sofa::component::collision::RigidDistanceGridCollisionModel Class Reference

#include <DistanceGridCollisionModel.h>

Inheritance diagram for sofa::component::collision::RigidDistanceGridCollisionModel:

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Collaboration diagram for sofa::component::collision::RigidDistanceGridCollisionModel:

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Data Structures
class	ElementData
Public Types
typedef Rigid3Types	InDataTypes
typedef Vec3Types	DataTypes
typedef RigidDistanceGridCollisionElement	Element
Public Member Functions
	RigidDistanceGridCollisionModel ()
	~RigidDistanceGridCollisionModel ()
core::componentmodel::behavior::MechanicalState < InDataTypes > *	getRigidModel ()
core::componentmodel::behavior::MechanicalState < InDataTypes > *	getMechanicalState ()
void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
DistanceGrid *	getGrid (int index=0)
bool	isTransformed (int index=0)
const Matrix3 &	getRotation (int index=0)
const Vector3 &	getTranslation (int index=0)
void	setGrid (DistanceGrid *surf, int index=0)
DistanceGrid *	getPrevGrid (int index=0)
const Matrix3 &	getPrevRotation (int index=0)
const Vector3 &	getPrevTranslation (int index=0)
double	getPrevDt (int index=0)
void	setNewState (int index, double dt, DistanceGrid *grid, const Matrix3 &rotation, const Vector3 &translation)
	Set new grid and transform, keeping the old state to estimate velocity.
void	setNewState (double dt, DistanceGrid *grid, const Matrix3 &rotation, const Vector3 &translation)
	Set new grid and transform, keeping the old state to estimate velocity.
void	resize (int size)
	Set the number of elements.
void	computeBoundingTree (int maxDepth=0)
	Create or update the bounding volume hierarchy.
void	draw (int index)
	Render an collision element.
void	draw ()
	Render the whole collision model.
Data Fields
Data< bool >	usePoints
Protected Member Functions
void	updateGrid ()
Protected Attributes
sofa::helper::vector< ElementData >	elems
bool	modified
Data< std::string >	filename
Data< double >	scale
Data< helper::fixed_array < DistanceGrid::Coord, 2 > >	box
Data< int >	nx
Data< int >	ny
Data< int >	nz
Data< std::string >	dumpfilename
core::componentmodel::behavior::MechanicalState < RigidTypes > *	rigid

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Detailed Description

Definition at line 440 of file DistanceGridCollisionModel.h.

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Member Typedef Documentation

typedef Vec3Types sofa::component::collision::RigidDistanceGridCollisionModel::DataTypes

Definition at line 481 of file DistanceGridCollisionModel.h.

typedef RigidDistanceGridCollisionElement sofa::component::collision::RigidDistanceGridCollisionModel::Element

Definition at line 482 of file DistanceGridCollisionModel.h.

typedef Rigid3Types sofa::component::collision::RigidDistanceGridCollisionModel::InDataTypes

Definition at line 480 of file DistanceGridCollisionModel.h.

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Constructor & Destructor Documentation

sofa::component::collision::RigidDistanceGridCollisionModel::RigidDistanceGridCollisionModel

(

)

Definition at line 64 of file DistanceGridCollisionModel.cpp.

sofa::component::collision::RigidDistanceGridCollisionModel::~RigidDistanceGridCollisionModel

(

)

Definition at line 78 of file DistanceGridCollisionModel.cpp.

References elems.

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Member Function Documentation

void sofa::component::collision::RigidDistanceGridCollisionModel::computeBoundingTree

(

int

maxDepth = 0

)

[virtual]

Create or update the bounding volume hierarchy.

Implements sofa::core::CollisionModel.

Definition at line 153 of file DistanceGridCollisionModel.cpp.

References sofa::component::collision::CubeModel::computeBoundingTree(), elems, sofa::core::CollisionModel::empty(), sofa::core::CollisionModel::isMoving(), isTransformed(), modified, sofa::component::collision::CubeModel::resize(), rigid, sofa::component::collision::CubeModel::setParentOf(), sofa::core::CollisionModel::size, and updateGrid().

void sofa::component::collision::RigidDistanceGridCollisionModel::draw

(

)

[virtual]

Render the whole collision model.

Reimplemented from sofa::core::CollisionModel.

