chrono::ChCollisionShapePath2D Class Reference

Description

Collision 2D path shape.

When added to a collision model, the path is defined in the XY plane of the shape frame. This shape defines a 2D collision shape that will collide with another 2D line of the same type if aligned on the same plane. This is useful for mechanisms that work on a plane, and that require more precise collision that is not possible with current 3D shapes. For example, the line can contain concave or convex round fillets. Requirements:

  • the line must be clockwise for inner material, (counterclockwise=hollow, material outside)
  • the line must contain only ChLineSegment and ChLineArc sub-lines
  • the sublines must follow in the proper order, with coincident corners, and must be closed.

#include <ChCollisionShapePath2D.h>

Inheritance diagram for chrono::ChCollisionShapePath2D:
Collaboration diagram for chrono::ChCollisionShapePath2D:

Public Member Functions

 ChCollisionShapePath2D (std::shared_ptr< ChContactMaterial > material, std::shared_ptr< ChLinePath > path, double radius=0.001)
 
std::shared_ptr< ChLinePathGetGeometry ()
 Access the path geometry.
 
double GetSRadius () const
 Get the path thickness (the radius of a sweeping sphere).
 
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
 

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
 

Member Function Documentation

◆ ArchiveIn()

void chrono::ChCollisionShapePath2D::ArchiveIn ( ChArchiveIn & archive_in)
overridevirtual

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

Reimplemented from chrono::ChCollisionShape.

◆ ArchiveOut()

void chrono::ChCollisionShapePath2D::ArchiveOut ( ChArchiveOut & archive_out)
overridevirtual

Method to allow serialization of transient data to archives.

Reimplemented from chrono::ChCollisionShape.


The documentation for this class was generated from the following files:
  • C:/M/B/src/chrono-9.0.1/src/chrono/collision/ChCollisionShapePath2D.h
  • C:/M/B/src/chrono-9.0.1/src/chrono/collision/ChCollisionShapePath2D.cpp