iMSTK: imstk::LevelSetCH Class Reference

Applies impulses to the leveset given point direction collision data propotional to the force on the rigid object. More...

#include <imstkLevelSetCH.h>

Inheritance diagram for imstk::LevelSetCH:

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Collaboration diagram for imstk::LevelSetCH:

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Public Member Functions
void	setInputLvlSetObj (std::shared_ptr< LevelSetDeformableObject > lvlSetObj)

void	setInputRigidObj (std::shared_ptr< RigidObject2 > rbdObj)

std::shared_ptr< LevelSetDeformableObject >	getLvlSetObj ()

std::shared_ptr< RigidObject2 >	getRigidObj ()

void	addPoint (int id)
	Adds point to the mask allowing it to apply an impulse to the levelset.

void	maskAllPoints ()
	Allow all points to effect the levelset.

void	unmaskAllPoints ()
	Unmask all points.

double	getLevelSetVelocityScaling () const
	Set/Get Scale of the velocity used for the levelset, default 0.1.

void	setLevelSetVelocityScaling (const double velocityScaling)

void	setUseProportionalVelocity (const bool useProportionalForce)
	Set/Get whether the velocity used on the levelset should be proportional to the force of the rigid body along the normal of the levelset.

bool	getUseProportionalVelocity () const

void	setKernel (const int size, const double sigma=1.0)
	Set/Get the size + sigma of gaussian kernel used to apply impulse in levelset.

int	getKernelSize () const

double	getKernelSigma () const

Public Member Functions inherited from imstk::CollisionHandling
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
void	handle (const std::vector< CollisionElement > &elementsA, const std::vector< CollisionElement > &elementsB) override
	Compute forces and velocities based on collision data.

Protected Member Functions inherited from imstk::CollisionHandling
void	updateCollisionData (std::shared_ptr< const CollisionData > data)

Protected Attributes
std::unordered_set< int >	m_ptIdMask

double	m_velocityScaling = 0.1

bool	m_useProportionalForce = false

int	m_kernelSize = 3

double	m_kernelSigma = 1.0

double *	m_kernelWeights = nullptr

Protected Attributes inherited from imstk::CollisionHandling
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

Applies impulses to the leveset given point direction collision data propotional to the force on the rigid object.

Definition at line 27 of file imstkLevelSetCH.h.

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

Source/CollisionHandling/imstkLevelSetCH.h
Source/CollisionHandling/imstkLevelSetCH.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description