iMSTK: imstk::PbdObjectGrasping Class Reference

This class defines grasping of a PbdObject via different picking methods. Where grasping is define as grabbing & attaching of a PbdObject's mesh to points. More...

#include <imstkPbdObjectGrasping.h>

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Public Types
enum	GraspMode { Vertex, Cell, RayPoint, RayCell }

Public Types inherited from imstk::EventObject
using	Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> >

Public Member Functions
	PbdObjectGrasping (std::shared_ptr< PbdObject > graspedObject, std::shared_ptr< PbdObject > grasperObject=nullptr)
	Construct PbdObjectGrasping with a object to grasp and and optionally an object that does the grasping. Whilst grasping can work with any grasping criteria, if you want a two-way response you must supply an object to grasp with.

void	beginVertexGrasp (std::shared_ptr< AnalyticalGeometry > geometry)
	Begin a vertex grasp (picking will begin on the next update) More...

void	beginCellGrasp (std::shared_ptr< AnalyticalGeometry > geometry, std::string cdType="")
	Begin a cell grasp (picking will begin on the next update) Also works for rigid on rigid. More...

void	beginRayPointGrasp (std::shared_ptr< AnalyticalGeometry > geometry, const Vec3d &rayStart, const Vec3d &rayDir, const double maxDist=-1.0)
	Begin a ray point grasp (picking will begin on the next update) More...

void	beginRayCellGrasp (std::shared_ptr< AnalyticalGeometry > geometry, const Vec3d &rayStart, const Vec3d &rayDir, const double maxDist=-1.0)
	Begin a ray point grasp (picking will begin on the next update) More...

void	regrasp ()
	if you already started a grasp, recalculates grasping points As the currently grasped points are already constrained to the object this will capture those point plus any new candidates

void	endGrasp ()
	End a grasp (picking will end on next update)

void	addPickConstraints ()
	Compute/generate the constraints for picking.

void	removePickConstraints ()
	Remove the constraints for picking.

virtual void	addPointToPointConstraint (const std::vector< PbdParticleId > &ptsA, const std::vector< double > &weightsA, const std::vector< PbdParticleId > &ptsB, const std::vector< double > &weightsB, const double stiffnessA, const double stiffnessB)
	Add constraint between a point on each element given via barycentric coordinates pt position = weightA_0 * ptsA_0 + weightA_1 * ptsA_1 + ...

virtual void	addBodyToBodyConstraint (const PbdParticleId &graspedBodyId, const PbdParticleId &grasperBodyId, const Vec3d &pointOnBodies, const double compliance)
	Add 0 distance constraint between two points defined on two separate bodies.

virtual void	addPointToBodyConstraint (const PbdParticleId &graspedParticleId, const PbdParticleId &grasperBodyId, const Vec3d &pointOnBody, const double compliance)
	Add a 0 distance constraint between a deformable point and a point on a body.

void	setGeometryToPick (std::shared_ptr< Geometry > geomToPick, std::shared_ptr< PointwiseMap > map)
	Set a different geometry to pick with and a mapping back to the physics geometry to select the correct vertices.

std::shared_ptr< TaskNode >	getPickingNode () const

void	initGraphEdges (std::shared_ptr< TaskNode > source, std::shared_ptr< TaskNode > sink) override
	Setup connectivity of the compute graph.

bool	hasConstraints () const
	Returns if any grasp constraints are present.

bool	getGraspState () const
	Returns true if currently grasping, else false.


void	setStiffness (const double stiffness)
	Set/Get the stiffness, 0-1 value that alters the step size in the solver.

double	getStiffness () const


void	setCompliance (const double compliance)
	Set/Get the compliance.

double	getCompliance () const


void	setPickingAlgorithm (std::shared_ptr< PickingAlgorithm > pickMethod)
	Get/Set the method use for picking, default is CellPicker.

std::shared_ptr< PickingAlgorithm >	getPickingAlgorithm () const

Public Member Functions inherited from imstk::SceneObject
	SceneObject (const std::string &name="SceneObject")

std::shared_ptr< TaskGraph >	getTaskGraph () const
	Get the computational graph.

std::shared_ptr< Geometry >	getVisualGeometry () const
	Sets the visual geometry, adds (sets the first) VisualModel.

void	setVisualGeometry (std::shared_ptr< Geometry > geometry)

std::shared_ptr< VisualModel >	getVisualModel (const int index) const
	Get/add visual model.

void	addVisualModel (std::shared_ptr< VisualModel > visualModel)

void	removeVisualModel (std::shared_ptr< VisualModel > visualModel)

std::shared_ptr< TaskNode >	getUpdateNode () const
	Returns the computational node for updating.

std::shared_ptr< TaskNode >	getUpdateGeometryNode () const
	Returns the computational node for updating geometry.

virtual void	update ()
	Update the SceneObject, called during scene update.

virtual void	visualUpdate ()
	Update the visuals, called before render.

virtual void	updateGeometries ()
	Update the geometries.

virtual bool	initialize ()
	Initialize the scene object.

void	initGraphEdges ()
	Initializes the edges of the SceneObject's computational graph.

virtual void	reset ()

Public Member Functions inherited from imstk::Entity
	Entity (const std::string &name="Entity")

	SIGNAL (Entity, modified)

EntityID	getID () const
	Get ID (ALWAYS query the ID in your code, DO NOT hardcode it) More...

