sofa::component::collision::DiscreteIntersection Class Reference

#include <DiscreteIntersection.h>

Inheritance diagram for sofa::component::collision::DiscreteIntersection:

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Collaboration diagram for sofa::component::collision::DiscreteIntersection:

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Public Types
typedef sofa::helper::vector < sofa::core::componentmodel::collision::DetectionOutput >	OutputVector
Public Member Functions
	DiscreteIntersection ()
virtual core::componentmodel::collision::ElementIntersector *	findIntersector (core::CollisionModel *object1, core::CollisionModel *object2, bool &swapModels)
	Return the intersector class handling the given pair of collision models, or NULL if not supported.
template<class Model1 , class Model2 >
sofa::core::componentmodel::collision::TDetectionOutputVector < Model1, Model2 > *	createOutputVector (Model1 *, Model2 *)
template<class Model1 , class Model2 >
sofa::core::componentmodel::collision::TDetectionOutputVector < Model1, Model2 > *	getOutputVector (Model1 *, Model2 *, sofa::core::componentmodel::collision::DetectionOutputVector *contacts)
int	beginIntersection (sofa::core::CollisionModel *, sofa::core::CollisionModel *, OutputVector *)
int	endIntersection (sofa::core::CollisionModel *, sofa::core::CollisionModel *, OutputVector *)
bool	testIntersection (Cube &, Cube &)
template<class Sphere >
bool	testIntersection (Sphere &, Sphere &)
template<class Sphere >
bool	testIntersection (Sphere &, Cube &)
template<class Sphere >
bool	testIntersection (Ray &, Sphere &)
template<class Sphere >
bool	testIntersection (Sphere &, Triangle &)
bool	testIntersection (Triangle &, Line &)
bool	testIntersection (Ray &, Triangle &)
bool	testIntersection (Ray &, Tetrahedron &)
bool	testIntersection (Tetrahedron &, Point &)
bool	testIntersection (RigidDistanceGridCollisionElement &, RigidDistanceGridCollisionElement &)
bool	testIntersection (RigidDistanceGridCollisionElement &, Point &)
template<class Sphere >
bool	testIntersection (RigidDistanceGridCollisionElement &, Sphere &)
bool	testIntersection (RigidDistanceGridCollisionElement &, Triangle &)
bool	testIntersection (Ray &, RigidDistanceGridCollisionElement &)
bool	testIntersection (FFDDistanceGridCollisionElement &, RigidDistanceGridCollisionElement &)
bool	testIntersection (FFDDistanceGridCollisionElement &, FFDDistanceGridCollisionElement &)
bool	testIntersection (FFDDistanceGridCollisionElement &, Point &)
template<class Sphere >
bool	testIntersection (FFDDistanceGridCollisionElement &, Sphere &)
bool	testIntersection (FFDDistanceGridCollisionElement &, Triangle &)
bool	testIntersection (Ray &, FFDDistanceGridCollisionElement &)
int	computeIntersection (Cube &, Cube &, OutputVector *)
template<class Sphere >
int	computeIntersection (Sphere &, Sphere &, OutputVector *)
template<class Sphere >
int	computeIntersection (Sphere &, Cube &, OutputVector *)
template<class Sphere >
int	computeIntersection (Ray &, Sphere &, OutputVector *)
template<class Sphere >
int	computeIntersection (Sphere &, Triangle &, OutputVector *)
int	computeIntersection (Triangle &, Line &, OutputVector *)
int	computeIntersection (Ray &, Triangle &, OutputVector *)
int	computeIntersection (Ray &, Tetrahedron &, OutputVector *)
int	computeIntersection (Tetrahedron &, Point &, OutputVector *)
int	computeIntersection (RigidDistanceGridCollisionElement &, RigidDistanceGridCollisionElement &, OutputVector *)
int	computeIntersection (RigidDistanceGridCollisionElement &, Point &, OutputVector *)
template<class Sphere >
int	computeIntersection (RigidDistanceGridCollisionElement &, Sphere &, OutputVector *)
int	computeIntersection (RigidDistanceGridCollisionElement &, Triangle &, OutputVector *)
int	computeIntersection (Ray &, RigidDistanceGridCollisionElement &, OutputVector *)
int	computeIntersection (FFDDistanceGridCollisionElement &, RigidDistanceGridCollisionElement &, OutputVector *)
int	computeIntersection (FFDDistanceGridCollisionElement &, FFDDistanceGridCollisionElement &, OutputVector *)
int	computeIntersection (FFDDistanceGridCollisionElement &, Point &, OutputVector *)
template<class Sphere >
int	computeIntersection (FFDDistanceGridCollisionElement &, Sphere &, OutputVector *)
int	computeIntersection (FFDDistanceGridCollisionElement &, Triangle &, OutputVector *)
int	computeIntersection (Ray &, FFDDistanceGridCollisionElement &, OutputVector *)
Protected Attributes
core::componentmodel::collision::IntersectorMap	intersectors

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Detailed Description

Definition at line 48 of file DiscreteIntersection.h.

