iMSTK: imstk::CollisionDetectionAlgorithm Class Reference

Base class for all collision detection classes. CollisionDetection classes produce CollisionData between two geometries A and B. CollisionData has two sides. That is, the contact information to resolve collision for geometry A and the contact info to resolve geometry B. More...

#include <imstkCollisionDetectionAlgorithm.h>

Inheritance diagram for imstk::CollisionDetectionAlgorithm:

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Collaboration diagram for imstk::CollisionDetectionAlgorithm:

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Public Member Functions
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 Member Functions
virtual bool	areInputsValid () override
	Check inputs are correct (always works reversibly) More...

virtual void	requestUpdate () override
	Compute the collision data.

virtual void	computeCollisionDataAB (std::shared_ptr< Geometry > geomA, std::shared_ptr< Geometry > geomB, std::vector< CollisionElement > &elementsA, std::vector< CollisionElement > &elementsB)
	Compute collision data for both sides at once, default implementation just calls computeCollisionDataA and computeCollisionDataB.

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)

Protected Attributes
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

Additional Inherited Members
Protected Types inherited from imstk::GeometryAlgorithm
using	GeometryCheck = std::function< bool(Geometry *)>

using	TypeCheckContainer = std::unordered_map< size_t, GeometryCheck >

Detailed Description

Subclassed algorithms may produce A, B, or both. To implement, one should implement computeCollisionDataAB, or computeCollisionDataA and computeCollisionDataB. If A or B is not implemented, AB will be called. If AB is not implemented, A and B will be called.

CollisionDetection::setGenerateCD(bool, bool) can be used to request sides. CD subclasses can provide defaults for this as well and not expect the user to touch it.

Definition at line 33 of file imstkCollisionDetectionAlgorithm.h.