virtual const std::string	getTypeName () const

template<typename T >
std::shared_ptr< T >	addComponent ()
	Create and return a component on this entity.

template<typename T >
std::shared_ptr< T >	addComponent (std::string name)

void	addComponent (std::shared_ptr< Component > component)
	Add existing component to entity.

std::shared_ptr< Component >	getComponent (const unsigned int index) const
	Get a component by index.

template<typename T >
std::shared_ptr< T >	getComponent () const
	Get the first component of type T.

template<typename T >
std::shared_ptr< T >	getComponentN (const int index) const
	Get's the Nth component of type T.

template<class T >
bool	containsComponent () const
	Check if contains component of type T.

bool	containsComponent (std::shared_ptr< Component > component) const
	Check if contains given component.

template<typename T >
std::vector< std::shared_ptr< T > >	getComponents () const
	Get all components of type T.

const std::vector< std::shared_ptr< Component > > &	getComponents ()

void	removeComponent (std::shared_ptr< Component > component)
	Remove component if it exists.

const std::string &	getName () const
	Get/Set the name of the entity.

void	setName (const std::string &name)

Public Member Functions inherited from imstk::EventObject
template<typename T >
void	postEvent (const T &e)
	Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent.

template<typename T >
void	queueEvent (const T &e)
	Queues event directly to this.

void	doEvent ()
	Do an event, if none exists return.

void	doAllEvents ()
	Do all the events in the event queue.

void	foreachEvent (std::function< void(Command cmd)> func)
	Thread safe loop over all event commands, one can implement a custom handler.

void	rforeachEvent (std::function< void(Command cmd)> func)
	thread safe reverse loop over all event commands, one can implement a custom handler

void	clearEvents ()
	Removes all events from queue cleans up copies of the event.

Protected Member Functions
virtual void	updatePicking ()
	Update picking state, this should move grasp points.

void	updateConstraints ()
	Update the constraints used for picking.

Protected Member Functions inherited from imstk::SceneObject
virtual void	postModifiedAll ()
	Posts modified for all geometries.

Protected Attributes
std::shared_ptr< TaskNode >	m_pickingNode = nullptr

std::shared_ptr< Geometry >	m_geomToPick = nullptr

std::shared_ptr< PointwiseMap >	m_geometryToPickMap = nullptr

std::shared_ptr< PbdObject >	m_objectToGrasp = nullptr

std::shared_ptr< PbdObject >	m_grasperObject = nullptr

std::shared_ptr< AnalyticalGeometry >	m_graspGeom = nullptr

std::shared_ptr< PickingAlgorithm >	m_pickMethod = nullptr

GraspMode	m_graspMode = GraspMode::Cell

bool	m_isGrasping = false

bool	m_regrasp = false
	Add grasped points to the current grasp.

bool	m_isPrevGrasping = false

double	m_stiffness = 0.4

double	m_compliance = 0.0001

std::vector< std::tuple< PbdParticleId, Vec3d > >	m_constraintPts
	Vec of virtual particle grasp point ids, and local positions when grasped.

std::vector< std::shared_ptr< PbdConstraint > >	m_constraints
	List of PBD constraints.

Protected Attributes inherited from imstk::SceneObject
std::shared_ptr< TaskGraph >	m_taskGraph = nullptr
	Computational Graph.

Protected Attributes inherited from imstk::Entity
std::vector< std::shared_ptr< Component > >	m_components

EntityID	m_ID
	unique ID of entity

std::string	m_name
	Not unique name.

Protected Attributes inherited from imstk::EventObject
ParallelUtils::SpinLock	eventQueueLock

std::deque< Command >	eventQueue

std::vector< std::pair< std::string, std::vector< Observer > > >	queuedObservers

std::vector< std::pair< std::string, std::vector< Observer > > >	directObservers

Additional Inherited Members
Static Protected Attributes inherited from imstk::Entity
static std::atomic< EntityID >	m_count { 0 }
	current count of entities

Detailed Description

This class defines grasping of a PbdObject via different picking methods. Where grasping is define as grabbing & attaching of a PbdObject's mesh to points.

Given an input PickData the appropriate grasping will be produced.

Definition at line 32 of file imstkPbdObjectGrasping.h.

Member Function Documentation

◆ beginCellGrasp()

void imstk::PbdObjectGrasping::beginCellGrasp	(	std::shared_ptr< AnalyticalGeometry >	geometry,
		std::string	cdType = `""`
	)

Begin a cell grasp (picking will begin on the next update) Also works for rigid on rigid.

Parameters

Geometry	attached/grasped too
The	intersection type/class name

Definition at line 247 of file imstkPbdObjectGrasping.cpp.

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◆ beginRayCellGrasp()

void imstk::PbdObjectGrasping::beginRayCellGrasp	(	std::shared_ptr< AnalyticalGeometry >	geometry,
		const Vec3d &	rayStart,
		const Vec3d &	rayDir,
		const double	maxDist = `-1.0`
	)

Begin a ray point grasp (picking will begin on the next update)

Parameters

Geometry	attached/grasped too
Global	space ray start
Global	space ray direction

Definition at line 284 of file imstkPbdObjectGrasping.cpp.

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◆ beginRayPointGrasp()

void imstk::PbdObjectGrasping::beginRayPointGrasp	(	std::shared_ptr< AnalyticalGeometry >	geometry,
		const Vec3d &	rayStart,
		const Vec3d &	rayDir,
		const double	maxDist = `-1.0`
	)