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Member Typedef Documentation

typedef sofa::helper::vector<sofa::core::componentmodel::collision::DetectionOutput> sofa::component::collision::DiscreteIntersection::OutputVector

Definition at line 73 of file DiscreteIntersection.h.

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Constructor & Destructor Documentation

sofa::component::collision::DiscreteIntersection::DiscreteIntersection

(

)

Definition at line 56 of file DiscreteIntersection.cpp.

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Member Function Documentation

int sofa::component::collision::DiscreteIntersection::beginIntersection	(	sofa::core::CollisionModel *	,
		sofa::core::CollisionModel *	,
		OutputVector *
	)			[inline]

Definition at line 75 of file DiscreteIntersection.h.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Ray &	e2,
		FFDDistanceGridCollisionElement &	e1,
		OutputVector *	contacts
	)

Definition at line 1799 of file DiscreteIntersection.cpp.

References sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::center, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deform(), sofa::component::collision::Ray::direction(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::component::collision::FFDDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::initpos(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::invDP, sofa::component::collision::Ray::l(), sofa::defaulttype::Vec< N, real >::norm2(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Ray::origin(), sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::radius, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeform0(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateFaces(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	FFDDistanceGridCollisionElement &	e1,
		Triangle &	e2,
		OutputVector *	contacts
	)

Definition at line 1564 of file DiscreteIntersection.cpp.

References sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::baryCoords(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::corners, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deform(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformDir(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::component::collision::TriangleModel::FLAG_P1, sofa::component::collision::TriangleModel::FLAG_P2, sofa::component::collision::TriangleModel::FLAG_P3, sofa::component::collision::TriangleModel::FLAG_POINTS, sofa::component::collision::Triangle::flags(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::core::componentmodel::collision::Intersection::getContactDistance(), sofa::component::collision::FFDDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::initpos(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::invDP, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeform0(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateFaces(), and sofa::core::componentmodel::collision::DetectionOutput::value.

template<class Sphere >

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	FFDDistanceGridCollisionElement &	e1,
		Sphere &	e2,
		OutputVector *	contacts
	)			[inline]

Definition at line 384 of file DiscreteIntersection.inl.

References sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::baryCoords(), sofa::component::collision::TSphere< DataTypes >::center(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::corners, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deform(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformDir(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::core::componentmodel::collision::Intersection::getContactDistance(), sofa::component::collision::FFDDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::initpos(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::invDP, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::TSphere< DataTypes >::r(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeform0(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateFaces(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	FFDDistanceGridCollisionElement &	e1,
		Point &	e2,
		OutputVector *	contacts
	)

Definition at line 1475 of file DiscreteIntersection.cpp.

References sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::baryCoords(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::corners, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deform(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformDir(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::core::componentmodel::collision::Intersection::getContactDistance(), sofa::component::collision::FFDDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::initpos(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::invDP, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Point::p(), sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeform0(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateFaces(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	FFDDistanceGridCollisionElement &	e1,
		FFDDistanceGridCollisionElement &	e2,
		OutputVector *	contacts
	)

Definition at line 1296 of file DiscreteIntersection.cpp.

References sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::baryCoords(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::center, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::corners, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deform(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformedPoints, sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::component::collision::FFDDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::initpos(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::invDP, sofa::component::collision::DistanceGrid::meshPts, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::points, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::radius, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeform0(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateFaces(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updatePoints(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	FFDDistanceGridCollisionElement &	e1,
		RigidDistanceGridCollisionElement &	e2,
		OutputVector *	contacts
	)

Definition at line 1135 of file DiscreteIntersection.cpp.

References sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::baryCoords(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::center, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::corners, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deform(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformedPoints, sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::defaulttype::ExtVector< T >::empty(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::component::collision::RigidDistanceGridCollisionElement::getGrid(), sofa::component::collision::FFDDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::RigidDistanceGridCollisionElement::getRotation(), sofa::component::collision::RigidDistanceGridCollisionElement::getTranslation(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::DistanceGrid::inBBox(), sofa::component::collision::DistanceGrid::inGrid(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::initpos(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::invDP, sofa::component::collision::RigidDistanceGridCollisionElement::isTransformed(), sofa::component::collision::DistanceGrid::meshPts, sofa::defaulttype::Mat< L, C, real >::multTranspose(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::points, sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::radius, sofa::defaulttype::ExtVector< T >::size(), sofa::defaulttype::Mat< L, C, real >::transpose(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeform0(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeformDir(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateFaces(), sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updatePoints(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Ray &	e2,
		RigidDistanceGridCollisionElement &	e1,
		OutputVector *	contacts
	)

Definition at line 1016 of file DiscreteIntersection.cpp.

