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RBD_ColliderBFA Class Reference

#include <RBD_ColliderBFA.h>

+ Inheritance diagram for RBD_ColliderBFA:

Public Member Functions

void intersectRBDObjects (SIM_IsectPriorityQueue &queue, RBD_Object *obj_a, RBD_Object *obj_b, bool findany, bool findearliest, fpreal timetol, const SIM_Time &starttime, const SIM_Time &endtime, SIM_ImpactApplyType impactapplytype, int impactflags, int child_a_id=-1, int child_b_id=-1) const
 
- Public Member Functions inherited from SIM_ColliderBFA
void getCollisionsDeformable (SIM_IsectArray &collisions, SIM_Object &object, SIM_Object &affector, fpreal tolerance, const SIM_Time &startTime, const SIM_Time &endTime, bool doRepulsion) const
 
void getCollisionsRigid (SIM_IsectArray &collisions, SIM_Object &object, SIM_Object &affector, fpreal tolerance, const SIM_Time &startTime, const SIM_Time &endTime, const UT_DMatrix4 &startXformA, const UT_DMatrix4 &startXformB, const UT_DMatrix4 &endXformA, const UT_DMatrix4 &endXformB) const
 
 simDetail (int objectId, const GU_Detail &gdp, const SIM_TriangulatedGeometry *tgeo, const UT_DMatrix4 &startXform, const UT_DMatrix4 &endXform, const SIM_Time &startTime, const SIM_Time &endTime)
 
int getObjectId () const
 
const GU_DetailgetGdp () const
 
bool operator== (const simDetail &rhs) const
 
const SIM_TimegetStartTime () const
 
const SIM_TimegetEndTime () const
 
const SIM_Time getTimestep () const
 
int getTriPointId (int fid, int vid) const
 Get point id of vertex on a given face. Optimized for triangles. More...
 
int getPrimPointId (int fid, int vid) const
 Unoptimized version of getTriPointId for arbitrary primitives. More...
 
bool hasTriEdgeIds () const
 
int getTriEdgeId (int fid, int vid) const
 
int getFusePointId (int pid) const
 
bool hasFusePointIds () const
 
UT_Vector3 getDetailPointPos (int pid) const
 
const UT_Vector3getPointVel (int pid) const
 
float getPointMass (int pid) const
 
const UT_Vector3getPointStartPos (int pid) const
 
const UT_Vector3getPointEndPos (int pid) const
 
UT_Vector3 getPointPos (int pid, const SIM_Time &time) const
 
UT_Vector3 getTriBaryPos (int primId, const UT_Vector3 &baryV3, const SIM_Time &time) const
 
UT_Vector3 getTriBaryVel (int primId, const UT_Vector3 &baryV3) const
 
fpreal getTriBaryMass (int primId, const UT_Vector3 &baryV3) const
 
UT_Vector3 getTriEdgePos (int primId, int eid, fpreal bary, const SIM_Time &time) const
 Get a position of a point somewhere on the edge of a triangle. More...
 
UT_Vector3 getPrimEdgePos (int primId, int eid, fpreal bary, const SIM_Time &time) const
 Optimized variant of getTriEdgePos for non-triangular primitives. More...
 
UT_Vector3 getTriStartBaryCenter (int primId) const
 
bool setPointChecked (int primIdA, const simDetail &sdpB, int pidB)
 
bool setEdgeChecked (int eidA, const simDetail &sdpB, int eidB)
 
 simPrimPairEvent (int primId0, int primId1, int edgeId0, int edgeId1, fpreal radius0, fpreal radius1, int &adjacent)
 
- Public Member Functions inherited from SIM_Collider
 GETSET_DATA_FUNCS_B (SIM_NAME_REVERSEOBJECTROLES, ReverseObjectRoles)
 
bool collideObjects (SIM_Engine &engine, SIM_Object &object, SIM_Object &affector, const SIM_Time &starttime, const SIM_Time &endtime, SIM_ImpactApplyType impactapplytype, int impactflags) const
 
bool collideObjects (SIM_Engine &engine, SIM_Object &object, SIM_Object &affector, const SIM_Time &starttime, const SIM_Time &endtime, SIM_ImpactApplyType impactapplytype, int impactflags, UT_ValArray< SIM_ColliderCacheData * > &objcachedata, UT_ValArray< SIM_ColliderCacheData * > &affectorcachedata) const
 
