sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube Class Reference
#include <DistanceGridCollisionModel.h>
Data Structures | |
| struct | Point |
Public Types | |
| enum | { C000 = 0+0+0, C100 = 1+0+0, C010 = 0+2+0, C110 = 1+2+0, C001 = 0+0+4, C101 = 1+0+4, C011 = 0+2+4, C111 = 1+2+4 } |
| enum | { FX0 = 0+0, FX1 = 0+1, FY0 = 2+0, FY1 = 2+1, FZ0 = 4+0, FZ1 = 4+1 } |
| typedef Vec< 4, GSReal > | Plane |
| plane equation as defined by Plane.(x y z 1) = 0 | |
Public Member Functions | |
| DeformedCube () | |
| void | updateDeform () |
| Update the deformation precomputed values. | |
| void | updatePoints () |
| Update the deformedPoints position if not done yet (i.e. if pointsUpdated==false). | |
| void | updateFaces () |
| Update the face planes if not done yet (i.e. | |
| DistanceGrid::Coord | baryCoords (const GCoord &c) const |
| Compute the barycentric coordinates of a point from its initial position. | |
| GCoord | initpos (const GCoord &b) const |
| Compute the initial position of a point from its barycentric coordinates. | |
| GCoord | deform (const GCoord &b) const |
| Compute the deformed position of a point from its barycentric coordinates. | |
| GCoord | deformDir (const GCoord &b, const GCoord &dir) const |
| deform a direction relative to a point in barycentric coordinates | |
| Mat< 3, 3, double > | Jdeform (const GCoord &b) const |
| Get the local jacobian matrix of the deformation. | |
| GCoord | undeform0 (const GCoord &p) const |
| Compute an initial estimate to the barycentric coordinate of a point given its deformed position. | |
| GCoord | undeformDir (const GCoord &b, const GCoord &dir) const |
| Undeform a direction relative to a point in barycentric coordinates. | |
| Plane | computePlane (int c00, int c10, int c01, int c11) |
| Compute a plane equation given 4 corners. | |
Static Public Member Functions | |
| static GSReal | interp (GSReal coef, GSReal a, GSReal b) |
Data Fields | |
| DistanceGrid * | grid |
| int | elem |
| Index of the corresponding element in the topology. | |
| vector< Point > | points |
| barycentric coordinates of included points | |
| GCoord | initP0 |
| GCoord | initDP |
| GCoord | invDP |
| Initial corners position. | |
| GCoord | corners [8] |
| Current corners position. | |
| Plane | faces [6] |
| planes corresponding to the six faces (FX0,FX1,FY0,FY1,FZ0,FZ1) | |
| GCoord | center |
| current center; | |
| GSReal | radius |
| radius of enclosing sphere | |
| vector< GCoord > | deformedPoints |
| deformed points | |
| bool | pointsUpdated |
| true the deformedPoints vector has been updated with the latest positions | |
| bool | facesUpdated |
| true the faces plane vector has been updated with the latest positions | |
Precomputed deformation factors | |
We have : deform(b) = C000(1-b[0])(1-b[1])(1-b[2]) + C100(b[0])(1-b[1])(1-b[2]) + C010(1-b[0])(b[1])(1-b[2]) + C110(b[0])(b[1])(1-b[2]) + C001(1-b[0])(1-b[1])( b[2]) + C101(b[0])(1-b[1])( b[2]) + C011(1-b[0])(b[1])( b[2]) + C111(b[0])(b[1])( b[2]) = C000 + Dx b[0] + Dy b[1] + Dz b[2] + Dxy b[0]b[1] + Dxz b[0]b[2] + dyz b[1]b[2] + dxyz b[0]b[1]b[2] | |
| GCoord | Dx |
| Dx = -C000+C100. | |
| GCoord | Dy |
| Dy = -C000+C010. | |
| GCoord | Dz |
| Dx = -C000+C001. | |
| GCoord | Dxy |
| Dxy = C000-C100-C010+C110 = C110-C010-Dx. | |
| GCoord | Dxz |
| Dxz = C000-C100-C001+C101 = C101-C001-Dx. | |
| GCoord | Dyz |
| Dyz = C000-C010-C001+C011 = C011-C001-Dy. | |
| GCoord | Dxyz |
| Dxyz = - C000 + C100 + C010 - C110 + C001 - C101 - C011 + C111 = C001 - C101 - C011 + C111 - Dxy. | |
Detailed Description
Definition at line 601 of file DistanceGridCollisionModel.h.