References sofa::component::collision::Ray::direction(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::component::collision::DistanceGrid::getBBMax(), sofa::component::collision::DistanceGrid::getBBMin(), sofa::component::collision::DistanceGrid::getCellWidth(), sofa::component::collision::RigidDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::component::collision::RigidDistanceGridCollisionElement::getRotation(), sofa::component::collision::RigidDistanceGridCollisionElement::getTranslation(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::RigidDistanceGridCollisionElement::isTransformed(), sofa::component::collision::Ray::l(), sofa::defaulttype::Mat< L, C, real >::multTranspose(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Ray::origin(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	RigidDistanceGridCollisionElement &	e1,
		Triangle &	e2,
		OutputVector *	contacts
	)

Definition at line 874 of file DiscreteIntersection.cpp.

References sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::component::collision::TriangleModel::FLAG_P1, sofa::component::collision::TriangleModel::FLAG_P2, sofa::component::collision::TriangleModel::FLAG_P3, sofa::component::collision::TriangleModel::FLAG_POINTS, sofa::component::collision::Triangle::flags(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::core::componentmodel::collision::Intersection::getContactDistance(), sofa::component::collision::RigidDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::RigidDistanceGridCollisionElement::getRotation(), sofa::component::collision::RigidDistanceGridCollisionElement::getTranslation(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::DistanceGrid::inBBox(), sofa::component::collision::DistanceGrid::inGrid(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::RigidDistanceGridCollisionElement::isTransformed(), sofa::defaulttype::Mat< L, C, real >::multTranspose(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

template<class Sphere >

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	RigidDistanceGridCollisionElement &	e1,
		Sphere &	e2,
		OutputVector *	contacts
	)			[inline]

Definition at line 330 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::core::componentmodel::collision::Intersection::getContactDistance(), sofa::component::collision::RigidDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::RigidDistanceGridCollisionElement::getRotation(), sofa::component::collision::RigidDistanceGridCollisionElement::getTranslation(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::DistanceGrid::inBBox(), sofa::component::collision::DistanceGrid::inGrid(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::RigidDistanceGridCollisionElement::isTransformed(), sofa::defaulttype::Mat< L, C, real >::multTranspose(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::TSphere< DataTypes >::r(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	RigidDistanceGridCollisionElement &	e1,
		Point &	e2,
		OutputVector *	contacts
	)

Definition at line 822 of file DiscreteIntersection.cpp.

References sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::core::componentmodel::collision::Intersection::getContactDistance(), sofa::component::collision::RigidDistanceGridCollisionElement::getGrid(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::RigidDistanceGridCollisionElement::getRotation(), sofa::component::collision::RigidDistanceGridCollisionElement::getTranslation(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::DistanceGrid::inBBox(), sofa::component::collision::DistanceGrid::inGrid(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::RigidDistanceGridCollisionElement::isTransformed(), sofa::defaulttype::Mat< L, C, real >::multTranspose(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Point::p(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	RigidDistanceGridCollisionElement &	e1,
		RigidDistanceGridCollisionElement &	e2,
		OutputVector *	contacts
	)

Definition at line 346 of file DiscreteIntersection.cpp.

References sofa::defaulttype::Mat< L, C, real >::col(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::defaulttype::ExtVector< T >::empty(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::component::collision::DistanceGrid::getCubeDim(), sofa::component::collision::RigidDistanceGridCollisionElement::getGrid(), sofa::component::collision::RigidDistanceGridCollisionElement::getRotation(), sofa::component::collision::RigidDistanceGridCollisionElement::getTranslation(), sofa::component::collision::DistanceGrid::grad(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::DistanceGrid::inBBox(), sofa::component::collision::DistanceGrid::inGrid(), sofa::component::collision::DistanceGrid::interp(), sofa::component::collision::DistanceGrid::isCube(), sofa::component::collision::RigidDistanceGridCollisionElement::isTransformed(), sofa::component::collision::DistanceGrid::meshPts, sofa::defaulttype::Mat< L, C, real >::multTranspose(), norm2(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, sofa::helper::rabs(), sofa::defaulttype::ExtVector< T >::size(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Tetrahedron &	e1,
		Point &	e2,
		OutputVector *	contacts
	)

Definition at line 285 of file DiscreteIntersection.cpp.

References sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::component::collision::Tetrahedron::getBary(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::component::collision::Tetrahedron::getDBary(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::Point::n(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Point::p(), sofa::component::collision::Tetrahedron::p1Index(), sofa::component::collision::Tetrahedron::p2Index(), sofa::component::collision::Tetrahedron::p3Index(), sofa::component::collision::Tetrahedron::p4Index(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Ray &	e1,
		Tetrahedron &	e2,
		OutputVector *	contacts
	)

Definition at line 221 of file DiscreteIntersection.cpp.

References sofa::component::collision::Ray::direction(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::component::collision::Tetrahedron::getBary(), sofa::component::collision::Tetrahedron::getDBary(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::Ray::l(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Ray::origin(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Ray &	e1,
		Triangle &	e2,
		OutputVector *	contacts
	)

Reimplemented in sofa::component::collision::LocalMinDistance, and sofa::component::collision::NewProximityIntersection.

Definition at line 178 of file DiscreteIntersection.cpp.

References sofa::component::collision::Ray::direction(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::defaulttype::Mat< L, C, real >::invert(), sofa::component::collision::Ray::l(), sofa::component::collision::Triangle::n(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Ray::origin(), sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Triangle &	e1,
		Line &	e2,
		OutputVector *	contacts
	)

Reimplemented in sofa::component::collision::NewProximityIntersection.

Definition at line 134 of file DiscreteIntersection.cpp.

References sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::defaulttype::Mat< L, C, real >::invert(), sofa::component::collision::Triangle::n(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Line::p1(), sofa::component::collision::Triangle::p1(), sofa::component::collision::Line::p2(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

template<class Sphere >

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Sphere &	sph,
		Triangle &	triangle,
		OutputVector *	contacts
	)			[inline]

Definition at line 153 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), cross(), sofa::core::componentmodel::collision::DetectionOutput::elem, EPSILON, sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::TSphere< DataTypes >::r(), SAMESIDE, and sofa::core::componentmodel::collision::DetectionOutput::value.

template<class Sphere >

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Ray &	ray1,
		Sphere &	sph2,
		OutputVector *	contacts
	)			[inline]

Reimplemented in sofa::component::collision::LocalMinDistance.

Definition at line 289 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::component::collision::Ray::direction(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::component::collision::Ray::l(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Ray::origin(), sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::TSphere< DataTypes >::r(), and sofa::core::componentmodel::collision::DetectionOutput::value.

template<class Sphere >

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Sphere &	,
		Cube &	,
		OutputVector *
	)			[inline]

Definition at line 282 of file DiscreteIntersection.inl.

template<class Sphere >

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Sphere &	sph1,
		Sphere &	sph2,
		OutputVector *	contacts
	)			[inline]

Reimplemented in sofa::component::collision::LocalMinDistance, sofa::component::collision::MinProximityIntersection, and sofa::component::collision::NewProximityIntersection.

Definition at line 257 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::TSphere< DataTypes >::r(), and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::DiscreteIntersection::computeIntersection	(	Cube &	,
		Cube &	,
		OutputVector *
	)

Todo:

Reimplemented in sofa::component::collision::LocalMinDistance, sofa::component::collision::MinProximityIntersection, and sofa::component::collision::NewProximityIntersection.

Definition at line 118 of file DiscreteIntersection.cpp.

template<class Model1 , class Model2 >

sofa::core::componentmodel::collision::TDetectionOutputVector<Model1,Model2>* sofa::component::collision::DiscreteIntersection::createOutputVector	(	Model1 *	,
		Model2 *
	)			[inline]

Definition at line 62 of file DiscreteIntersection.h.

int sofa::component::collision::DiscreteIntersection::endIntersection	(	sofa::core::CollisionModel *	,
		sofa::core::CollisionModel *	,
		OutputVector *
	)			[inline]

Definition at line 80 of file DiscreteIntersection.h.

ElementIntersector * sofa::component::collision::DiscreteIntersection::findIntersector	(	core::CollisionModel *	object1,
		core::CollisionModel *	object2,
		bool &	swapModels
	)			[virtual]

Return the intersector class handling the given pair of collision models, or NULL if not supported.

Parameters:

swapModel

output value set to true if the collision models must be swapped before calling the intersector.

Implements sofa::core::componentmodel::collision::Intersection.

Definition at line 89 of file DiscreteIntersection.cpp.