- Public Member Functions inherited from SIM_Data
const UT_StringgetDataType () const
 
void initialize (const SIM_SubdataBehavior &subdatabehavior)
 
void makeEqual (const SIM_Data *source, const SIM_SubdataBehavior &subdatabehavior)
 
void setParameters (const SIM_Options &parms)
 
void interpolate (const SIM_Data *source1, const SIM_Data *source2, fpreal interp)
 
int64 getMemorySize () const
 
bool getIsAlternateRepresentation () const
 
bool saveToFile (const char *filename, UT_CompressionType compressionType) const
 
bool saveToStream (std::ostream &os, UT_CompressionType compressionType) const
 
bool loadFromFile (const char *filename)
 
bool loadFromStream (UT_IStream &is, bool skiptype=false)
 
bool getIsOfType (const char *datatype) const
 
const voidgetConstPointerToType (const char *datatype) const
 
voidgetPointerToType (const char *datatype)
 
int getNumSubData () const
 Get the number of sub-data items attached to this data. More...
 
const char * getSubDataName (int index) const
 Get the name of the sub-data at a particular index location. More...
 
int getSubDataIndex (const SIM_Data *subdata) const
 
bool buildSubDataPath (const SIM_Data *subdata, UT_String &pathto) const
 
const SIM_QuerygetQueryObject () const
 
long getGuideParmVersion () const
 
void addGuideDep (DEP_MicroNode &src) const
 
virtual bool getGuideGeometryList (const SIM_RootData &root, const char *datapath, const SIM_Time &t, UT_Array< GU_ConstDetailHandle > &detailArray, UT_Array< UT_DMatrix4 > &xformArray) const
 
GU_ConstDetailHandle getGuideGeometry (const SIM_RootData &root, const char *datapath, UT_DMatrix4 &xform, const SIM_Time &t) const
 
void buildGuideOptions (SIM_Options &options, const SIM_Time &time) const
 
SIM_DatagetSubData (int index)
 
const SIM_DatagetConstSubData (int index) const
 
SIM_DatagetNamedSubData (const char *dataname)
 
const SIM_DatagetConstNamedSubData (const char *dataname) const
 
void filterSubData (SIM_DataArray &ncdp, UT_StringArray *names, const SIM_DataFilter &ncfilter, const char *startfrom, const SIM_DataFilter &recursefilter)
 
void filterConstSubData (SIM_ConstDataArray &dp, UT_StringArray *names, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter) const
 
SIM_DatagetNthSubData (UT_String *name, const SIM_DataFilter &filter, int n, const char *startfrom, const SIM_DataFilter &recurseFilter)
 
const SIM_DatagetNthConstSubData (UT_String *name, const SIM_DataFilter &filter, int n, const char *startfrom, const SIM_DataFilter &recurseFilter) const
 
void forEachSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter)
 
void forEachConstSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter) const
 
SIM_DatacreateNamedSubData (const char *dataname, const char *datatype, int creationflags, UT_String *newdatanameptr=NULL)
 
SIM_DatagetOrCreateAlternateRepresentation (const char *dataname, const char *datatype) const
 
void interpolateSubData (const SIM_Data &source1, const SIM_Data &source2, fpreal interp, const SIM_DataFilter &interpdata, const SIM_DataFilter &recurse)
 
void setNamedSubData (const char *dataname, const SIM_Data *data, int setflags)
 
void createUniqueSubDataName (const SIM_Data *subdata, UT_String &dataname) const
 
void removeNamedSubData (const char *dataname)
 Remove some existing sub-data by name. More...
 
void removeSubData (int index)
 Remove some existing sub-data by index. More...
 
void moveNamedSubData (const char *oldname, const char *newname)
 
const UT_GuidgetUniqueId () const
 
long getReferenceCount () const
 
int getCreatorId () const
 Get the ID of the node that created this data. More...
 