Definition at line 203 of file DistanceGridCollisionModel.cpp.

References sofa::core::CollisionModel::draw(), elems, sofa::core::CollisionModel::getColor4f(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::CollisionModel::getPrevious(), and sofa::core::CollisionModel::isActive().

void sofa::component::collision::RigidDistanceGridCollisionModel::draw

(

int

)

[virtual]

Render an collision element.

Reimplemented from sofa::core::CollisionModel.

Definition at line 225 of file DistanceGridCollisionModel.cpp.

References sofa::component::collision::DistanceGrid::coord(), elems, sofa::component::collision::DistanceGrid::eval(), sofa::component::collision::DistanceGrid::getBBCorner(), sofa::component::collision::DistanceGrid::getCorner(), getGrid(), sofa::component::collision::DistanceGrid::getNx(), sofa::component::collision::DistanceGrid::getNy(), sofa::component::collision::DistanceGrid::getNz(), sofa::component::collision::DistanceGrid::getPMax(), sofa::component::collision::DistanceGrid::getPMin(), sofa::helper::gl::glMultMatrix(), sofa::helper::gl::glVertexT(), sofa::component::collision::DistanceGrid::grad(), sofa::defaulttype::Mat< L, C, real >::identity(), sofa::core::CollisionModel::isSimulated(), isTransformed(), sofa::component::collision::DistanceGrid::meshPts, norm(), sofa::defaulttype::Vec< N, real >::normalize(), sofa::defaulttype::Mat< L, C, real >::ptr(), and sofa::defaulttype::Mat< L, C, real >::transpose().

DistanceGrid* sofa::component::collision::RigidDistanceGridCollisionModel::getGrid

(

int

index = 0

)

[inline]

Definition at line 495 of file DistanceGridCollisionModel.h.

References elems.

Referenced by draw().

core::componentmodel::behavior::MechanicalState<InDataTypes>* sofa::component::collision::RigidDistanceGridCollisionModel::getMechanicalState

(

)

[inline]

Definition at line 491 of file DistanceGridCollisionModel.h.

References rigid.

double sofa::component::collision::RigidDistanceGridCollisionModel::getPrevDt

(

int

index = 0

)

[inline]

Definition at line 526 of file DistanceGridCollisionModel.h.

References elems.

DistanceGrid* sofa::component::collision::RigidDistanceGridCollisionModel::getPrevGrid

(

int

index = 0

)

[inline]

Definition at line 514 of file DistanceGridCollisionModel.h.

References elems.

const Matrix3& sofa::component::collision::RigidDistanceGridCollisionModel::getPrevRotation

(

int

index = 0

)

[inline]

Definition at line 518 of file DistanceGridCollisionModel.h.

References elems.

const Vector3& sofa::component::collision::RigidDistanceGridCollisionModel::getPrevTranslation

(

int

index = 0

)

[inline]

Definition at line 522 of file DistanceGridCollisionModel.h.

References elems.

core::componentmodel::behavior::MechanicalState<InDataTypes>* sofa::component::collision::RigidDistanceGridCollisionModel::getRigidModel

(

)

[inline]

Definition at line 490 of file DistanceGridCollisionModel.h.

References rigid.

const Matrix3& sofa::component::collision::RigidDistanceGridCollisionModel::getRotation

(

int

index = 0

)

[inline]

Definition at line 503 of file DistanceGridCollisionModel.h.

References elems.

const Vector3& sofa::component::collision::RigidDistanceGridCollisionModel::getTranslation

(

int

index = 0

)

[inline]

Definition at line 507 of file DistanceGridCollisionModel.h.

References elems.

void sofa::component::collision::RigidDistanceGridCollisionModel::init

(

void

)

[virtual]

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

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

Definition at line 87 of file DistanceGridCollisionModel.cpp.

References box, dumpfilename, elems, filename, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getMechanicalState(), sofa::core::objectmodel::Data< T >::getValue(), sofa::component::collision::DistanceGrid::loadShared(), nx, ny, nz, resize(), rigid, and scale.

bool sofa::component::collision::RigidDistanceGridCollisionModel::isTransformed

(

int

index = 0

)

[inline]

Definition at line 499 of file DistanceGridCollisionModel.h.

References elems.

