This class defines stitching of a PbdObject via different picking methods. Ray based stitching is default. More...
#include <imstkPbdObjectStitching.h>
Inheritance diagram for imstk::PbdObjectStitching:
Collaboration diagram for imstk::PbdObjectStitching:
Public Member Functions | |
| PbdObjectStitching (std::shared_ptr< PbdObject > obj1) | |
| void | beginStitch (const Vec3d &rayStart, const Vec3d &rayDir, const double maxDist=-1.0) |
| Begin a ray point stitch. Stitches two points for separate elements. More... | |
| void | addStitchConstraints () |
| Compute/generate the constraints for stitching. | |
| void | removeStitchConstraints () |
| Clears all the stitches. | |
| virtual void | addConstraint (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 + ... | |
| void | setGeometryToStitch (std::shared_ptr< Geometry > geomToStitch, 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. | |
| void | setStiffness (const double stiffness) |
| Set/Get the stiffness, 0-1 value that alters the step size in the solver. | |
| double | getStiffness () const |
| void | setStitchDistance (const double distance) |
| Set/Get the maximum distance for which a stitch may be placed. | |
| double | getStitchDistance () 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 | updateStitching () |
| Update picking state, this should move grasp points. | |
| Protected Member Functions inherited from imstk::SceneObject | |
| virtual void | postModifiedAll () |
| Posts modified for all geometries. | |
Protected Attributes | |
| std::shared_ptr< TaskNode > | m_stitchingNode = nullptr |
| std::shared_ptr< Geometry > | m_geomToStitch = nullptr |
| std::shared_ptr< PointwiseMap > | m_geometryToStitchMap = nullptr |
| std::shared_ptr< PbdObject > | m_objectToStitch = nullptr |
| std::shared_ptr< PickingAlgorithm > | m_pickMethod = nullptr |
| bool | m_performStitch = false |
| double | m_stiffness = 0.1 |
| double | m_maxStitchDist = -1.0 |
| std::vector< std::shared_ptr< PbdBaryPointToPointConstraint > > | m_constraints |
| Array 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 | |
| Public Types inherited from imstk::EventObject | |
| using | Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> > |
| Static Protected Attributes inherited from imstk::Entity | |
| static std::atomic< EntityID > | m_count { 0 } |
| current count of entities | |
Detailed Description
This class defines stitching of a PbdObject via different picking methods. Ray based stitching is default.
Definition at line 29 of file imstkPbdObjectStitching.h.
Member Function Documentation
◆ beginStitch()
| void imstk::PbdObjectStitching::beginStitch | ( | const Vec3d & | rayStart, |
| const Vec3d & | rayDir, | ||
| const double | maxDist = -1.0 |
||
| ) |
Begin a ray point stitch. Stitches two points for separate elements.
- Parameters
-
Global space ray start Global space ray direction
Definition at line 130 of file imstkPbdObjectStitching.cpp.
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Member Data Documentation
◆ m_stiffness
|
protected |
Stiffness of stitches, when 1 the position is completely moved too the grasp point when stiffness < 1 it will slowly converge on the grasp point
Definition at line 122 of file imstkPbdObjectStitching.h.
The documentation for this class was generated from the following files:
- Source/Scene/imstkPbdObjectStitching.h
- Source/Scene/imstkPbdObjectStitching.cpp