OP_NodegetCreatorNode () const
 Use the creator ID to look up the OP_Node that created this data. More...
 
OP_NodegetOwnerNetwork () const
 Look up the owner node of our engine to get the DOP Network pointer. More...
 
const SIM_EnginegetEngine () const
 Get the engine that created us (from our data factory). More...
 
int getCreatorIndex () const
 Get the output index of the creator node that generated this data. More...
 
const SIM_TimegetCreationTime () const
 Get the creation time for this data. More...
 
bool getIsSelected () const
 Get the selected flag for this data. More...
 
void setIsSelected (bool selected) const
 
bool getSelectionRepresentsObject () const
 
void copyCreationInfoFrom (const SIM_Data *source)
 
OP_NodegetNodePathsRelativeTo () const
 
OP_NodegetOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return an OBJ_Node. More...
 
OBJ_NodegetOBJNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return an OBJ_Node. More...
 
SOP_NodegetSOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a SOP_Node. More...
 
POP_NodegetPOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a POP_Node. More...
 
DOP_NodegetDOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a DOP_Node. More...
 
COP2_NodegetCOP2Node (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a COP2_Node. More...
 
CHOP_NodegetCHOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a CHOP_Node. More...
 
void addOPInterest (OP_Node *node) const
 Adds an interest in the specified node to our engine's owner node. More...
 
void addError (const SIM_RootData *root, int errorcode, const char *errorparm, UT_ErrorSeverity severity) const
 Adds an error to our SIM_Engine. More...
 
- Public Member Functions inherited from SIM_OptionsUser
 SIM_OptionsUser (SIM_Data *owner)
 
virtual ~SIM_OptionsUser ()
 
void optionChanged (const char *name)
 
const SIM_OptionsgetOptions () const
 

Protected Member Functions

 RBD_ColliderBFA (const SIM_DataFactory *factory)
 
virtual ~RBD_ColliderBFA ()
 
virtual bool doCheckTangle () const
 
virtual BV_LeafIteratorcreateLeafIt (const SIM_Object &object, const SIM_Time &timestep, bool startPosOnly) const
 
virtual void convertLeafToPrim (const BV_LeafIterator &leafIt, int leafId, int &outPrimId, int &outEdgeId) const
 
virtual fpreal getLeafRadius (const BV_LeafIterator &leafIt, int leafId) const
 
- Protected Member Functions inherited from SIM_ColliderBFA
 SIM_ColliderBFA (const SIM_DataFactory *factory)
 
virtual ~SIM_ColliderBFA ()
 
virtual SIM_BVTree::simBVTreeType getBVTreeType () const
 
virtual bool getEventsAtSurface () const
 
void retrieveGeometry (const SIM_Object &object, GU_ConstDetailHandle &outGdh, const GU_Detail *&outGdp, UT_DMatrix4 *outEndTransform, const SIM_TriangulatedGeometry **tgeo) const
 
bool testFaceSharesPoint (const simDetail &sdpF, int pidF0, int pidF1, int pidF2, const simDetail &sdpV, int pidV) const
 
bool testEdgesSharePoint (const simDetail &sdpA, int pidA0, int pidA1, const simDetail &sdpB, int pidB0, int pidB1) const
 
virtual void intersectPrims (simPrimPairEvent &event, simDetail &sdpA, simDetail &sdpB, fpreal tolerance, bool doRepulsion, bool selfCollision) const
 
- Protected Member Functions inherited from SIM_Collider
 SIM_Collider (const SIM_DataFactory *factory)
 The SIM_Collider constructor. More...
 
virtual ~SIM_Collider ()
 The SIM_Collider destructor. More...
 
