sofa::component::collision::DistanceGrid Class Reference

#include <DistanceGridCollisionModel.h>

Collaboration diagram for sofa::component::collision::DistanceGrid:


Data Structures
struct	DistanceGridParams
Public Types
typedef Vector3	Coord
typedef defaulttype::ExtVector < SReal >	VecSReal
typedef defaulttype::ExtVector < Coord >	VecCoord
Public Member Functions
	DistanceGrid (int nx, int ny, int nz, Coord pmin, Coord pmax)
	DistanceGrid (int nx, int ny, int nz, Coord pmin, Coord pmax, defaulttype::ExtVectorAllocator< SReal > *alloc)
DistanceGrid *	addRef ()
	Add one reference to this grid. Note that loadShared already does this.
bool	release ()
	Release one reference, deleting this grid if this is the last.
bool	save (const std::string &filename)
	Save current grid.
void	calcDistance (sofa::helper::io::Mesh *mesh, double scale=1.0)
	Compute distance field from given mesh.
void	calcCubeDistance (SReal dim=1, int np=5)
	Compute distance field for a cube of the given half-size.
void	computeBBox ()
	Update bbox.
int	getNx () const
int	getNy () const
int	getNz () const
const Coord &	getCellWidth () const
int	size () const
const Coord &	getBBMin () const
const Coord &	getBBMax () const
void	setBBMin (const Coord &val)
void	setBBMax (const Coord &val)
Coord	getBBCorner (int i) const
bool	inBBox (const Coord &p, SReal margin=0.0f) const
const Coord &	getPMin () const
const Coord &	getPMax () const
Coord	getCorner (int i) const
bool	isCube () const
SReal	getCubeDim () const
bool	inGrid (const Coord &p) const
Coord	clamp (Coord p) const
int	ix (const Coord &p) const
int	iy (const Coord &p) const
int	iz (const Coord &p) const
int	index (const Coord &p, Coord &coefs) const
int	index (const Coord &p) const
int	index (int x, int y, int z)
Coord	coord (int x, int y, int z)
SReal	operator[] (int index) const
SReal &	operator[] (int index)
SReal	interp (int index, const Coord &coefs) const
SReal	interp (const Coord &p) const
Coord	grad (int index, const Coord &coefs) const
Coord	grad (const Coord &p) const
SReal	eval (const Coord &x) const
SReal	quickeval (const Coord &x) const
SReal	eval2 (const Coord &x) const
SReal	quickeval2 (const Coord &x) const
Static Public Member Functions
static SReal	maxDist ()
static DistanceGrid *	load (const std::string &filename, double scale=1.0, int nx=64, int ny=64, int nz=64, Coord pmin=Coord(), Coord pmax=Coord())
	Load a distance grid.
static DistanceGrid *	loadShared (const std::string &filename, double scale=1.0, int nx=64, int ny=64, int nz=64, Coord pmin=Coord(), Coord pmax=Coord())
	Load or reuse a distance grid.
static SReal	interp (SReal coef, SReal a, SReal b)
Data Fields
VecCoord	meshPts
Protected Types
enum	Status { FMM_FRONT0 = 0, FMM_FAR = -1, FMM_KNOWN_OUT = -2, FMM_KNOWN_IN = -3 }
Protected Member Functions
	~DistanceGrid ()
int	fmm_pop ()
void	fmm_push (int index)
void	fmm_swap (int entry1, int entry2)
Static Protected Member Functions
static std::map < DistanceGridParams, DistanceGrid * > &	getShared ()
Protected Attributes
int	nbRef
VecSReal	dists
const int	nx
const int	ny
const int	nz
const int	nxny
const int	nxnynz
const Coord	pmin
const Coord	pmax
const Coord	cellWidth
const Coord	invCellWidth
Coord	bbmin
Coord	bbmax
	bounding box of the object, smaller than the grid
SReal	cubeDim
	Cube dimension (!=0 if this is actually a cube.
helper::vector< int >	fmm_status
helper::vector< int >	fmm_heap
int	fmm_heap_size

Detailed Description

Definition at line 48 of file DistanceGridCollisionModel.h.

