sofa::component::collision::MinProximityIntersection Class Reference

#include <MinProximityIntersection.h>

Inheritance diagram for sofa::component::collision::MinProximityIntersection:

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Collaboration diagram for sofa::component::collision::MinProximityIntersection:

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Public Member Functions

 MinProximityIntersection ()
virtual void init ()
 Initialization method called at graph modification, during bottom-up traversal.
virtual bool useProximity () const
 returns true if algorithm uses proximity
double getAlarmDistance () const
 Return the alarm distance (must return 0 if useMinProximity() is false).
double getContactDistance () const
 Return the contact distance (must return 0 if useMinProximity() is false).
void setAlarmDistance (double v)
void setContactDistance (double v)
bool testIntersection (Cube &, Cube &)
bool testIntersection (Point &, Point &)
bool testIntersection (Sphere &, Point &)
bool testIntersection (Sphere &, Sphere &)
bool testIntersection (Line &, Point &)
bool testIntersection (Line &, Sphere &)
bool testIntersection (Line &, Line &)
bool testIntersection (Triangle &, Point &)
bool testIntersection (Triangle &, Sphere &)
int computeIntersection (Cube &, Cube &, OutputVector *)
int computeIntersection (Point &, Point &, OutputVector *)
int computeIntersection (Sphere &, Point &, OutputVector *)
int computeIntersection (Sphere &, Sphere &, OutputVector *)
int computeIntersection (Line &, Point &, OutputVector *)
int computeIntersection (Line &, Sphere &, OutputVector *)
int computeIntersection (Line &, Line &, OutputVector *)
int computeIntersection (Triangle &, Point &, OutputVector *)
int computeIntersection (Triangle &, Sphere &, OutputVector *)
void draw ()
 Render internal data of this object, for debugging purposes.

Data Fields

Data< bool > useSphereTriangle
Data< bool > usePointPoint
Data< double > alarmDistance
Data< double > contactDistance

Private Attributes

double mainAlarmDistance
double mainContactDistance

Detailed Description

Definition at line 46 of file MinProximityIntersection.h.

Constructor & Destructor Documentation

sofa::component::collision::MinProximityIntersection::MinProximityIntersection (  ) 

Definition at line 58 of file MinProximityIntersection.cpp.

Member Function Documentation

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

Definition at line 530 of file MinProximityIntersection.cpp.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::defaulttype::determinant(), sofa::core::componentmodel::collision::DetectionOutput::elem, getAlarmDistance(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), 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(), and sofa::core::componentmodel::collision::DetectionOutput::value.

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

Definition at line 273 of file MinProximityIntersection.cpp.

References sofa::defaulttype::determinant(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::componentmodel::collision::DetectionOutput::freePoint, getAlarmDistance(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Point::p(), sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p1Free(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p2Free(), sofa::component::collision::Triangle::p3(), sofa::component::collision::Triangle::p3Free(), sofa::component::collision::Point::pFree(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

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

Definition at line 156 of file MinProximityIntersection.cpp.

References sofa::defaulttype::determinant(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::componentmodel::collision::DetectionOutput::freePoint, getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Line::p1(), sofa::component::collision::Line::p1Free(), sofa::component::collision::Line::p2(), sofa::component::collision::Line::p2Free(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

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

Definition at line 615 of file MinProximityIntersection.cpp.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::core::componentmodel::collision::DetectionOutput::elem, getAlarmDistance(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Line::p1(), sofa::component::collision::Line::p2(), sofa::core::componentmodel::collision::DetectionOutput::point, sofa::component::collision::TSphere< DataTypes >::r(), and sofa::core::componentmodel::collision::DetectionOutput::value.

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

Definition at line 376 of file MinProximityIntersection.cpp.

References sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::componentmodel::collision::DetectionOutput::freePoint, getAlarmDistance(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Point::p(), sofa::component::collision::Line::p1(), sofa::component::collision::Line::p1Free(), sofa::component::collision::Line::p2(), sofa::component::collision::Line::p2Free(), sofa::component::collision::Point::pFree(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

int sofa::component::collision::MinProximityIntersection::computeIntersection ( Sphere &  ,
Sphere &  ,
OutputVector *   
)

Reimplemented from sofa::component::collision::DiscreteIntersection.

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

Definition at line 675 of file MinProximityIntersection.cpp.

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

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

Definition at line 447 of file MinProximityIntersection.cpp.

References sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::componentmodel::collision::DetectionOutput::freePoint, getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::component::collision::Point::p(), sofa::component::collision::Point::pFree(), sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

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

Todo:

Reimplemented from sofa::component::collision::DiscreteIntersection.

Definition at line 113 of file MinProximityIntersection.cpp.

void sofa::component::collision::MinProximityIntersection::draw (  )  [virtual]

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 764 of file MinProximityIntersection.cpp.

References sofa::core::objectmodel::BaseObject::getContext().

double sofa::component::collision::MinProximityIntersection::getAlarmDistance (  )  const [inline, virtual]

Return the alarm distance (must return 0 if useMinProximity() is false).

