sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel Class Reference

#include <CudaDistanceGridCollisionModel.h>

Inheritance diagram for sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel:

[legend]

Collaboration diagram for sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel:

[legend]

Data Structures
class	ElementData
Public Types
typedef Rigid3Types	InDataTypes
typedef Vec3Types	DataTypes
typedef CudaRigidDistanceGridCollisionElement	Element
Public Member Functions
	CudaRigidDistanceGridCollisionModel ()
	~CudaRigidDistanceGridCollisionModel ()
core::componentmodel::behavior::MechanicalState < InDataTypes > *	getRigidModel ()
core::componentmodel::behavior::MechanicalState < InDataTypes > *	getMechanicalState ()
void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
CudaDistanceGrid *	getGrid (int index=0)
bool	isTransformed (int index=0)
const Matrix3 &	getRotation (int index=0)
const Vector3 &	getTranslation (int index=0)
void	setGrid (CudaDistanceGrid *surf, int index=0)
CudaDistanceGrid *	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, CudaDistanceGrid *grid, const Matrix3 &rotation, const Vector3 &translation)
	Set new grid and transform, keeping the old state to estimate velocity.
void	setNewState (double dt, CudaDistanceGrid *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
std::vector< ElementData >	elems
bool	modified
Data< std::string >	filename
Data< double >	scale
Data< helper::fixed_array < CudaDistanceGrid::Coord, 2 > >	box
Data< int >	nx
Data< int >	ny
Data< int >	nz
Data< std::string >	dumpfilename
core::componentmodel::behavior::MechanicalState < RigidTypes > *	rigid

---

Detailed Description

Definition at line 437 of file CudaDistanceGridCollisionModel.h.

---

Member Typedef Documentation

typedef Vec3Types sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::DataTypes

Definition at line 478 of file CudaDistanceGridCollisionModel.h.

typedef CudaRigidDistanceGridCollisionElement sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::Element

Definition at line 479 of file CudaDistanceGridCollisionModel.h.

typedef Rigid3Types sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::InDataTypes

Definition at line 477 of file CudaDistanceGridCollisionModel.h.

---

Constructor & Destructor Documentation

sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::CudaRigidDistanceGridCollisionModel

(

)

Definition at line 449 of file CudaDistanceGridCollisionModel.cpp.

References rigid.

sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::~CudaRigidDistanceGridCollisionModel

(

)

Definition at line 463 of file CudaDistanceGridCollisionModel.cpp.

References elems.

---

Member Function Documentation

void sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::computeBoundingTree

(

int

maxDepth = 0

)

[virtual]

Create or update the bounding volume hierarchy.

Implements sofa::core::CollisionModel.

Definition at line 540 of file CudaDistanceGridCollisionModel.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::gpu::cuda::CudaRigidDistanceGridCollisionModel::draw

(

)

[virtual]

Render the whole collision model.

Reimplemented from sofa::core::CollisionModel.

Definition at line 590 of file CudaDistanceGridCollisionModel.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::gpu::cuda::CudaRigidDistanceGridCollisionModel::draw

(

int

)

[virtual]

Render an collision element.

Reimplemented from sofa::core::CollisionModel.

Definition at line 612 of file CudaDistanceGridCollisionModel.cpp.

References sofa::gpu::cuda::CudaDistanceGrid::coord(), elems, sofa::gpu::cuda::CudaDistanceGrid::eval(), sofa::gpu::cuda::CudaDistanceGrid::getBBCorner(), sofa::gpu::cuda::CudaDistanceGrid::getCorner(), getGrid(), sofa::gpu::cuda::CudaDistanceGrid::getNx(), sofa::gpu::cuda::CudaDistanceGrid::getNy(), sofa::gpu::cuda::CudaDistanceGrid::getNz(), sofa::gpu::cuda::CudaDistanceGrid::getPMax(), sofa::gpu::cuda::CudaDistanceGrid::getPMin(), sofa::helper::gl::glMultMatrix(), sofa::gpu::cuda::CudaDistanceGrid::grad(), sofa::defaulttype::Mat< L, C, real >::identity(), sofa::core::CollisionModel::isMoving(), isTransformed(), sofa::gpu::cuda::CudaDistanceGrid::meshPts, norm(), sofa::defaulttype::Mat< L, C, real >::ptr(), and sofa::defaulttype::Mat< L, C, real >::transpose().

CudaDistanceGrid* sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getGrid

(

int

index = 0

)

[inline]

Definition at line 492 of file CudaDistanceGridCollisionModel.h.

References elems.

Referenced by draw().

core::componentmodel::behavior::MechanicalState<InDataTypes>* sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getMechanicalState

(

void

)

[inline]

Definition at line 488 of file CudaDistanceGridCollisionModel.h.

