sofa::component::collision::SphereTreeModel Class Reference

A Sphere Tree based collision object: No tool to generation .sph file are provided by Sofa. More...

#include <SphereTreeModel.h>

Inheritance diagram for sofa::component::collision::SphereTreeModel:

Collaboration diagram for sofa::component::collision::SphereTreeModel:


Public Types
typedef component::MechanicalObject < Vec3Types >	Inherit
typedef Vec3Types	InDataTypes
typedef Vec3Types	DataTypes
typedef SingleSphere	Element
Public Member Functions
	SphereTreeModel (double radius=1.0)
	Constructor.
int	addSphere (const Vector3 &pos, SReal radius)
	Add a new sphere to the tree.
void	setSphere (int index, const Vector3 &pos, SReal radius)
bool	load (const char *filename)
	Load SphereTree Model.
void	applyScale (const double s)
	Scale the current state.
sofa::core::componentmodel::behavior::MechanicalState < InDataTypes > *	getMechanicalState ()
int	getSize () const
	Get the number of elements.
virtual void	resize (int size)
	Set the number of elements.
virtual void	computeBoundingTree (int maxDepth=0)
	It updates the hierarchical bounding tree.
virtual std::pair < core::CollisionElementIterator, core::CollisionElementIterator >	getInternalChildren (int index) const
	Returns a pair of iterators.
virtual void	computeContinuousBoundingTree (double dt, int maxDepth=0)
	To do.
void	draw (int index)
	Render an collision element.
bool	loadSphereTree (const char *fileName)
	Load sphere tree given a filename.
virtual bool	isLeaf (int index) const
	It returns true is the element iterator is a leaf of the spheretree collision model.
void	draw ()
	Render the whole collision model.
Data Fields
DataTypes::VecCoord	VecCoord
	Container of Coord values with the same API as sofa::helper::vector.
int	levels
	Levels of the tree of the collision model.
int	degree
	Branching factor of the KTree (number of children for each node).
Protected Attributes
sofa::helper::vector< double >	radius
	vector of radii of spheres in the model
Data< double >	defaultRadius
	default radius
Friends
class	SingleSphere

Detailed Description

A Sphere Tree based collision object: No tool to generation .sph file are provided by Sofa.

Tools can be found at http://isg.cs.tcd.ie/spheretree/ . If you manage to integrate an automatic generation tool to provide .sph files from .obj, don't hesitate to share it to the Sofa's comunity.

Definition at line 99 of file SphereTreeModel.h.

Member Typedef Documentation

typedef Vec3Types sofa::component::collision::SphereTreeModel::DataTypes

Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.

Definition at line 104 of file SphereTreeModel.h.

typedef SingleSphere sofa::component::collision::SphereTreeModel::Element

Definition at line 105 of file SphereTreeModel.h.

typedef Vec3Types sofa::component::collision::SphereTreeModel::InDataTypes

Definition at line 103 of file SphereTreeModel.h.

typedef component::MechanicalObject<Vec3Types> sofa::component::collision::SphereTreeModel::Inherit

Definition at line 102 of file SphereTreeModel.h.

Constructor & Destructor Documentation

sofa::component::collision::SphereTreeModel::SphereTreeModel ( double radius = 1.0 )

Constructor.

Definition at line 58 of file SphereTreeModel.cpp.

Member Function Documentation

int sofa::component::collision::SphereTreeModel::addSphere	(	const Vector3 &	pos,
		SReal	radius
	)

Add a new sphere to the tree.

It actually increases the size of the DOF's of the model setting the radius and the center

Definition at line 82 of file SphereTreeModel.cpp.

References resize(), setSphere(), and sofa::core::CollisionModel::size.

void sofa::component::collision::SphereTreeModel::applyScale ( const double s ) [virtual]

Scale the current state.

Reimplemented from sofa::component::MechanicalObject< DataTypes >.

Definition at line 208 of file SphereTreeModel.cpp.

References sofa::component::MechanicalObject< DataTypes >::applyScale(), radius, and sofa::core::CollisionModel::size.

void sofa::component::collision::SphereTreeModel::computeBoundingTree ( int maxDepth = 0 ) [virtual]

It updates the hierarchical bounding tree.

Implements sofa::core::CollisionModel.

Definition at line 274 of file SphereTreeModel.cpp.

void sofa::component::collision::SphereTreeModel::computeContinuousBoundingTree	(	double	dt,
		int	maxDepth = `0`
	)			`[virtual]`

To do.

Reimplemented from sofa::core::CollisionModel.

Definition at line 281 of file SphereTreeModel.cpp.

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

Render the whole collision model.

Reimplemented from sofa::core::CollisionModel.

Definition at line 226 of file SphereTreeModel.cpp.

References sofa::core::CollisionModel::color, degree, sofa::core::CollisionModel::draw(), sofa::component::MechanicalObject< DataTypes >::f, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::CollisionModel::getPrevious(), sofa::core::CollisionModel::isActive(), sofa::core::CollisionModel::isSimulated(), and levels.

void sofa::component::collision::SphereTreeModel::draw ( int ) [virtual]

Render an collision element.

Reimplemented from sofa::core::CollisionModel.

Definition at line 217 of file SphereTreeModel.cpp.

References sofa::component::MechanicalObject< DataTypes >::getX(), and radius.

std::pair< core::CollisionElementIterator, core::CollisionElementIterator > sofa::component::collision::SphereTreeModel::getInternalChildren ( int index ) const [virtual]

Returns a pair of iterators.

The first corresponds to the first child of iterator given by the index. The second element of the pair corresponds to the last children of collisionElementIterator index

Reimplemented from sofa::core::CollisionModel.

Definition at line 286 of file SphereTreeModel.cpp.

References degree, and sofa::core::CollisionModel::size.

sofa::core::componentmodel::behavior::MechanicalState<InDataTypes>* sofa::component::collision::SphereTreeModel::getMechanicalState ( ) [inline]

Definition at line 125 of file SphereTreeModel.h.

int sofa::component::collision::SphereTreeModel::getSize ( ) const [inline]

Get the number of elements.

Reimplemented from sofa::core::CollisionModel.

Definition at line 130 of file SphereTreeModel.h.

References sofa::component::MechanicalObject< DataTypes >::getSize().

bool sofa::component::collision::SphereTreeModel::isLeaf ( int index ) const [virtual]