Member Typedef Documentation
| typedef Vec<4,GSReal> sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::Plane |
plane equation as defined by Plane.(x y z 1) = 0
Definition at line 623 of file DistanceGridCollisionModel.h.
Member Enumeration Documentation
| anonymous enum |
Definition at line 615 of file DistanceGridCollisionModel.h.
| anonymous enum |
Constructor & Destructor Documentation
| sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::DeformedCube | ( | ) | [inline] |
Definition at line 605 of file DistanceGridCollisionModel.h.
Member Function Documentation
| DistanceGrid::Coord sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::baryCoords | ( | const GCoord & | c | ) | const [inline] |
Compute the barycentric coordinates of a point from its initial position.
Definition at line 656 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().
| FFDDistanceGridCollisionModel::DeformedCube::Plane sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::computePlane | ( | int | c00, | |
| int | c10, | |||
| int | c01, | |||
| int | c11 | |||
| ) |
Compute a plane equation given 4 corners.
Definition at line 590 of file DistanceGridCollisionModel.cpp.
References corners, and cross().
Referenced by updateFaces().
| GCoord sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deform | ( | const GCoord & | b | ) | const [inline] |
Compute the deformed position of a point from its barycentric coordinates.
Definition at line 670 of file DistanceGridCollisionModel.h.
References C000, corners, Dx, Dxy, Dxyz, Dxz, Dy, Dyz, and Dz.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection(), and updatePoints().
| GCoord sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformDir | ( | const GCoord & | b, | |
| const GCoord & | dir | |||
| ) | const [inline] |
deform a direction relative to a point in barycentric coordinates
Definition at line 681 of file DistanceGridCollisionModel.h.
References Dx, Dxy, Dxyz, Dxz, Dy, Dyz, and Dz.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().
| GCoord sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::initpos | ( | const GCoord & | b | ) | const [inline] |
Compute the initial position of a point from its barycentric coordinates.
Definition at line 663 of file DistanceGridCollisionModel.h.
References initDP, and initP0.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().
| static GSReal sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::interp | ( | GSReal | coef, | |
| GSReal | a, | |||
| GSReal | b | |||
| ) | [inline, static] |
Definition at line 675 of file DistanceGridCollisionModel.h.
| Mat<3,3,double> sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::Jdeform | ( | const GCoord & | b | ) | const [inline] |
Get the local jacobian matrix of the deformation.
Definition at line 694 of file DistanceGridCollisionModel.h.
References Dx, Dxy, Dxyz, Dxz, Dy, Dyz, and Dz.
Referenced by undeformDir().
| GCoord sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeform0 | ( | const GCoord & | p | ) | const [inline] |
Compute an initial estimate to the barycentric coordinate of a point given its deformed position.
Definition at line 710 of file DistanceGridCollisionModel.h.
References faces.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().
| GCoord sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::undeformDir | ( | const GCoord & | b, | |
| const GCoord & | dir | |||
| ) | const [inline] |
Undeform a direction relative to a point in barycentric coordinates.
Definition at line 722 of file DistanceGridCollisionModel.h.
References sofa::defaulttype::Mat< L, C, real >::invert(), and Jdeform().
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().
| void sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateDeform | ( | ) |
| void sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updateFaces | ( | ) |
Update the face planes if not done yet (i.e.
Update the face planes position if not done yet (i.e. if facesUpdated==false).
if facesUpdated==false)
Definition at line 579 of file DistanceGridCollisionModel.cpp.
References C000, C001, C010, C011, C100, C101, C110, C111, computePlane(), faces, facesUpdated, FX0, FX1, FY0, FY1, FZ0, and FZ1.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().
| void sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::updatePoints | ( | ) |
Update the deformedPoints position if not done yet (i.e. if pointsUpdated==false).