Member Typedef Documentation

typedef Vector3 sofa::component::collision::DistanceGrid::Coord

Definition at line 52 of file DistanceGridCollisionModel.h.

typedef defaulttype::ExtVector<Coord> sofa::component::collision::DistanceGrid::VecCoord

Definition at line 54 of file DistanceGridCollisionModel.h.

typedef defaulttype::ExtVector<SReal> sofa::component::collision::DistanceGrid::VecSReal

Definition at line 53 of file DistanceGridCollisionModel.h.

Member Enumeration Documentation

enum sofa::component::collision::DistanceGrid::Status [protected]

Enumerator:

FMM_FRONT0
FMM_FAR
FMM_KNOWN_OUT
FMM_KNOWN_IN

Definition at line 316 of file DistanceGridCollisionModel.h.

Constructor & Destructor Documentation

sofa::component::collision::DistanceGrid::DistanceGrid	(	int	nx,
		int	ny,
		int	nz,
		Coord	pmin,
		Coord	pmax
	)

Definition at line 694 of file DistanceGridCollisionModel.cpp.

Referenced by load().

sofa::component::collision::DistanceGrid::DistanceGrid	(	int	nx,
		int	ny,
		int	nz,
		Coord	pmin,
		Coord	pmax,
		defaulttype::ExtVectorAllocator< SReal > *	alloc
	)

Definition at line 703 of file DistanceGridCollisionModel.cpp.

sofa::component::collision::DistanceGrid::~DistanceGrid ( ) [protected]

Definition at line 712 of file DistanceGridCollisionModel.cpp.

References getShared().

Member Function Documentation

DistanceGrid * sofa::component::collision::DistanceGrid::addRef ( )

Add one reference to this grid. Note that loadShared already does this.

Definition at line 722 of file DistanceGridCollisionModel.cpp.

References nbRef.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::setGrid(), and sofa::component::collision::RigidDistanceGridCollisionModel::setNewState().

void sofa::component::collision::DistanceGrid::calcCubeDistance	(	SReal	dim = `1`,
		int	np = `5`
	)

Compute distance field for a cube of the given half-size.

Also create a mesh of points using np points per axis

Definition at line 963 of file DistanceGridCollisionModel.cpp.

References bbmax, bbmin, coord(), cubeDim, dists, meshPts, norm(), nx, ny, nz, sofa::helper::rabs(), sofa::defaulttype::ExtVector< T >::resize(), and sofa::helper::rmax().

Referenced by load().

void sofa::component::collision::DistanceGrid::calcDistance	(	sofa::helper::io::Mesh *	mesh,
		double	scale = `1.0`
	)

Compute distance field from given mesh.

Definition at line 1008 of file DistanceGridCollisionModel.cpp.

References bbmax, bbmin, sofa::defaulttype::ExtVector< T >::begin(), cellWidth, coord(), cross(), dists, sofa::defaulttype::ExtVector< T >::end(), FMM_FAR, fmm_heap, fmm_heap_size, FMM_KNOWN_IN, FMM_KNOWN_OUT, fmm_pop(), fmm_push(), fmm_status, sofa::helper::io::Mesh::getFacets(), sofa::helper::io::Mesh::getVertices(), index(), ix(), iy(), iz(), maxDist(), sofa::defaulttype::Vec< N, real >::normalize(), nx, nxny, nxnynz, ny, nz, sofa::helper::rabs(), and size().

Referenced by load().

Coord sofa::component::collision::DistanceGrid::clamp ( Coord p ) const [inline]

Definition at line 123 of file DistanceGridCollisionModel.h.

References pmax, and pmin.

Referenced by eval(), eval2(), quickeval(), and quickeval2().

void sofa::component::collision::DistanceGrid::computeBBox ( )

Update bbox.

compute the SReal bbox from the grid content

Definition at line 939 of file DistanceGridCollisionModel.cpp.

References bbmax, bbmin, sofa::defaulttype::ExtVector< T >::empty(), meshPts, pmax, pmin, and sofa::defaulttype::ExtVector< T >::size().

Referenced by load().

Coord sofa::component::collision::DistanceGrid::coord	(	int	x,
		int	y,
		int	z
	)			`[inline]`

Definition at line 174 of file DistanceGridCollisionModel.h.

References cellWidth, and pmin.

Referenced by calcCubeDistance(), calcDistance(), and sofa::component::collision::RigidDistanceGridCollisionModel::draw().

