPoints ()
 Access the list of vertices of thje convex hull.
 
virtual void ArchiveOut (ChArchiveOut &archive_out) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &archive_in) override
 Method to allow de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChCollisionShape
 ChCollisionShape (Type type=Type::UNKNOWN_SHAPE)
 
 ChCollisionShape (Type type, std::shared_ptr< ChContactMaterial > material)
 
Type GetType () const
 
std::shared_ptr< ChContactMaterialGetMaterial () const
 
ChContactMethod GetContactMethod () const
 

Static Public Member Functions

static std::vector< std::shared_ptr< ChCollisionShapeConvexHull > > Read (std::shared_ptr< ChContactMaterial > material, const std::string &filename)
 Create convex hull collsion shapes from the specified data file.
 

Additional Inherited Members

- Public Types inherited from chrono::ChCollisionShape
enum  Type {
  SPHERE , ELLIPSOID , BOX , CYLINDER ,
  CYLSHELL , CONVEXHULL , TRIANGLEMESH , BARREL ,
  POINT , TRIANGLE , MESHTRIANGLE , CAPSULE ,
  CONE , ROUNDEDBOX , ROUNDEDCYL , TETRAHEDRON ,
  PATH2D , SEGMENT2D , ARC2D , UNKNOWN_SHAPE
}
 Supported collision shape types.
 
- Protected Attributes inherited from chrono::ChCollisionShape
Type m_type
 type of collision shape
 
std::shared_ptr< ChContactMaterialm_material
 surface contact material
 

Constructor & Destructor Documentation

◆ ChCollisionShapeConvexHull()

chrono::ChCollisionShapeConvexHull::ChCollisionShapeConvexHull ( std::shared_ptr< ChContactMaterial > material,
const std::vector< ChVector3d > & points )
Parameters
materialsurface contact material
pointslist of hull points

Member Function Documentation

◆ ArchiveIn()

void chrono::ChCollisionShapeConvexHull::ArchiveIn ( ChArchiveIn & archive_in)
overridevirtual

Method to allow de-serialization of transient data from archives.

Reimplemented from chrono::ChCollisionShape.

◆ ArchiveOut()

void chrono::ChCollisionShapeConvexHull::ArchiveOut ( ChArchiveOut & archive_out)
overridevirtual

Method to allow serialization of transient data to archives.

Reimplemented from chrono::ChCollisionShape.

◆ Read()

std::vector< std::shared_ptr< ChCollisionShapeConvexHull > > chrono::ChCollisionShapeConvexHull::Read ( std::shared_ptr< ChContactMaterial > material,
const std::string & filename )
static

Create convex hull collsion shapes from the specified data file.

All shapes are assigned the same contact material.


The documentation for this class was generated from the following files:
  • C:/M/B/src/chrono-9.0.1/src/chrono/collision/ChCollisionShapeConvexHull.h
  • C:/M/B/src/chrono-9.0.1/src/chrono/collision/ChCollisionShapeConvexHull.cpp