Class DistanceFieldCollisionDetection

• Defined in File DistanceFieldCollisionDetection.h

Nested Relationships

Nested Types

• Struct DistanceFieldCollisionDetection::ContactData

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionBox

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionCylinder

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionHollowBox

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionHollowSphere

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionObject

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionObjectWithoutGeometry

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionSphere

• Struct DistanceFieldCollisionDetection::DistanceFieldCollisionTorus

Inheritance Relationships

Base Type

• public PBD::CollisionDetection (Class CollisionDetection)

Derived Type

• public PBD::CubicSDFCollisionDetection (Class CubicSDFCollisionDetection)

Class Documentation

class DistanceFieldCollisionDetection : public PBD::CollisionDetection

Distance field collision detection.

Subclassed by PBD::CubicSDFCollisionDetection

Public Functions

DistanceFieldCollisionDetection()

virtual ~DistanceFieldCollisionDetection()

virtual void collisionDetection(SimulationModel &model)

virtual bool isDistanceFieldCollisionObject(CollisionObject *co) const

void addCollisionBox(const unsigned int bodyIndex, const unsigned int bodyType, const Vector3r *vertices, const unsigned int numVertices, const Vector3r &box, const bool testMesh = true, const bool invertSDF = false)

void addCollisionSphere(const unsigned int bodyIndex, const unsigned int bodyType, const Vector3r *vertices, const unsigned int numVertices, const Real radius, const bool testMesh = true, const bool invertSDF = false)

void addCollisionTorus(const unsigned int bodyIndex, const unsigned int bodyType, const Vector3r *vertices, const unsigned int numVertices, const Vector2r &radii, const bool testMesh = true, const bool invertSDF = false)

void addCollisionObjectWithoutGeometry(const unsigned int bodyIndex, const unsigned int bodyType, const Vector3r *vertices, const unsigned int numVertices, const bool testMesh)

void addCollisionHollowSphere(const unsigned int bodyIndex, const unsigned int bodyType, const Vector3r *vertices, const unsigned int numVertices, const Real radius, const Real thickness, const bool testMesh = true, const bool invertSDF = false)

void addCollisionHollowBox(const unsigned int bodyIndex, const unsigned int bodyType, const Vector3r *vertices, const unsigned int numVertices, const Vector3r &box, const Real thickness, const bool testMesh = true, const bool invertSDF = false)

void addCollisionCylinder(const unsigned int bodyIndex, const unsigned int bodyType, const Vector3r *vertices, const unsigned int numVertices, const Vector2r &dim, const bool testMesh = true, const bool invertSDF = false)

Add collision cylinder

Parameters

• bodyIndex – index of corresponding body

• bodyType – type of corresponding body

• dim – (radius, height) of cylinder

Protected Functions

void collisionDetectionRigidBodies(RigidBody *rb1, DistanceFieldCollisionObject *co1, RigidBody *rb2, DistanceFieldCollisionObject *co2, const Real restitutionCoeff, const Real frictionCoeff, std::vector<std::vector<ContactData>> &contacts_mt)

void collisionDetectionRBSolid(const ParticleData &pd, const unsigned int offset, const unsigned int numVert, DistanceFieldCollisionObject *co1, RigidBody *rb2, DistanceFieldCollisionObject *co2, const Real restitutionCoeff, const Real frictionCoeff, std::vector<std::vector<ContactData>> &contacts_mt)

void collisionDetectionSolidSolid(const ParticleData &pd, const unsigned int offset, const unsigned int numVert, DistanceFieldCollisionObject *co1, TetModel *tm2, DistanceFieldCollisionObject *co2, const Real restitutionCoeff, const Real frictionCoeff, std::vector<std::vector<ContactData>> &contacts_mt)

bool findRefTetAt(const ParticleData &pd, TetModel *tm, const DistanceFieldCollisionDetection::DistanceFieldCollisionObject *co, const Vector3r &X, unsigned int &tetIndex, Vector3r &barycentricCoordinates)

struct ContactData

Public Members

char m_type

unsigned int m_index1

unsigned int m_index2

Vector3r m_cp1

Vector3r m_cp2

Vector3r m_normal

Real m_dist

Real m_restitution

Real m_friction

unsigned int m_elementIndex1

unsigned int m_elementIndex2

Vector3r m_bary1

Vector3r m_bary2

struct DistanceFieldCollisionBox : public PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObject

Public Functions

inline virtual ~DistanceFieldCollisionBox()

inline virtual int &getTypeId() const

virtual double distance(const Eigen::Vector3d &x, const Real tolerance)

Public Members

Vector3r m_box

Public Static Attributes

static int TYPE_ID = IDFactory::getId()

struct DistanceFieldCollisionCylinder : public PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObject

Public Functions

inline virtual ~DistanceFieldCollisionCylinder()

inline virtual int &getTypeId() const

virtual double distance(const Eigen::Vector3d &x, const Real tolerance)

Public Members

Vector2r m_dim

Public Static Attributes

static int TYPE_ID = IDFactory::getId()

struct DistanceFieldCollisionHollowBox : public PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObject

Public Functions

inline virtual ~DistanceFieldCollisionHollowBox()

inline virtual int &getTypeId() const

virtual double distance(const Eigen::Vector3d &x, const Real tolerance)

Public Members

Vector3r m_box

Real m_thickness

Public Static Attributes

static int TYPE_ID = IDFactory::getId()

struct DistanceFieldCollisionHollowSphere : public PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObject

Public Functions

inline virtual ~DistanceFieldCollisionHollowSphere()

inline virtual int &getTypeId() const

virtual bool collisionTest(const Vector3r &x, const Real tolerance, Vector3r &cp, Vector3r &n, Real &dist, const Real maxDist = 0.0)

virtual double distance(const Eigen::Vector3d &x, const Real tolerance)

Public Members

Real m_radius

Real m_thickness

Public Static Attributes

static int TYPE_ID = IDFactory::getId()

struct DistanceFieldCollisionObject : public PBD::CollisionDetection::CollisionObject

Subclassed by PBD::CubicSDFCollisionDetection::CubicSDFCollisionObject, PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionBox, PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionCylinder, PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionHollowBox, PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionHollowSphere, PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObjectWithoutGeometry, PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionSphere, PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionTorus

Public Functions

inline DistanceFieldCollisionObject()

inline virtual ~DistanceFieldCollisionObject()

virtual bool collisionTest(const Vector3r &x, const Real tolerance, Vector3r &cp, Vector3r &n, Real &dist, const Real maxDist = 0.0)

virtual void approximateNormal(const Eigen::Vector3d &x, const Real tolerance, Vector3r &n)

virtual double distance(const Eigen::Vector3d &x, const Real tolerance) = 0

void initTetBVH(const Vector3r *vertices, const unsigned int numVertices, const unsigned int *indices, const unsigned int numTets, const Real tolerance)

Public Members

bool m_testMesh

Real m_invertSDF

PointCloudBSH m_bvh

TetMeshBSH m_bvhTets

TetMeshBSH m_bvhTets0

struct DistanceFieldCollisionObjectWithoutGeometry : public PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObject

Public Functions

inline virtual ~DistanceFieldCollisionObjectWithoutGeometry()

inline virtual int &getTypeId() const

inline virtual bool collisionTest(const Vector3r &x, const Real tolerance, Vector3r &cp, Vector3r &n, Real &dist, const Real maxDist = 0.0)

inline virtual double distance(const Eigen::Vector3d &x, const Real tolerance)

Public Static Attributes

static int TYPE_ID = IDFactory::getId()

struct DistanceFieldCollisionSphere : public PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObject

Public Functions

inline virtual ~DistanceFieldCollisionSphere()

inline virtual int &getTypeId() const

virtual bool collisionTest(const Vector3r &x, const Real tolerance, Vector3r &cp, Vector3r &n, Real &dist, const Real maxDist = 0.0)

virtual double distance(const Eigen::Vector3d &x, const Real tolerance)

Public Members

Real m_radius

Public Static Attributes

static int TYPE_ID = IDFactory::getId()

struct DistanceFieldCollisionTorus : public PBD::DistanceFieldCollisionDetection::DistanceFieldCollisionObject

Public Functions

inline virtual ~DistanceFieldCollisionTorus()

inline virtual int &getTypeId() const

virtual double distance(const Eigen::Vector3d &x, const Real tolerance)

Public Members

Vector2r m_radii

Public Static Attributes

static int TYPE_ID = IDFactory::getId()