sofa::component::collision::NewProximityIntersection Class Reference

#include <NewProximityIntersection.h>

Inheritance diagram for sofa::component::collision::NewProximityIntersection:

Collaboration diagram for sofa::component::collision::NewProximityIntersection:


Public Member Functions
	NewProximityIntersection ()
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 useNewProximity() is false).
double	getContactDistance () const
	Return the contact distance (must return 0 if useNewProximity() is false).
void	setAlarmDistance (double v)
void	setContactDistance (double v)
bool	testIntersection (Cube &, Cube &)
bool	testIntersection (Point &, Point &)
template<class Sphere >
bool	testIntersection (Sphere &, Point &)
template<class Sphere >
bool	testIntersection (Sphere &, Sphere &)
bool	testIntersection (Line &, Point &)
template<class Sphere >
bool	testIntersection (Line &, Sphere &)
bool	testIntersection (Line &, Line &)
bool	testIntersection (Triangle &, Point &)
template<class Sphere >
bool	testIntersection (Triangle &, Sphere &)
bool	testIntersection (Triangle &, Line &)
bool	testIntersection (Triangle &, Triangle &)
bool	testIntersection (Ray &, Triangle &)
int	computeIntersection (Cube &, Cube &, OutputVector *)
int	computeIntersection (Point &, Point &, OutputVector *)
template<class Sphere >
int	computeIntersection (Sphere &, Point &, OutputVector *)
template<class Sphere >
int	computeIntersection (Sphere &, Sphere &, OutputVector *)
int	computeIntersection (Line &, Point &, OutputVector *)
template<class Sphere >
int	computeIntersection (Line &, Sphere &, OutputVector *)
int	computeIntersection (Line &, Line &, OutputVector *)
int	computeIntersection (Triangle &, Point &, OutputVector *)
template<class Sphere >
int	computeIntersection (Triangle &, Sphere &, OutputVector *)
int	computeIntersection (Triangle &, Line &, OutputVector *)
int	computeIntersection (Triangle &, Triangle &, OutputVector *)
int	computeIntersection (Ray &, Triangle &, OutputVector *)
Static Public Member Functions
static int	doIntersectionLineLine (double dist2, const Vector3 &p1, const Vector3 &p2, const Vector3 &q1, const Vector3 &q2, OutputVector *contacts, int id)
static int	doIntersectionLinePoint (double dist2, const Vector3 &p1, const Vector3 &p2, const Vector3 &q, OutputVector *contacts, int id, bool swapElems=false)
static int	doIntersectionPointPoint (double dist2, const Vector3 &p, const Vector3 &q, OutputVector *contacts, int id)
static int	doIntersectionTrianglePoint (double dist2, int flags, const Vector3 &p1, const Vector3 &p2, const Vector3 &p3, const Vector3 &n, const Vector3 &q, OutputVector *contacts, int id, bool swapElems=false)
Data Fields
Data< double >	alarmDistance
Data< double >	contactDistance

Detailed Description

Definition at line 46 of file NewProximityIntersection.h.

Constructor & Destructor Documentation

sofa::component::collision::NewProximityIntersection::NewProximityIntersection ( )

Definition at line 55 of file NewProximityIntersection.cpp.

Member Function Documentation

int sofa::component::collision::NewProximityIntersection::computeIntersection	(	Ray &	t1,
		Triangle &	t2,
		OutputVector *	contacts
	)

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

Definition at line 337 of file NewProximityIntersection.cpp.

References sofa::component::collision::Ray::direction(), sofa::core::componentmodel::collision::DetectionOutput::elem, sofa::core::componentmodel::collision::DetectionOutput::freePoint, getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Ray::l(), sofa::component::collision::Triangle::n(), sofa::component::collision::DistanceSegTri::NewComputation(), sofa::defaulttype::Vec< N, real >::norm(), sofa::defaulttype::Vec< N, real >::norm2(), 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::NewProximityIntersection::computeIntersection	(	Triangle &	e1,
		Triangle &	e2,
		OutputVector *	contacts
	)

Definition at line 251 of file NewProximityIntersection.cpp.

