sofa::core::componentmodel::collision::DetectionOutput Class Reference
Generic description of a contact point, used for most collision models except special cases such as GPU-based collisions. More...
#include <DetectionOutput.h>
Public Types | |
| typedef int64_t | ContactId |
Public Member Functions | |
| DetectionOutput () | |
Data Fields | |
| std::pair < core::CollisionElementIterator, core::CollisionElementIterator > | elem |
| Pair of colliding elements. | |
| ContactId | id |
| Unique id of the contact for the given pair of collision models. | |
| Vector3 | point [2] |
| Contact points on the surface of each model. They are expressed in the local coordinate system of the model if any is defined.. | |
| Vector3 | freePoint [2] |
| free Point in contact on each element | |
| Vector3 | normal |
| Normal of the contact, pointing outward from the first model. | |
| double | value |
| Store information for the collision Response. Depending on the kind of contact, can be a distance, or a pression, ... | |
| double | deltaT |
| If using a continuous collision detection, estimated of time of contact. | |
Detailed Description
Generic description of a contact point, used for most collision models except special cases such as GPU-based collisions.Each contact point is described by :
elem: pair of colliding elements. id: unique id of the contact for the given pair of collision models. point: contact points on the surface of each model. normal: normal of the contact, pointing outward from the first model. value: signed distance (negative if objects are interpenetrating). deltaT: estimated of time of contact.
The contact id is used to filter redundant contacts (only the contact with the smallest distance is kept), and to store persistant data over time for the response.
Definition at line 90 of file DetectionOutput.h.
Member Typedef Documentation
Definition at line 95 of file DetectionOutput.h.
Constructor & Destructor Documentation
| sofa::core::componentmodel::collision::DetectionOutput::DetectionOutput | ( | ) | [inline] |
Definition at line 112 of file DetectionOutput.h.
Field Documentation
If using a continuous collision detection, estimated of time of contact.
Definition at line 111 of file DetectionOutput.h.
| std::pair<core::CollisionElementIterator, core::CollisionElementIterator> sofa::core::componentmodel::collision::DetectionOutput::elem |
Pair of colliding elements.
Definition at line 94 of file DetectionOutput.h.
Referenced by sofa::component::collision::NewProximityIntersection::computeIntersection(), sofa::component::collision::MinProximityIntersection::computeIntersection(), sofa::component::collision::LocalMinDistance::computeIntersection(), sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::RayPickInteractor::draw(), sofa::component::collision::RayPickInteractor::findFirstCollision(), sofa::component::collision::RayTraceDetection::findPairsVolume(), SofaFlowVR::FlowVRInputMesh::flowvrBeginIteration(), sofa::component::collision::RayPickInteractor::pickBody(), and sofa::component::collision::BarycentricPenalityContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs().
free Point in contact on each element
Definition at line 101 of file DetectionOutput.h.
Referenced by sofa::component::collision::NewProximityIntersection::computeIntersection(), sofa::component::collision::MinProximityIntersection::computeIntersection(), and sofa::component::collision::LocalMinDistance::computeIntersection().
Unique id of the contact for the given pair of collision models.
Definition at line 97 of file DetectionOutput.h.
Referenced by sofa::component::collision::MinProximityIntersection::computeIntersection(), sofa::component::collision::LocalMinDistance::computeIntersection(), sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::NewProximityIntersection::doIntersectionLineLine(), sofa::component::collision::NewProximityIntersection::doIntersectionLinePoint(), sofa::component::collision::NewProximityIntersection::doIntersectionPointPoint(), sofa::component::collision::NewProximityIntersection::doIntersectionTrianglePoint(), sofa::component::collision::RayTraceDetection::findPairsVolume(), and sofa::component::collision::BarycentricPenalityContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs().
Normal of the contact, pointing outward from the first model.
Definition at line 104 of file DetectionOutput.h.
Referenced by sofa::component::collision::NewProximityIntersection::computeIntersection(), sofa::component::collision::MinProximityIntersection::computeIntersection(), sofa::component::collision::LocalMinDistance::computeIntersection(), sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::NewProximityIntersection::doIntersectionLineLine(), sofa::component::collision::NewProximityIntersection::doIntersectionLinePoint(), sofa::component::collision::NewProximityIntersection::doIntersectionPointPoint(), sofa::component::collision::NewProximityIntersection::doIntersectionTrianglePoint(), sofa::component::collision::RayTraceDetection::findPairsVolume(), and sofa::component::collision::BarycentricPenalityContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs().
Contact points on the surface of each model. They are expressed in the local coordinate system of the model if any is defined..
Definition at line 99 of file DetectionOutput.h.
Referenced by sofa::component::collision::NewProximityIntersection::computeIntersection(), sofa::component::collision::MinProximityIntersection::computeIntersection(), sofa::component::collision::LocalMinDistance::computeIntersection(), sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::NewProximityIntersection::doIntersectionLineLine(), sofa::component::collision::NewProximityIntersection::doIntersectionLinePoint(), sofa::component::collision::NewProximityIntersection::doIntersectionPointPoint(), sofa::component::collision::NewProximityIntersection::doIntersectionTrianglePoint(), sofa::component::collision::RayPickInteractor::findFirstCollision(), sofa::component::collision::RayTraceDetection::findPairsVolume(), SofaFlowVR::FlowVRInputMesh::flowvrBeginIteration(), sofa::component::collision::RayPickInteractor::pickBody(), and sofa::component::collision::BarycentricPenalityContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs().
Store information for the collision Response. Depending on the kind of contact, can be a distance, or a pression, ...
Definition at line 109 of file DetectionOutput.h.
Referenced by sofa::component::collision::NewProximityIntersection::computeIntersection(), sofa::component::collision::MinProximityIntersection::computeIntersection(), sofa::component::collision::LocalMinDistance::computeIntersection(), sofa::component::collision::DiscreteIntersection::computeIntersection(), sofa::component::collision::NewProximityIntersection::doIntersectionLineLine(), sofa::component::collision::NewProximityIntersection::doIntersectionLinePoint(), sofa::component::collision::NewProximityIntersection::doIntersectionPointPoint(), sofa::component::collision::NewProximityIntersection::doIntersectionTrianglePoint(), sofa::component::collision::RayTraceDetection::findPairsVolume(), and sofa::component::collision::BarycentricPenalityContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs().
The documentation for this class was generated from the following file:
- framework/sofa/core/componentmodel/collision/DetectionOutput.h