Reimplemented from sofa::core::componentmodel::collision::Intersection.

Definition at line 62 of file MinProximityIntersection.h.

References alarmDistance, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by computeIntersection(), and testIntersection().

double sofa::component::collision::MinProximityIntersection::getContactDistance (  )  const [inline, virtual]

Return the contact distance (must return 0 if useMinProximity() is false).

Reimplemented from sofa::core::componentmodel::collision::Intersection.

Definition at line 65 of file MinProximityIntersection.h.

References contactDistance, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by computeIntersection().

void sofa::component::collision::MinProximityIntersection::init ( void   )  [virtual]

Initialization method called at graph modification, during bottom-up traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 66 of file MinProximityIntersection.cpp.

References sofa::core::componentmodel::collision::IntersectorMap::add(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::collision::IntersectorMap::ignore(), sofa::component::collision::DiscreteIntersection::intersectors, usePointPoint, and useSphereTriangle.

void sofa::component::collision::MinProximityIntersection::setAlarmDistance ( double  v  )  [inline]

Definition at line 67 of file MinProximityIntersection.h.

References alarmDistance, and sofa::core::objectmodel::Data< T >::setValue().

Referenced by SofaFlowVR::FlowVRInputMesh::flowvrBeginIteration(), and SofaFlowVR::FlowVRInputMesh::init().

void sofa::component::collision::MinProximityIntersection::setContactDistance ( double  v  )  [inline]

Definition at line 69 of file MinProximityIntersection.h.

References contactDistance, and sofa::core::objectmodel::Data< T >::setValue().

Referenced by SofaFlowVR::FlowVRInputMesh::flowvrBeginIteration(), and SofaFlowVR::FlowVRInputMesh::init().

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Triangle &  e2,
Sphere &  e1 
)

Definition at line 488 of file MinProximityIntersection.cpp.

References sofa::component::collision::TSphere< DataTypes >::center(), sofa::defaulttype::determinant(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), and sofa::component::collision::TSphere< DataTypes >::r().

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Triangle &  e2,
Point &  e1 
)

Definition at line 222 of file MinProximityIntersection.cpp.

References sofa::defaulttype::determinant(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Point::p(), sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), and sofa::component::collision::Triangle::p3().

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Line &  e1,
Line &  e2 
)

Definition at line 118 of file MinProximityIntersection.cpp.

References sofa::defaulttype::determinant(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Line::p1(), and sofa::component::collision::Line::p2().

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Line &  e2,
Sphere &  e1 
)

Definition at line 582 of file MinProximityIntersection.cpp.

References sofa::component::collision::TSphere< DataTypes >::center(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Line::p1(), sofa::component::collision::Line::p2(), and sofa::component::collision::TSphere< DataTypes >::r().

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Line &  e2,
Point &  e1 
)

Definition at line 344 of file MinProximityIntersection.cpp.

References getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Point::p(), sofa::component::collision::Line::p1(), and sofa::component::collision::Line::p2().

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Sphere &  ,
Sphere &   
)

Reimplemented from sofa::component::collision::DiscreteIntersection.

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Sphere &  e1,
Point &  e2 
)

Definition at line 658 of file MinProximityIntersection.cpp.

References sofa::component::collision::TSphere< DataTypes >::center(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Point::p(), and sofa::component::collision::TSphere< DataTypes >::r().

bool sofa::component::collision::MinProximityIntersection::testIntersection ( Point &  e1,
Point &  e2 
)

Definition at line 435 of file MinProximityIntersection.cpp.

References getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), and sofa::component::collision::Point::p().

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

Reimplemented from sofa::component::collision::DiscreteIntersection.

Definition at line 95 of file MinProximityIntersection.cpp.

References getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Cube::maxVect(), and sofa::component::collision::Cube::minVect().

virtual bool sofa::component::collision::MinProximityIntersection::useProximity (  )  const [inline, virtual]

returns true if algorithm uses proximity

Reimplemented from sofa::core::componentmodel::collision::Intersection.

Definition at line 59 of file MinProximityIntersection.h.

Field Documentation

Data<double> sofa::component::collision::MinProximityIntersection::alarmDistance

Definition at line 51 of file MinProximityIntersection.h.

Referenced by getAlarmDistance(), and setAlarmDistance().

Data<double> sofa::component::collision::MinProximityIntersection::contactDistance

Definition at line 52 of file MinProximityIntersection.h.

Referenced by getContactDistance(), and setContactDistance().

double sofa::component::collision::MinProximityIntersection::mainAlarmDistance [private]

Definition at line 97 of file MinProximityIntersection.h.

double sofa::component::collision::MinProximityIntersection::mainContactDistance [private]

Definition at line 98 of file MinProximityIntersection.h.

Data<bool> sofa::component::collision::MinProximityIntersection::usePointPoint

Definition at line 50 of file MinProximityIntersection.h.

Referenced by init().

Data<bool> sofa::component::collision::MinProximityIntersection::useSphereTriangle

Definition at line 49 of file MinProximityIntersection.h.

Referenced by init().

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