iMSTK: imstk::PenaltyCH Class Reference

Implements penalty collision handling between Fem and Rigid models. More...

#include <imstkPenaltyCH.h>

Inheritance diagram for imstk::PenaltyCH:

Collaboration diagram for imstk::PenaltyCH:

Public Member Functions
void	setInputFeObject (std::shared_ptr< FeDeformableObject > feObj)

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

std::shared_ptr< FeDeformableObject >	getInputFeObject ()

std::shared_ptr< RigidObject2 >	getInputRbdObject ()

void	setContactStiffness (const double stiffness)
	Set the contact stiffness.

void	setContactVelocityDamping (const double damping)
	Set the contact velocity damping.

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
	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	computeContactForcesAnalyticRigid (const std::vector< CollisionElement > &elements, std::shared_ptr< RigidObject2 > analyticObj)
	Given the collision data, applies contact as external force to the rigid body (onyl supports PointDirection contacts)

void	computeContactForcesDiscreteDeformable (const std::vector< CollisionElement > &elements, std::shared_ptr< FeDeformableObject > deformableObj)
	Given the collision data, applies nodal forces in the FEM model.

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

Protected Attributes
double	m_stiffness = 5.0e5
	Stiffness of contact.

double	m_damping = 0.5
	Damping of the contact.

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

Implements penalty collision handling between Fem and Rigid models.

Definition at line 24 of file imstkPenaltyCH.h.

Member Function Documentation

◆ handle()

void imstk::PenaltyCH::handle	(	const std::vector< CollisionElement > &	elementsA,
		const std::vector< CollisionElement > &	elementsB
	)

overrideprotectedvirtual

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

Implements imstk::CollisionHandling.

Definition at line 42 of file imstkPenaltyCH.cpp.

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

Source/CollisionHandling/imstkPenaltyCH.h
Source/CollisionHandling/imstkPenaltyCH.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ handle()