Base class for all collision handling classes. More...
#include <imstkCollisionHandling.h>
Inheritance diagram for imstk::CollisionHandling:
Public Member Functions | |
| virtual const std::string | getTypeName () const =0 |
| void | setInputObjectA (std::shared_ptr< CollidingObject > objectA) |
| Set the input objects. | |
| void | setInputObjectB (std::shared_ptr< CollidingObject > objectB) |
| std::shared_ptr< CollidingObject > | getInputObjectA () const |
| Get the input objects. | |
| std::shared_ptr< CollidingObject > | getInputObjectB () const |
| virtual std::shared_ptr< Geometry > | getHandlingGeometryA () |
| Get the geometry used for handling defaults to the collision geometry. | |
| virtual std::shared_ptr< Geometry > | getHandlingGeometryB () |
| void | setInputCollisionData (std::shared_ptr< CollisionData > collisionData) |
| Set/Get the input collision data used for handling. | |
| void | setInputCollisionData (std::shared_ptr< std::vector< std::shared_ptr< CollisionData >>> collisionVectorData) |
| Set/Get the input collision data used for handling This supports collating information from multiple collision detect algorithms. | |
| std::shared_ptr< const CollisionData > | getInputCollisionData () const |
| void | update () |
| Handle the input collision data. | |
Protected Member Functions | |
| virtual void | handle (const std::vector< CollisionElement > &elementsA, const std::vector< CollisionElement > &elementsB)=0 |
| Handle the input collision data. Elements will be flipped (if needed) such that elementsA corresponds with inputObjectA and B with inputObjectB in the case CD is backwards from CH. More... | |
| void | updateCollisionData (std::shared_ptr< const CollisionData > data) |
Protected Attributes | |
| std::shared_ptr< CollidingObject > | m_inputObjectA |
| std::shared_ptr< CollidingObject > | m_inputObjectB |
| std::shared_ptr< const CollisionData > | m_colData |
| Collision data. | |
| std::shared_ptr< std::vector< std::shared_ptr< CollisionData > > > | m_colVectorData |
| Expansion to allow collision detection to return multiple types of collision data. | |
| std::function< void()> | m_updateFunction = []() {} |
| bool | m_clearData = true |
| bool | m_processConstraints = true |
Detailed Description
Base class for all collision handling classes.
- Todo:
- : Abstract both GeometryAlgorithm and this together
Definition at line 22 of file imstkCollisionHandling.h.
Member Function Documentation
◆ handle()
|
protectedpure virtual |
Handle the input collision data. Elements will be flipped (if needed) such that elementsA corresponds with inputObjectA and B with inputObjectB in the case CD is backwards from CH.
- Parameters
-
CD elements to resolve geomA CD elements to resolve geomB
Implemented in imstk::PbdCollisionHandling, imstk::LevelSetCH, imstk::RigidBodyCH, imstk::NeedlePbdCH, imstk::BoneDrillingCH, imstk::PenaltyCH, imstk::SphCollisionHandling, NeedleRigidBodyCH, NeedlePbdCH, NeedleRigidBodyCH, and NeedleRigidBodyCH.
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The documentation for this class was generated from the following files:
- Source/CollisionHandling/imstkCollisionHandling.h
- Source/CollisionHandling/imstkCollisionHandling.cpp
