iMSTK: imstk::EdgeEdgeCCDState Class Reference

#include <imstkEdgeEdgeCCDState.h>

Public Member Functions
	EdgeEdgeCCDState (const Vec3d &i0, const Vec3d &i1, const Vec3d &j0, const Vec3d &j1)

const double	si () const
	Parameterized position of closest point on segment xi–xi1 to segment xj–xj1.

const double	sj () const
	Parameterized position of closest point on segment xj–xj1 to segment xi–xi1.

const Vec3d &	pi () const
	Pi is the closest point on segment xi–xi1 to segment xj–xj1.

const Vec3d &	pj () const
	Pj is the closest point on segment xj–xj1 to segment xi–xi1.

Vec3d	computeWBar ()

Vec3d	computeWBar2 () const

Vec3d	computePi () const
	Pi and Pj are closest points on segments xi–xi1 and xj–xj1 respectively.

Vec3d	computePj () const
	Pi and Pj are closest points on segments xi–xi1 and xj–xj1 respectively.

void	setThickness (double thickness)

double	thickness () const

void	setTolerance (double eps)

Static Public Member Functions
static int	testCollision (const EdgeEdgeCCDState &prev, EdgeEdgeCCDState &curr, double &relativeTimeOfImpact)
	Performs a collision test based on two given timesteps that store the state of two lines each. More...

Public Attributes
const Vec3d &	xi

const Vec3d &	xi1

const Vec3d &	xj

const Vec3d &	xj1

const Vec3d	ei
	Vectors that represent the edges / line-segments. More...

const Vec3d	ej
	vector defining segment j (xj1 - xj)

const Vec3d	w0
	vector from first point on segement i to first point on segment j (xj - xi)

const Vec3d	w
	Shortest distance vector between the infinite lines defined by the two segments.

Detailed Description

Implements CCD based method described in: Qi, Di, et al. "Virtual interactive suturing for the Fundamentals of Laparoscopic Surgery (FLS)." Journal of biomedical informatics 75 (2017) : 48 - 62. https://doi.org/10.1016/j.jbi.2017.09.010

Definition at line 17 of file imstkEdgeEdgeCCDState.h.

Member Function Documentation

◆ computeWBar()

Vec3d imstk::EdgeEdgeCCDState::computeWBar ( )

Computes shortest distance between the two segments assuming that the nearest point between the two lines defined by the segments is not within the boundaries of the segments at time t

Smallest vector formed by permuting between the points of the two edges (excluding the edges themselves). e.g. For edges (x1, x2) and (x3, x4) .. return the smallest vector among: (x1, x3) (x1, x4) (x2, x3), and (x2, x4).

Definition at line 23 of file imstkEdgeEdgeCCDState.cpp.

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◆ computeWBar2()

Vec3d imstk::EdgeEdgeCCDState::computeWBar2 ( ) const

Computes shortest distance between the two segments assuming that the nearest point between the two lines defined by the segments is not within the boundaries of the segments at time t+1

Definition at line 65 of file imstkEdgeEdgeCCDState.cpp.

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◆ testCollision()

int imstk::EdgeEdgeCCDState::testCollision	(	const EdgeEdgeCCDState &	prev,
		EdgeEdgeCCDState &	curr,
		double &	relativeTimeOfImpact
	)

static

Performs a collision test based on two given timesteps that store the state of two lines each.

Parameters

prev	State of the two lines in a previous timestep
curr	State of the two lines in current timestep
relativeTimeOfImpact	Estimated time of impact in the interval [0, 1] where 0 is prev time and 1 is current time.

Returns: Type of collision: 0 - no collision, 1 - lines overlap within tolerance, 2 - vertex overlap within tolerance, 3 - lines cross each other.

Definition at line 75 of file imstkEdgeEdgeCCDState.cpp.

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