SReal sofa::component::collision::DistanceGrid::eval ( const Coord & x ) const [inline]

Definition at line 237 of file DistanceGridCollisionModel.h.

References clamp(), inGrid(), interp(), norm2(), and sofa::helper::rsqrt().

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

SReal sofa::component::collision::DistanceGrid::eval2 ( const Coord & x ) const [inline]

Definition at line 269 of file DistanceGridCollisionModel.h.

References clamp(), inGrid(), interp(), and norm2().

int sofa::component::collision::DistanceGrid::fmm_pop ( ) [protected]

Definition at line 1404 of file DistanceGridCollisionModel.cpp.

References dists, fmm_heap, fmm_heap_size, fmm_swap(), nx, nxny, and ny.

Referenced by calcDistance().

void sofa::component::collision::DistanceGrid::fmm_push ( int index ) [protected]

Definition at line 1460 of file DistanceGridCollisionModel.cpp.

References dists, FMM_FRONT0, fmm_heap, fmm_heap_size, fmm_status, fmm_swap(), nx, nxny, and ny.

Referenced by calcDistance().

void sofa::component::collision::DistanceGrid::fmm_swap	(	int	entry1,
		int	entry2
	)			`[inline, protected]`

Definition at line 1394 of file DistanceGridCollisionModel.cpp.

References FMM_FRONT0, fmm_heap, and fmm_status.

Referenced by fmm_pop(), and fmm_push().

Coord sofa::component::collision::DistanceGrid::getBBCorner ( int i ) const [inline]

Definition at line 100 of file DistanceGridCollisionModel.h.

References bbmax, and bbmin.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

const Coord& sofa::component::collision::DistanceGrid::getBBMax ( ) const [inline]

Definition at line 97 of file DistanceGridCollisionModel.h.

References bbmax.

Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().

const Coord& sofa::component::collision::DistanceGrid::getBBMin ( ) const [inline]

Definition at line 96 of file DistanceGridCollisionModel.h.

References bbmin.

Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().

const Coord& sofa::component::collision::DistanceGrid::getCellWidth ( ) const [inline]

Definition at line 92 of file DistanceGridCollisionModel.h.

References cellWidth.

Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().

Coord sofa::component::collision::DistanceGrid::getCorner ( int i ) const [inline]

Definition at line 110 of file DistanceGridCollisionModel.h.

References pmax, and pmin.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

SReal sofa::component::collision::DistanceGrid::getCubeDim ( ) const [inline]

Definition at line 113 of file DistanceGridCollisionModel.h.

References cubeDim.

Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().

int sofa::component::collision::DistanceGrid::getNx ( ) const [inline]

Definition at line 89 of file DistanceGridCollisionModel.h.

References nx.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

int sofa::component::collision::DistanceGrid::getNy ( ) const [inline]

Definition at line 90 of file DistanceGridCollisionModel.h.

References ny.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

int sofa::component::collision::DistanceGrid::getNz ( ) const [inline]

Definition at line 91 of file DistanceGridCollisionModel.h.

References nz.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

const Coord& sofa::component::collision::DistanceGrid::getPMax ( ) const [inline]

Definition at line 109 of file DistanceGridCollisionModel.h.

References pmax.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

const Coord& sofa::component::collision::DistanceGrid::getPMin ( ) const [inline]

Definition at line 108 of file DistanceGridCollisionModel.h.

References pmin.

Referenced by sofa::component::collision::RigidDistanceGridCollisionModel::draw().

std::map< DistanceGrid::DistanceGridParams, DistanceGrid * > & sofa::component::collision::DistanceGrid::getShared ( ) [static, protected]

Definition at line 1552 of file DistanceGridCollisionModel.cpp.

Referenced by loadShared(), and ~DistanceGrid().

Coord sofa::component::collision::DistanceGrid::grad ( const Coord & p ) const [inline]

Definition at line 230 of file DistanceGridCollisionModel.h.

References grad(), and index().

Coord sofa::component::collision::DistanceGrid::grad	(	int	index,
		const Coord &	coefs
	)			const `[inline]`

Definition at line 202 of file DistanceGridCollisionModel.h.

References dists, interp(), nx, and nxny.