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

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

Definition at line 201 of file NewProximityIntersection.cpp.

template<class Sphere >

int sofa::component::collision::NewProximityIntersection::computeIntersection	(	Triangle &	e1,
		Sphere &	e2,
		OutputVector *	contacts
	)			`[inline]`

Definition at line 369 of file NewProximityIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), doIntersectionTrianglePoint(), sofa::component::collision::Triangle::flags(), getAlarmDistance(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Triangle::n(), sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), sofa::component::collision::Triangle::p3(), and sofa::component::collision::TSphere< DataTypes >::r().

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

Definition at line 178 of file NewProximityIntersection.cpp.

References doIntersectionTrianglePoint(), sofa::component::collision::Triangle::flags(), getAlarmDistance(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Triangle::n(), sofa::component::collision::Point::p(), sofa::component::collision::Triangle::p1(), sofa::component::collision::Triangle::p2(), and sofa::component::collision::Triangle::p3().

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

Definition at line 154 of file NewProximityIntersection.cpp.

References doIntersectionLineLine(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Line::p1(), and sofa::component::collision::Line::p2().

template<class Sphere >

int sofa::component::collision::NewProximityIntersection::computeIntersection	(	Line &	e1,
		Sphere &	e2,
		OutputVector *	contacts
	)			`[inline]`

Definition at line 345 of file NewProximityIntersection.inl.

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

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

Definition at line 132 of file NewProximityIntersection.cpp.

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

template<class Sphere >

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

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

Definition at line 321 of file NewProximityIntersection.inl.

References sofa::component::collision::TSphere< DataTypes >::center(), doIntersectionPointPoint(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), and sofa::component::collision::TSphere< DataTypes >::r().

template<class Sphere >

int sofa::component::collision::NewProximityIntersection::computeIntersection	(	Sphere &	e1,
		Point &	e2,
		OutputVector *	contacts
	)			`[inline]`

Definition at line 295 of file NewProximityIntersection.inl.

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

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

Definition at line 110 of file NewProximityIntersection.cpp.

References doIntersectionPointPoint(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getCollisionModel(), getContactDistance(), sofa::core::BaseCollisionElementIterator::getIndex(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), and sofa::component::collision::Point::p().

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

Todo:

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

Definition at line 97 of file NewProximityIntersection.cpp.

int sofa::component::collision::NewProximityIntersection::doIntersectionLineLine	(	double	dist2,
		const Vector3 &	p1,
		const Vector3 &	p2,
		const Vector3 &	q1,
		const Vector3 &	q2,
		OutputVector *	contacts,
		int	id
	)			`[inline, static]`

Definition at line 51 of file NewProximityIntersection.inl.

References sofa::defaulttype::determinant(), sofa::core::componentmodel::collision::DetectionOutput::id, sofa::defaulttype::Vec< N, real >::norm(), sofa::defaulttype::Vec< N, real >::norm2(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

Referenced by computeIntersection().

int sofa::component::collision::NewProximityIntersection::doIntersectionLinePoint	(	double	dist2,
		const Vector3 &	p1,
		const Vector3 &	p2,
		const Vector3 &	q,
		OutputVector *	contacts,
		int	id,
		bool	swapElems = `false`
	)			`[inline, static]`

Definition at line 102 of file NewProximityIntersection.inl.

References sofa::core::componentmodel::collision::DetectionOutput::id, sofa::defaulttype::Vec< N, real >::norm(), sofa::defaulttype::Vec< N, real >::norm2(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

Referenced by computeIntersection().

int sofa::component::collision::NewProximityIntersection::doIntersectionPointPoint	(	double	dist2,
		const Vector3 &	p,
		const Vector3 &	q,
		OutputVector *	contacts,
		int	id
	)			`[inline, static]`

Definition at line 152 of file NewProximityIntersection.inl.

References sofa::core::componentmodel::collision::DetectionOutput::id, sofa::defaulttype::Vec< N, real >::norm(), sofa::defaulttype::Vec< N, real >::norm2(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

Referenced by computeIntersection(), and testIntersection().

int sofa::component::collision::NewProximityIntersection::doIntersectionTrianglePoint	(	double	dist2,
		int	flags,
		const Vector3 &	p1,
		const Vector3 &	p2,
		const Vector3 &	p3,
		const Vector3 &	n,
		const Vector3 &	q,
		OutputVector *	contacts,
		int	id,
		bool	swapElems = `false`
	)			`[inline, static]`

Definition at line 173 of file NewProximityIntersection.inl.