Definition at line 565 of file DistanceGridCollisionModel.cpp.
References deform(), deformedPoints, points, and pointsUpdated.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection().
Field Documentation
current center;
Definition at line 648 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::FFDDistanceGridCollisionModel::draw(), and sofa::component::collision::FFDDistanceGridCollisionModel::updateGrid().
Current corners position.
Definition at line 614 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::FFDDistanceGridCollisionModel::computeBoundingTree(), sofa::component::collision::DiscreteIntersection::computeIntersection(), computePlane(), deform(), sofa::component::collision::FFDDistanceGridCollisionModel::draw(), updateDeform(), and sofa::component::collision::FFDDistanceGridCollisionModel::updateGrid().
| vector<GCoord> sofa::component::collision::FFDDistanceGridCollisionModel::DeformedCube::deformedPoints |
deformed points
Definition at line 650 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::FFDDistanceGridCollisionModel::draw(), and updatePoints().
Dx = -C000+C100.
Definition at line 637 of file DistanceGridCollisionModel.h.
Referenced by deform(), deformDir(), Jdeform(), and updateDeform().
Dxy = C000-C100-C010+C110 = C110-C010-Dx.
Definition at line 640 of file DistanceGridCollisionModel.h.
Referenced by deform(), deformDir(), Jdeform(), and updateDeform().
Dxyz = - C000 + C100 + C010 - C110 + C001 - C101 - C011 + C111 = C001 - C101 - C011 + C111 - Dxy.
Definition at line 643 of file DistanceGridCollisionModel.h.
Referenced by deform(), deformDir(), Jdeform(), and updateDeform().
Dxz = C000-C100-C001+C101 = C101-C001-Dx.
Definition at line 641 of file DistanceGridCollisionModel.h.
Referenced by deform(), deformDir(), Jdeform(), and updateDeform().
Dy = -C000+C010.
Definition at line 638 of file DistanceGridCollisionModel.h.
Referenced by deform(), deformDir(), Jdeform(), and updateDeform().
Dyz = C000-C010-C001+C011 = C011-C001-Dy.
Definition at line 642 of file DistanceGridCollisionModel.h.
Referenced by deform(), deformDir(), Jdeform(), and updateDeform().
Dx = -C000+C001.
Definition at line 639 of file DistanceGridCollisionModel.h.
Referenced by deform(), deformDir(), Jdeform(), and updateDeform().
Index of the corresponding element in the topology.
Definition at line 606 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::FFDDistanceGridCollisionModel::updateGrid().
planes corresponding to the six faces (FX0,FX1,FY0,FY1,FZ0,FZ1)
Definition at line 624 of file DistanceGridCollisionModel.h.
Referenced by undeform0(), and updateFaces().
true the faces plane vector has been updated with the latest positions
Definition at line 653 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::FFDDistanceGridCollisionModel::draw(), updateFaces(), and sofa::component::collision::FFDDistanceGridCollisionModel::updateGrid().
Definition at line 604 of file DistanceGridCollisionModel.h.
Definition at line 613 of file DistanceGridCollisionModel.h.
Referenced by baryCoords(), and initpos().
Initial corners position.
Definition at line 613 of file DistanceGridCollisionModel.h.
Referenced by baryCoords(), and sofa::component::collision::DiscreteIntersection::computeIntersection().
barycentric coordinates of included points
Definition at line 612 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection(), and updatePoints().
true the deformedPoints vector has been updated with the latest positions
Definition at line 651 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::FFDDistanceGridCollisionModel::draw(), sofa::component::collision::FFDDistanceGridCollisionModel::updateGrid(), and updatePoints().
radius of enclosing sphere
Definition at line 649 of file DistanceGridCollisionModel.h.
Referenced by sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::FFDDistanceGridCollisionModel::draw(), and sofa::component::collision::FFDDistanceGridCollisionModel::updateGrid().
The documentation for this class was generated from the following files:
- modules/sofa/component/collision/DistanceGridCollisionModel.h
- modules/sofa/component/collision/DistanceGridCollisionModel.cpp
