ImplicitGeometry to PointSet continous collision detection. This CD method marches along the displacement of the points in the pointset to converge on the zero crossing of the implicit geometry. This particular version is suited for levelsets not SDFs as it caches the history of the contact to avoid sampling the implicit geometry anywhere but at the surface (it will also work for SDFs, though better alterations/modifications of this exist for SDFs) More...
#include <imstkImplicitGeometryToPointSetCCD.h>
Inheritance diagram for imstk::ImplicitGeometryToPointSetCCD:
Collaboration diagram for imstk::ImplicitGeometryToPointSetCCD:
Protected Member Functions | |
| void | setupFunctions (std::shared_ptr< ImplicitGeometry > implicitGeom, std::shared_ptr< PointSet > pointSet) |
| void | computeCollisionDataAB (std::shared_ptr< Geometry > geomA, std::shared_ptr< Geometry > geomB, std::vector< CollisionElement > &elementsA, std::vector< CollisionElement > &elementsB) override |
| Compute collision data for AB simultaneously. | |
| void | computeCollisionDataA (std::shared_ptr< Geometry > geomA, std::shared_ptr< Geometry > geomB, std::vector< CollisionElement > &elementsA) override |
| Compute collision data for side A. | |
| void | computeCollisionDataB (std::shared_ptr< Geometry > geomA, std::shared_ptr< Geometry > geomB, std::vector< CollisionElement > &elementsB) override |
| Compute collision data for side B. | |
 Protected Member Functions inherited from imstk::CollisionDetectionAlgorithm | |
| virtual bool | areInputsValid () override |
| Check inputs are correct (always works reversibly) More... | |
| virtual void | requestUpdate () override |
| Compute the collision data. | |
| virtual void | computeCollisionDataA (std::shared_ptr< Geometry > imstkNotUsed(geomA), std::shared_ptr< Geometry > imstkNotUsed(geomB), std::vector< CollisionElement > &imstkNotUsed(elementsA)) |
| Compute collision data for side A (implement as if flip=true) | |
| virtual void | computeCollisionDataB (std::shared_ptr< Geometry > imstkNotUsed(geomA), std::shared_ptr< Geometry > imstkNotUsed(geomB), std::vector< CollisionElement > &imstkNotUsed(elementsB)) |
| Compute collision data for side B (implement as if flip=true) | |
| Protected Member Functions inherited from imstk::GeometryAlgorithm | |
| void | setOutput (std::shared_ptr< Geometry > inputGeometry, const size_t port=0) |
| Set the output at the port. | |
| template<typename T > | |
| void | setRequiredInputType (const size_t port) |
| Declares the type for the port with the given number, also defines that the give port is required for the filter to run correctly. | |
| template<typename T > | |
| void | setOptionalInputType (const size_t port) |
| Declares the type for the port with the given number, the data for this port is optional and may be omitted. | |
| void | setNumInputPorts (const size_t numPorts) |
| Get/Set the amount of input ports. | |
| imstkGetMacro (NumInputPorts, size_t) | |
| void | setNumOutputPorts (const size_t numPorts) |
| Get/Set the amount of output ports. | |
| imstkGetMacro (NumOutputPorts, size_t) | |
Additional Inherited Members | |
| Public Member Functions inherited from imstk::CollisionDetectionAlgorithm | |
| virtual const std::string | getTypeName () const =0 |
| Returns collision detection type string name. | |
| const std::shared_ptr< CollisionData > | getCollisionData () const |
| Returns output collision data. | |
| const std::shared_ptr< CollisionData > | getCollisionData (int i) const |
| const std::shared_ptr< std::vector< std::shared_ptr< CollisionData > > > & | getCollisionDataVector () const |
| size_t | getCollisionDataVectorSize () const |
| void | setGenerateCD (const bool generateA, const bool generateB) |
| If generateA is false, CD data will not be generated for input0,A Similarly, if generateB is false, CD data will not be generated for input1,B. | |
| void | setInputGeometryA (std::shared_ptr< Geometry > geometryA) |
| void | setInputGeometryB (std::shared_ptr< Geometry > geometryB) |
| Public Member Functions inherited from imstk::GeometryAlgorithm | |
| std::shared_ptr< Geometry > | getInput (size_t port=0) const |
| Returns input geometry given port, returns nullptr if doesn't exist. | |
| std::shared_ptr< Geometry > | getOutput (size_t port=0) const |
| Returns output geometry given port, returns nullptr if doesn't exist. | |
| void | setInput (std::shared_ptr< Geometry > inputGeometry, size_t port=0) |
| Set the input at the port. | |
| void | update () |
| Do the actual algorithm. | |
| Protected Types inherited from imstk::GeometryAlgorithm | |
| using | GeometryCheck = std::function< bool(Geometry *)> |
| using | TypeCheckContainer = std::unordered_map< size_t, GeometryCheck > |
| Protected Attributes inherited from imstk::CollisionDetectionAlgorithm | |
| std::shared_ptr< std::vector< std::shared_ptr< CollisionData > > > | m_collisionDataVector |
| bool | m_flipOutput = false |
| bool | m_generateCD_A = true |
| bool | m_generateCD_B = true |
| bool | m_computeColDataAImplemented = true |
| bool | m_computeColDataBImplemented = true |
| Protected Attributes inherited from imstk::GeometryAlgorithm | |
| TypeCheckContainer | m_requiredTypeChecks |
| TypeCheckContainer | m_optionalTypeChecks |
Detailed Description
ImplicitGeometry to PointSet continous collision detection. This CD method marches along the displacement of the points in the pointset to converge on the zero crossing of the implicit geometry. This particular version is suited for levelsets not SDFs as it caches the history of the contact to avoid sampling the implicit geometry anywhere but at the surface (it will also work for SDFs, though better alterations/modifications of this exist for SDFs)
Definition at line 30 of file imstkImplicitGeometryToPointSetCCD.h.
The documentation for this class was generated from the following files:
- Source/CollisionDetection/CollisionDetection/imstkImplicitGeometryToPointSetCCD.h
- Source/CollisionDetection/CollisionDetection/imstkImplicitGeometryToPointSetCCD.cpp