SIM_ImpactsgetObjectImpactData (SIM_Object &object, SIM_ImpactApplyType impactapplytype) const
 
SIM_ImpactsgetAffectorImpactData (SIM_Object &affector, SIM_ImpactApplyType impactapplytype) const
 
bool getAffectorInterpolatedToEndTime () const
 
virtual bool collideObjectsSubclass (SIM_Engine &engine, SIM_Object &object, SIM_Object &affector, const SIM_Time &starttime, const SIM_Time &endtime, SIM_ImpactApplyType impactapplytype, int impactflags) const
 
virtual bool collideObjectsCachedSubclass (SIM_Engine &engine, SIM_Object &object, SIM_Object &affector, const SIM_Time &starttime, const SIM_Time &endtime, SIM_ImpactApplyType impactapplytype, int impactflags, UT_ValArray< SIM_ColliderCacheData * > &objcachedata, UT_ValArray< SIM_ColliderCacheData * > &affectorcachedata) const
 
virtual bool getAffectorInterpolatedToEndTimeSubclass () const
 
- Protected Member Functions inherited from SIM_Data
 SIM_Data (const SIM_DataFactory *factory)
 
virtual ~SIM_Data ()
 
void handleModification (int code=-1)
 
void setNeedsToRecalculateMemorySize () const
 
void deleteQueryObjectIfNotBuilding () const
 Deletes the query object for this data, if there is one. More...
 
void deleteGuideObjectIfNotBuilding () const
 Delete the guide geometry for this data, if it exists. More...
 
void initAlternateRepresentation () const
 
void setNeedsInitialization (bool needsinit) const
 Flags an alternate representation subdata as requiring initialization. More...
 
bool getNeedsInitialization () const
 Tests whether an alternate representation requires initialization. More...
 
bool saveOptionPacket (std::ostream &os, const char *name, const SIM_Options *opts) const
 
bool loadOptionPacket (UT_IStream &is, const char *name, SIM_Options *opts) const
 
bool getIsDoingSimplifiedSaveLoad () const
 
void initializeFromParmDefaults ()
 
void setSelectionRepresentsObject (bool representsobject)
 
virtual void setNeedsInitializationSubclass (bool needsinit) const
 
virtual void initializeSubclass ()
 
virtual void makeEqualSubclass (const SIM_Data *source)
 
virtual void saveSubclass (std::ostream &os) const
 
virtual void saveIOSubclass (std::ostream &os, SIM_DataThreadedIO *io) const
 
virtual bool loadSubclass (UT_IStream &is)
 
virtual bool loadIOSubclass (UT_IStream &is, SIM_DataThreadedIO *io)
 
virtual SIM_QuerycreateQueryObjectSubclass () const
 
virtual long getGuideParmVersionSubclass () const
 
virtual SIM_GuidecreateGuideObjectSubclass () const
 
virtual void buildGuideGeometrySubclass (const SIM_RootData &root, const SIM_Options &options, const GU_DetailHandle &gdh, UT_DMatrix4 *xform, const SIM_Time &t) const
 
virtual void setParametersSubclass (const SIM_Options &parms)
 
virtual void setNamedSubDataSubclass (const char *dataname, const SIM_Data *data)
 
virtual void removeNamedSubDataSubclass (const char *dataname)
 
virtual void interpolateSubclass (const SIM_Data *source1, const SIM_Data *source2, fpreal interp)
 
virtual int64 getMemorySizeSubclass () const
 
virtual void handleModificationSubclass (int code)
 
virtual bool getIsAlternateRepresentationSubclass () const
 
virtual void initAlternateRepresentationSubclass (const SIM_Data &)
 
virtual voidgetCastToType (const char *datatype) const
 
virtual const UT_StringgetDataTypeSubclass () const
 
const SIM_DatagetAlternateRepresentationOf () const
 
- Protected Member Functions inherited from SIM_OptionsUser
SIM_OptionsgetOptions ()
 
virtual void optionChangedSubclass (const char *name)
 

Additional Inherited Members

- Public Types inherited from SIM_Collider
enum  SIM_ImpactApplyType { SIM_IMPACTAPPLY_NONE, SIM_IMPACTAPPLY_ONEWAY, SIM_IMPACTAPPLY_MUTUAL, SIM_IMPACTAPPLY_FEEDBACK }
 Defines the possible affector types when doing collision detection. More...
 