References sofa::core::componentmodel::collision::IntersectorMap::get(), and intersectors.

template<class Model1 , class Model2 >

sofa::core::componentmodel::collision::TDetectionOutputVector<Model1,Model2>* sofa::component::collision::DiscreteIntersection::getOutputVector	(	Model1 *	,
		Model2 *	,
		sofa::core::componentmodel::collision::DetectionOutputVector *	contacts
	)			[inline]

Definition at line 68 of file DiscreteIntersection.h.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Ray &	,
		FFDDistanceGridCollisionElement &
	)

Definition at line 1794 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	FFDDistanceGridCollisionElement &	,
		Triangle &
	)

Definition at line 1559 of file DiscreteIntersection.cpp.

template<class Sphere >

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	FFDDistanceGridCollisionElement &	,
		Sphere &
	)			[inline]

Definition at line 378 of file DiscreteIntersection.inl.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	FFDDistanceGridCollisionElement &	,
		Point &
	)

Definition at line 1470 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	FFDDistanceGridCollisionElement &	,
		FFDDistanceGridCollisionElement &
	)

Definition at line 1291 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	FFDDistanceGridCollisionElement &	,
		RigidDistanceGridCollisionElement &
	)

Definition at line 1130 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Ray &	,
		RigidDistanceGridCollisionElement &
	)

Definition at line 1011 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	RigidDistanceGridCollisionElement &	,
		Triangle &
	)

Definition at line 869 of file DiscreteIntersection.cpp.

template<class Sphere >

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	RigidDistanceGridCollisionElement &	,
		Sphere &
	)			[inline]

Definition at line 324 of file DiscreteIntersection.inl.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	RigidDistanceGridCollisionElement &	,
		Point &
	)

Definition at line 817 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	RigidDistanceGridCollisionElement &	,
		RigidDistanceGridCollisionElement &
	)

Definition at line 339 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Tetrahedron &	,
		Point &
	)

Definition at line 280 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Ray &	,
		Tetrahedron &
	)

Definition at line 216 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Ray &	,
		Triangle &
	)

Reimplemented in sofa::component::collision::LocalMinDistance, and sofa::component::collision::NewProximityIntersection.

Definition at line 173 of file DiscreteIntersection.cpp.

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Triangle &	,
		Line &
	)

Reimplemented in sofa::component::collision::NewProximityIntersection.

Definition at line 129 of file DiscreteIntersection.cpp.

template<class Sphere >

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Sphere &	sph,
		Triangle &	triangle
	)			[inline]

Definition at line 83 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), cross(), EPSILON, sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), sofa::component::collision::TSphere< DataTypes >::r(), and SAMESIDE.

template<class Sphere >

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Ray &	ray1,
		Sphere &	sph2
	)			[inline]

Reimplemented in sofa::component::collision::LocalMinDistance.

Definition at line 134 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::component::collision::Ray::direction(), sofa::component::collision::Ray::l(), sofa::component::collision::Ray::origin(), and sofa::component::collision::TSphere< DataTypes >::r().

template<class Sphere >

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Sphere &	sph1,
		Cube &	cube
	)			[inline]

Definition at line 61 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::component::collision::Cube::maxVect(), sofa::component::collision::Cube::minVect(), and sofa::component::collision::TSphere< DataTypes >::r().

template<class Sphere >

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Sphere &	sph1,
		Sphere &	sph2
	)			[inline]

Reimplemented in sofa::component::collision::LocalMinDistance, sofa::component::collision::MinProximityIntersection, and sofa::component::collision::NewProximityIntersection.

Definition at line 50 of file DiscreteIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), and sofa::component::collision::TSphere< DataTypes >::r().

bool sofa::component::collision::DiscreteIntersection::testIntersection	(	Cube &	cube1,
		Cube &	cube2
	)

Reimplemented in sofa::component::collision::LocalMinDistance, sofa::component::collision::MinProximityIntersection, and sofa::component::collision::NewProximityIntersection.

Definition at line 94 of file DiscreteIntersection.cpp.

References sofa::component::collision::Cube::maxVect(), and sofa::component::collision::Cube::minVect().

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Field Documentation

core::componentmodel::collision::IntersectorMap sofa::component::collision::DiscreteIntersection::intersectors [protected]

Definition at line 58 of file DiscreteIntersection.h.

Referenced by findIntersector(), sofa::component::collision::NewProximityIntersection::init(), sofa::component::collision::MinProximityIntersection::init(), and sofa::component::collision::LocalMinDistance::init().

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The documentation for this class was generated from the following files:

• modules/sofa/component/collision/DiscreteIntersection.h
• modules/sofa/component/collision/DiscreteIntersection.cpp
• modules/sofa/component/collision/DiscreteIntersection.inl