References rigid.

double sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getPrevDt

(

int

index = 0

)

[inline]

Definition at line 523 of file CudaDistanceGridCollisionModel.h.

References elems.

CudaDistanceGrid* sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getPrevGrid

(

int

index = 0

)

[inline]

Definition at line 511 of file CudaDistanceGridCollisionModel.h.

References elems.

const Matrix3& sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getPrevRotation

(

int

index = 0

)

[inline]

Definition at line 515 of file CudaDistanceGridCollisionModel.h.

References elems.

const Vector3& sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getPrevTranslation

(

int

index = 0

)

[inline]

Definition at line 519 of file CudaDistanceGridCollisionModel.h.

References elems.

core::componentmodel::behavior::MechanicalState<InDataTypes>* sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getRigidModel

(

)

[inline]

Definition at line 487 of file CudaDistanceGridCollisionModel.h.

References rigid.

const Matrix3& sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getRotation

(

int

index = 0

)

[inline]

Definition at line 500 of file CudaDistanceGridCollisionModel.h.

References elems.

const Vector3& sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::getTranslation

(

int

index = 0

)

[inline]

Definition at line 504 of file CudaDistanceGridCollisionModel.h.

References elems.

void sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::init

(

void

)

[virtual]

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

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

Definition at line 472 of file CudaDistanceGridCollisionModel.cpp.

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

bool sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::isTransformed

(

int

index = 0

)

[inline]

Definition at line 496 of file CudaDistanceGridCollisionModel.h.

References elems.

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

void sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::resize

(

int

s

)

[virtual]

Set the number of elements.

Reimplemented from sofa::core::CollisionModel.

Definition at line 502 of file CudaDistanceGridCollisionModel.cpp.

References elems.

Referenced by init().

void sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::setGrid	(	CudaDistanceGrid *	surf,
		int	index = 0
	)

Definition at line 508 of file CudaDistanceGridCollisionModel.cpp.

References sofa::gpu::cuda::CudaDistanceGrid::addRef(), elems, and modified.

void sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::setNewState	(	double	dt,
		CudaDistanceGrid *	grid,
		const Matrix3 &	rotation,
		const Vector3 &	translation
	)

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

void sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::setNewState	(	int	index,
		double	dt,
		CudaDistanceGrid *	grid,
		const Matrix3 &	rotation,
		const Vector3 &	translation
	)

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

Definition at line 516 of file CudaDistanceGridCollisionModel.cpp.

References sofa::gpu::cuda::CudaDistanceGrid::addRef(), elems, sofa::defaulttype::Mat< L, C, real >::identity(), isTransformed(), and modified.

void sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::updateGrid

(

)

[protected]

Definition at line 586 of file CudaDistanceGridCollisionModel.cpp.

Referenced by computeBoundingTree().

---

Field Documentation

Data< helper::fixed_array<CudaDistanceGrid::Coord,2> > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::box [protected]

Definition at line 467 of file CudaDistanceGridCollisionModel.h.

Referenced by init().

Data< std::string > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::dumpfilename [protected]

Definition at line 471 of file CudaDistanceGridCollisionModel.h.

Referenced by init().

std::vector<ElementData> sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::elems [protected]

Definition at line 461 of file CudaDistanceGridCollisionModel.h.

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

Data< std::string > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::filename [protected]

Definition at line 465 of file CudaDistanceGridCollisionModel.h.

Referenced by init().

bool sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::modified [protected]

Definition at line 462 of file CudaDistanceGridCollisionModel.h.

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

Data< int > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::nx [protected]

Definition at line 468 of file CudaDistanceGridCollisionModel.h.

Referenced by init().

Data< int > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::ny [protected]

Definition at line 469 of file CudaDistanceGridCollisionModel.h.

Referenced by init().

Data< int > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::nz [protected]

Definition at line 470 of file CudaDistanceGridCollisionModel.h.

Referenced by init().

core::componentmodel::behavior::MechanicalState<RigidTypes>* sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::rigid [protected]

Definition at line 473 of file CudaDistanceGridCollisionModel.h.

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

Data< double > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::scale [protected]

Definition at line 466 of file CudaDistanceGridCollisionModel.h.

Referenced by init().

Data< bool > sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel::usePoints

Definition at line 481 of file CudaDistanceGridCollisionModel.h.

Referenced by sofa::gpu::cuda::CudaCollisionDetection::RigidRigidTest::init().

---

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

• modules/sofa/gpu/cuda/CudaDistanceGridCollisionModel.h
• modules/sofa/gpu/cuda/CudaDistanceGridCollisionModel.cpp