- Static Public Member Functions inherited from SIM_Data
static bool getDataTypeFromFile (const char *filename, UT_String &datatype)
 
static bool getDataTypeFromStream (UT_IStream &is, UT_String &datatype)
 
static const voidcastConstPointerToType (const SIM_Data *data, const char *datatype)
 
static voidcastPointerToType (SIM_Data *data, const char *datatype)
 
- Public Attributes inherited from SIM_ColliderBFA
int myPrimId [2]
 
int myEdgeId [2]
 
fpreal myRadii [2]
 
intmyAdjacent
 
UT_Array< simEdgeEdgeEventmyEdgeEdgeEvents
 
UT_Array< simFaceVertexEventmyFaceVertexEvents
 
UT_Array< SIM_IsectmyTriTriEvents
 
- Static Protected Member Functions inherited from SIM_Data
static const PRM_TemplategetEmptyTemplateList ()
 
static const SIM_DopDescriptiongetEmptyDopDescription ()
 A DOP description that says not to create an automatic DOP. More...
 
static void getDataTypeSuperclasses (UT_StringArray &)
 
- Protected Attributes inherited from SIM_ColliderBFA
GA_ROHandleF myAttMass
 

Detailed Description

Definition at line 17 of file RBD_ColliderBFA.h.

Constructor & Destructor Documentation

RBD_ColliderBFA::RBD_ColliderBFA ( const SIM_DataFactory factory)
explicitprotected
virtual RBD_ColliderBFA::~RBD_ColliderBFA ( )
protectedvirtual

Member Function Documentation

virtual void RBD_ColliderBFA::convertLeafToPrim ( const BV_LeafIterator leafIt,
int  leafId,
int outPrimId,
int outEdgeId 
) const
protectedvirtual

Given a leaf iterator and the id of a leaf, convert the leaf id to a primitive id and (optionally) an edge id.

Implements SIM_ColliderBFA.

virtual BV_LeafIterator* RBD_ColliderBFA::createLeafIt ( const SIM_Object object,
const SIM_Time timestep,
bool  startPosOnly 
) const
protectedvirtual

This method should create a BV_LeafIterator class. This class will iterate over the individual geometric entities to be used for OBB intersection - in most cases, each leaf will contain a single primitive from the geometry. The time used to retrieve the geometry is determined by the startPosOnly flag: true: return the position at the start of the timestep - i.e., position at object - vel*timestep false: return the positions at both the start and end of the timestep. The leaf iterator should return points in simulation (world) space, not local object space.

Implements SIM_ColliderBFA.

virtual bool RBD_ColliderBFA::doCheckTangle ( ) const
inlineprotectedvirtual

returns true iff tangling triangles should not be processed for collision detection The RBD collision detection uses this to allow objects that are tangled at the start of the timestep to untangle without the attempt to disentangle triggering a collision.

Reimplemented from SIM_ColliderBFA.

Definition at line 37 of file RBD_ColliderBFA.h.

virtual fpreal RBD_ColliderBFA::getLeafRadius ( const BV_LeafIterator leafIt,
int  leafId 
) const
protectedvirtual

This method returns a radius to expand the leaf's geometry for collision detection. For example, if the leaf's geometry is a line segment, the expanded geometry used for collision detection will be a cylinder with hemisphere caps.

Implements SIM_ColliderBFA.

void RBD_ColliderBFA::intersectRBDObjects ( SIM_IsectPriorityQueue queue,
RBD_Object obj_a,
RBD_Object obj_b,
bool  findany,
bool  findearliest,
fpreal  timetol,
const SIM_Time starttime,
const SIM_Time endtime,
SIM_ImpactApplyType  impactapplytype,
int  impactflags,
int  child_a_id = -1,
int  child_b_id = -1 
) const

Finds intersection of RBD objects. Fills the given queue with all of the two way intersections.


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