Referenced by computeBoundingTree(), draw(), and setNewState().

void sofa::component::collision::RigidDistanceGridCollisionModel::resize

(

int

s

)

[virtual]

Set the number of elements.

Reimplemented from sofa::core::CollisionModel.

Definition at line 117 of file DistanceGridCollisionModel.cpp.

References elems.

Referenced by init().

void sofa::component::collision::RigidDistanceGridCollisionModel::setGrid	(	DistanceGrid *	surf,
		int	index = 0
	)

Definition at line 123 of file DistanceGridCollisionModel.cpp.

References sofa::component::collision::DistanceGrid::addRef(), elems, and modified.

void sofa::component::collision::RigidDistanceGridCollisionModel::setNewState	(	double	dt,
		DistanceGrid *	grid,
		const Matrix3 &	rotation,
		const Vector3 &	translation
	)

Set new grid and transform, keeping the old state to estimate velocity.

void sofa::component::collision::RigidDistanceGridCollisionModel::setNewState	(	int	index,
		double	dt,
		DistanceGrid *	grid,
		const Matrix3 &	rotation,
		const Vector3 &	translation
	)

Set new grid and transform, keeping the old state to estimate velocity.

Definition at line 131 of file DistanceGridCollisionModel.cpp.

References sofa::component::collision::DistanceGrid::addRef(), elems, sofa::defaulttype::Mat< L, C, real >::identity(), isTransformed(), and modified.

void sofa::component::collision::RigidDistanceGridCollisionModel::updateGrid

(

)

[protected]

Definition at line 199 of file DistanceGridCollisionModel.cpp.

Referenced by computeBoundingTree().

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Field Documentation

Data< helper::fixed_array<DistanceGrid::Coord,2> > sofa::component::collision::RigidDistanceGridCollisionModel::box [protected]

Definition at line 470 of file DistanceGridCollisionModel.h.

Referenced by init().

Data< std::string > sofa::component::collision::RigidDistanceGridCollisionModel::dumpfilename [protected]

Definition at line 474 of file DistanceGridCollisionModel.h.

Referenced by init().

sofa::helper::vector<ElementData> sofa::component::collision::RigidDistanceGridCollisionModel::elems [protected]

Definition at line 464 of file DistanceGridCollisionModel.h.

Referenced by computeBoundingTree(), draw(), getGrid(), getPrevDt(), getPrevGrid(), getPrevRotation(), getPrevTranslation(), getRotation(), getTranslation(), init(), isTransformed(), resize(), setGrid(), setNewState(), and ~RigidDistanceGridCollisionModel().

Data< std::string > sofa::component::collision::RigidDistanceGridCollisionModel::filename [protected]

Definition at line 468 of file DistanceGridCollisionModel.h.

Referenced by init().

bool sofa::component::collision::RigidDistanceGridCollisionModel::modified [protected]

Definition at line 465 of file DistanceGridCollisionModel.h.

Referenced by computeBoundingTree(), setGrid(), and setNewState().

Data< int > sofa::component::collision::RigidDistanceGridCollisionModel::nx [protected]

Definition at line 471 of file DistanceGridCollisionModel.h.

Referenced by init().

Data< int > sofa::component::collision::RigidDistanceGridCollisionModel::ny [protected]

Definition at line 472 of file DistanceGridCollisionModel.h.

Referenced by init().

Data< int > sofa::component::collision::RigidDistanceGridCollisionModel::nz [protected]

Definition at line 473 of file DistanceGridCollisionModel.h.

Referenced by init().

core::componentmodel::behavior::MechanicalState<RigidTypes>* sofa::component::collision::RigidDistanceGridCollisionModel::rigid [protected]

Definition at line 476 of file DistanceGridCollisionModel.h.

Referenced by computeBoundingTree(), getMechanicalState(), getRigidModel(), and init().

Data< double > sofa::component::collision::RigidDistanceGridCollisionModel::scale [protected]

Definition at line 469 of file DistanceGridCollisionModel.h.

Referenced by init().

Data< bool > sofa::component::collision::RigidDistanceGridCollisionModel::usePoints

Definition at line 484 of file DistanceGridCollisionModel.h.

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

• modules/sofa/component/collision/DistanceGridCollisionModel.h
• modules/sofa/component/collision/DistanceGridCollisionModel.cpp