Project Chrono: chrono::shape_container Struct Reference

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chrono::shape_container Struct Reference
Chrono::Engine » Collision detection » Multicore collision detection

## Description

Structure of arrays containing rigid collision shape information.

`#include <ChCollisionData.h>`

## Public Attributes
std::vector< short2 > | fam_rigid
| family information
std::vector< uint > | id_rigid
| ID of associated body.
std::vector< int > | typ_rigid
| shape type
std::vector< int > | local_rigid
| local shape index in collision model of associated body
std::vector< int > | start_rigid
| start index in the appropriate container of dimensions
std::vector< int > | length_rigid
| usually 1, except for convex
std::vector< quaternion > | ObR_rigid
| shape rotations
std::vector< real3 > | ObA_rigid
| shape positions
std::vector< real3 > | obj_data_A_global
std::vector< quaternion > | obj_data_R_global
std::vector< real > | sphere_rigid
| radius for sphere shapes
std::vector< real3 > | box_like_rigid
| dimensions for box-like shapes
std::vector< real3 > | triangle_rigid
| vertices of all triangle shapes (3 per shape)
std::vector< real2 > | capsule_rigid
| radius and half-length for capsule shapes
std::vector< real4 > | rbox_like_rigid
| dimensions and radius for rbox-like shapes
std::vector< real3 > | convex_rigid
| points for convex hull shapes
std::vector< real3 > | triangle_global
| triangle vertices in global frame

The documentation for this struct was generated from the following file:

- D:/W/B/src/chrono-9.0.1/src/chrono/collision/multicore/ChCollisionData.h