Referenced by sofa::component::collision::ContactMapper< RigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::RigidDistanceGridCollisionModel::draw(), and grad().

bool sofa::component::collision::DistanceGrid::inBBox	(	const Coord &	p,
		SReal	margin = `0.0f`
	)			const `[inline]`

Definition at line 101 of file DistanceGridCollisionModel.h.

References bbmax, and bbmin.

Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().

int sofa::component::collision::DistanceGrid::index	(	int	x,
		int	y,
		int	z
	)			`[inline]`

Definition at line 169 of file DistanceGridCollisionModel.h.

References nx, and ny.

int sofa::component::collision::DistanceGrid::index ( const Coord & p ) const [inline]

Definition at line 163 of file DistanceGridCollisionModel.h.

References index().

int sofa::component::collision::DistanceGrid::index	(	const Coord &	p,
		Coord &	coefs
	)			const `[inline]`

Definition at line 146 of file DistanceGridCollisionModel.h.

References invCellWidth, nx, ny, nz, pmin, and sofa::helper::rfloor().

Referenced by sofa::component::collision::ContactMapper< RigidDistanceGridCollisionModel, DataTypes >::addPoint(), calcDistance(), grad(), index(), interp(), quickeval(), and quickeval2().

bool sofa::component::collision::DistanceGrid::inGrid ( const Coord & p ) const [inline]

Definition at line 115 of file DistanceGridCollisionModel.h.

References cellWidth, pmax, and pmin.

Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection(), eval(), eval2(), quickeval(), and quickeval2().

SReal sofa::component::collision::DistanceGrid::interp ( const Coord & p ) const [inline]

Definition at line 195 of file DistanceGridCollisionModel.h.

References index(), and interp().

SReal sofa::component::collision::DistanceGrid::interp	(	int	index,
		const Coord &	coefs
	)			const `[inline]`

Definition at line 187 of file DistanceGridCollisionModel.h.

References dists, interp(), nx, and nxny.

static SReal sofa::component::collision::DistanceGrid::interp	(	SReal	coef,
		SReal	a,
		SReal	b
	)			`[inline, static]`

Definition at line 182 of file DistanceGridCollisionModel.h.

Referenced by sofa::component::collision::ContactMapper< RigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::collision::DiscreteIntersection::computeIntersection(), eval(), eval2(), grad(), and interp().

bool sofa::component::collision::DistanceGrid::isCube ( ) const [inline]

Definition at line 112 of file DistanceGridCollisionModel.h.

References cubeDim.

Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().

int sofa::component::collision::DistanceGrid::ix ( const Coord & p ) const [inline]

Definition at line 131 of file DistanceGridCollisionModel.h.

References invCellWidth, pmin, and sofa::helper::rfloor().

Referenced by calcDistance().

int sofa::component::collision::DistanceGrid::iy ( const Coord & p ) const [inline]

Definition at line 136 of file DistanceGridCollisionModel.h.

References invCellWidth, pmin, and sofa::helper::rfloor().

Referenced by calcDistance().

int sofa::component::collision::DistanceGrid::iz ( const Coord & p ) const [inline]

Definition at line 141 of file DistanceGridCollisionModel.h.

References invCellWidth, pmin, and sofa::helper::rfloor().

Referenced by calcDistance().

DistanceGrid * sofa::component::collision::DistanceGrid::load	(	const std::string &	filename,
		double	scale = `1.0`,
		int	nx = `64`,
		int	ny = `64`,
		int	nz = `64`,
		Coord	pmin = `Coord()`,
		Coord	pmax = `Coord()`
	)			`[static]`

Load a distance grid.

Definition at line 737 of file DistanceGridCollisionModel.cpp.

References bbmax, bbmin, calcCubeDistance(), calcDistance(), computeBBox(), sofa::helper::io::Mesh::Create(), sofa::defaulttype::ExtVector< T >::data, DistanceGrid(), dists, sofa::helper::io::Mesh::getVertices(), meshPts, nxnynz, and sofa::defaulttype::ExtVector< T >::resize().

Referenced by loadShared().

DistanceGrid * sofa::component::collision::DistanceGrid::loadShared	(	const std::string &	filename,
		double	scale = `1.0`,
		int	nx = `64`,
		int	ny = `64`,
		int	nz = `64`,
		Coord	pmin = `Coord()`,
		Coord	pmax = `Coord()`
	)			`[static]`