References sofa::defaulttype::determinant(), sofa::component::collision::TriangleModel::FLAG_E12, sofa::component::collision::TriangleModel::FLAG_E31, sofa::component::collision::TriangleModel::FLAG_P1, sofa::component::collision::TriangleModel::FLAG_P2, sofa::component::collision::TriangleModel::FLAG_P3, sofa::core::componentmodel::collision::DetectionOutput::id, sofa::defaulttype::Vec< N, real >::norm(), sofa::defaulttype::Vec< N, real >::norm2(), sofa::core::componentmodel::collision::DetectionOutput::normal, sofa::core::componentmodel::collision::DetectionOutput::point, and sofa::core::componentmodel::collision::DetectionOutput::value.

Referenced by computeIntersection().

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

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

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

Definition at line 60 of file NewProximityIntersection.h.

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

Referenced by computeIntersection(), and testIntersection().

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

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

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

Definition at line 63 of file NewProximityIntersection.h.

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

Referenced by computeIntersection().

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

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

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

Reimplemented in sofa::gpu::cuda::CudaProximityIntersection.

Definition at line 61 of file NewProximityIntersection.cpp.

References sofa::core::componentmodel::collision::IntersectorMap::add(), sofa::core::componentmodel::collision::IntersectorMap::ignore(), and sofa::component::collision::DiscreteIntersection::intersectors.

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

Definition at line 65 of file NewProximityIntersection.h.

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

Referenced by sofa::filemanager::pml::PMLReader::BuildStructure(), and main().

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

Definition at line 67 of file NewProximityIntersection.h.

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

Referenced by sofa::filemanager::pml::PMLReader::BuildStructure(), and main().

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Ray &	t1,
		Triangle &	t2
	)

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

Definition at line 313 of file NewProximityIntersection.cpp.

References sofa::component::collision::Ray::direction(), getAlarmDistance(), sofa::core::TCollisionElementIterator< TModel >::getProximity(), sofa::component::collision::Ray::l(), sofa::component::collision::Triangle::n(), sofa::component::collision::DistanceSegTri::NewComputation(), sofa::defaulttype::Vec< N, real >::norm2(), and sofa::component::collision::Ray::origin().

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Triangle &	,
		Triangle &
	)

Definition at line 245 of file NewProximityIntersection.cpp.

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

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

Definition at line 195 of file NewProximityIntersection.cpp.

template<class Sphere >

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Triangle &	,
		Sphere &
	)			`[inline]`

Definition at line 362 of file NewProximityIntersection.inl.

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Triangle &	,
		Point &
	)

Definition at line 172 of file NewProximityIntersection.cpp.

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Line &	,
		Line &
	)

Definition at line 148 of file NewProximityIntersection.cpp.

template<class Sphere >

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Line &	,
		Sphere &
	)			`[inline]`

Definition at line 338 of file NewProximityIntersection.inl.

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Line &	,
		Point &
	)

Definition at line 126 of file NewProximityIntersection.cpp.

template<class Sphere >

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Sphere &	e1,
		Sphere &	e2
	)			`[inline]`

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

Definition at line 312 of file NewProximityIntersection.inl.

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

template<class Sphere >

bool sofa::component::collision::NewProximityIntersection::testIntersection	(	Sphere &	e1,
		Point &	e2
	)			`[inline]`

Definition at line 286 of file NewProximityIntersection.inl.

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

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

Definition at line 102 of file NewProximityIntersection.cpp.

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

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

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

Definition at line 80 of file NewProximityIntersection.cpp.

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

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

returns true if algorithm uses proximity

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

Definition at line 57 of file NewProximityIntersection.h.

Field Documentation

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

Definition at line 49 of file NewProximityIntersection.h.

Referenced by getAlarmDistance(), and setAlarmDistance().

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

Definition at line 50 of file NewProximityIntersection.h.

Referenced by getContactDistance(), and setContactDistance().

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

modules/sofa/component/collision/NewProximityIntersection.h
modules/sofa/component/collision/NewProximityIntersection.cpp
modules/sofa/component/collision/NewProximityIntersection.inl

sofa::component::collision::NewProximityIntersection Class Reference

Public Member Functions

Static Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation