SIM_ColliderBFA Class Reference
A single potential-collision event involving a pair of primitives. More...
#include <SIM_ColliderBFA.h>
Public Member Functions | |
| 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_Detail & | getGdp () const |
| bool | operator== (const simDetail &rhs) const |
| const SIM_Time & | getStartTime () const |
| const SIM_Time & | getEndTime () 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. | |
| int | getPrimPointId (int fid, int vid) const |
| Unoptimized version of getTriPointId for arbitrary primitives. | |
| 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_Vector3 & | getPointVel (int pid) const |
| float | getPointMass (int pid) const |
| const UT_Vector3 & | getPointStartPos (int pid) const |
| const UT_Vector3 & | getPointEndPos (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. | |
| UT_Vector3 | getPrimEdgePos (int primId, int eid, fpreal bary, const SIM_Time &time) const |
| Optimized variant of getTriEdgePos for non-triangular primitives. | |
| 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 Attributes | |
| int | myPrimId [2] |
| int | myEdgeId [2] |
| fpreal | myRadii [2] |
| int & | myAdjacent |
| UT_RefArray< simEdgeEdgeEvent > | myEdgeEdgeEvents |
| UT_RefArray< simFaceVertexEvent > | myFaceVertexEvents |
| UT_RefArray< SIM_Isect > | myTriTriEvents |
Protected Member Functions | |
| SIM_ColliderBFA (const SIM_DataFactory *factory) | |
| virtual | ~SIM_ColliderBFA () |
| virtual SIM_BVTree::simBVTreeType | getBVTreeType () const |
| virtual BV_LeafIterator * | createLeafIt (const SIM_Object &object, const SIM_Time ×tep, bool startPosOnly) const =0 |
| virtual void | convertLeafToPrim (const BV_LeafIterator &leafIt, int leafId, int &outPrimId, int &outEdgeId) const =0 |
| virtual fpreal | getLeafRadius (const BV_LeafIterator &leafIt, int leafId) const =0 |
| 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 bool | doCheckTangle () const |
| virtual void | intersectPrims (simPrimPairEvent &event, simDetail &sdpA, simDetail &sdpB, fpreal tolerance, bool doRepulsion, bool selfCollision) const |
Protected Attributes | |
| GB_AttributeRef | myAttMass |
Friends | |
| class | simBVCallback |
Detailed Description
A single potential-collision event involving a pair of primitives.This class implements a cloth-cloth collider based on Bridson's 2002 paper (BriFedAnd02). We use it for several types of deformable collisions: cloth-cloth, cloth-hair and hair-hair. We also use it for thin plate rigid body collisions. This class can only be used for collision detection. The cloth subclass does the Bridson/Fedkiw/Anderson collision response.
For deformable objects, the input objects should be updated to the end-of-step positions and velocities. This collider will proposes changes to that end-of-step velocity which can then be used to obtain a new end-of-step position. The start-of-step position is calculated by assuming that explicit integration was used - i.e., by computing x - dt*v.
This class does both self-collision and object/object collision. It supports "point fusing," where two points in the same object (or one point in each of the two objects) are fused together into a single virtual point. (Typically, the user sets that up using a hard DOPs constraint.) For collision purposes, those points are treated as a single point - so, if two edges collide, but they share a virtual point as an endpoint, the collision will be ignored.
Definition at line 150 of file SIM_ColliderBFA.h.
Constructor & Destructor Documentation
| SIM_ColliderBFA::SIM_ColliderBFA | ( | const SIM_DataFactory * | factory | ) | [explicit, protected] |
| virtual SIM_ColliderBFA::~SIM_ColliderBFA | ( | ) | [protected, virtual] |
Member Function Documentation
| virtual void SIM_ColliderBFA::convertLeafToPrim | ( | const BV_LeafIterator & | leafIt, | |
| int | leafId, | |||
| int & | outPrimId, | |||
| int & | outEdgeId | |||
| ) | const [protected, pure virtual] |
Given a leaf iterator and the id of a leaf, convert the leaf id to a primitive id and (optionally) an edge id.
Implemented in RBD_ColliderBFA.
| virtual BV_LeafIterator* SIM_ColliderBFA::createLeafIt | ( | const SIM_Object & | object, | |
| const SIM_Time & | timestep, | |||
| bool | startPosOnly | |||
| ) | const [protected, pure virtual] |
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.
Implemented in RBD_ColliderBFA.
| virtual bool SIM_ColliderBFA::doCheckTangle | ( | ) | const [inline, protected, virtual] |
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 in RBD_ColliderBFA.
Definition at line 270 of file SIM_ColliderBFA.h.
| virtual SIM_BVTree::simBVTreeType SIM_ColliderBFA::getBVTreeType | ( | ) | const [protected, virtual] |
| void SIM_ColliderBFA::getCollisionsDeformable | ( | SIM_IsectArray & | collisions, | |
| SIM_Object & | object, | |||
| SIM_Object & | affector, | |||
| fpreal | tolerance, | |||
| const SIM_Time & | startTime, | |||
| const SIM_Time & | endTime, | |||
| bool | doRepulsion | |||
| ) | const [inline] |
Collision detection for deformable bodies. These bodies: 1) define velocity via a point attribute 2) need their bounding volume trees updated every step.
Definition at line 159 of file SIM_ColliderBFA.h.
| void SIM_ColliderBFA::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 [inline] |
Collision detection for rigid bodies. These bodies: 1) define velocity via start/end transforms 2) never need to update their bounding volume trees. 3) need proxy triangulated geometry, since the source geometry may not be triangles.
Definition at line 178 of file SIM_ColliderBFA.h.
| UT_Vector3 SIM_ColliderBFA::getDetailPointPos | ( | int | pid | ) | const |
| const SIM_Time& SIM_ColliderBFA::getEndTime | ( | ) | const [inline] |
Definition at line 370 of file SIM_ColliderBFA.h.
| virtual bool SIM_ColliderBFA::getEventsAtSurface | ( | ) | const [protected, virtual] |
Test if this class generates events located at the *centre* of the triangles/edges or at the *surface*. This choice usually depends on the model of collision response.
| int SIM_ColliderBFA::getFusePointId | ( | int | pid | ) | const [inline] |
Retrieve the "simulation" point id (or "equation number") associated with the given point. This allows for testing if points from two different gdps are "fused" into a single point within the simulation. It is stored as an attribute on the GU_Detail. Collisions between fused points are ignored. If the attribute is absent, fusing is disabled.
Definition at line 401 of file SIM_ColliderBFA.h.
| const GU_Detail& SIM_ColliderBFA::getGdp | ( | ) | const [inline] |
Definition at line 363 of file SIM_ColliderBFA.h.
| virtual fpreal SIM_ColliderBFA::getLeafRadius | ( | const BV_LeafIterator & | leafIt, | |
| int | leafId | |||
| ) | const [protected, pure virtual] |
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.
Implemented in RBD_ColliderBFA.
| int SIM_ColliderBFA::getObjectId | ( | ) | const [inline] |
Definition at line 361 of file SIM_ColliderBFA.h.
| const UT_Vector3& SIM_ColliderBFA::getPointEndPos | ( | int | pid | ) | const [inline] |
Definition at line 417 of file SIM_ColliderBFA.h.
| float SIM_ColliderBFA::getPointMass | ( | int | pid | ) | const |
| UT_Vector3 SIM_ColliderBFA::getPointPos | ( | int | pid, | |
| const SIM_Time & | time | |||
| ) | const |
| const UT_Vector3& SIM_ColliderBFA::getPointStartPos | ( | int | pid | ) | const [inline] |
Definition at line 415 of file SIM_ColliderBFA.h.
| const UT_Vector3& SIM_ColliderBFA::getPointVel | ( | int | pid | ) | const [inline] |
Definition at line 412 of file SIM_ColliderBFA.h.
| UT_Vector3 SIM_ColliderBFA::getPrimEdgePos | ( | int | primId, | |
| int | eid, | |||
| fpreal | bary, | |||
| const SIM_Time & | time | |||
| ) | const |
Optimized variant of getTriEdgePos for non-triangular primitives.
| int SIM_ColliderBFA::getPrimPointId | ( | int | fid, | |
| int | vid | |||
| ) | const |
Unoptimized version of getTriPointId for arbitrary primitives.
| const SIM_Time& SIM_ColliderBFA::getStartTime | ( | ) | const [inline] |
Definition at line 368 of file SIM_ColliderBFA.h.
| const SIM_Time SIM_ColliderBFA::getTimestep | ( | ) | const [inline] |
Definition at line 373 of file SIM_ColliderBFA.h.
| fpreal SIM_ColliderBFA::getTriBaryMass | ( | int | primId, | |
| const UT_Vector3 & | baryV3 | |||
| ) | const |
| UT_Vector3 SIM_ColliderBFA::getTriBaryPos | ( | int | primId, | |
| const UT_Vector3 & | baryV3, | |||
| const SIM_Time & | time | |||
| ) | const |
| UT_Vector3 SIM_ColliderBFA::getTriBaryVel | ( | int | primId, | |
| const UT_Vector3 & | baryV3 | |||
| ) | const |
| int SIM_ColliderBFA::getTriEdgeId | ( | int | fid, | |
| int | vid | |||
| ) | const [inline] |
Definition at line 389 of file SIM_ColliderBFA.h.
| UT_Vector3 SIM_ColliderBFA::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.
| int SIM_ColliderBFA::getTriPointId | ( | int | fid, | |
| int | vid | |||
| ) | const [inline] |
Get point id of vertex on a given face. Optimized for triangles.
Definition at line 377 of file SIM_ColliderBFA.h.
| UT_Vector3 SIM_ColliderBFA::getTriStartBaryCenter | ( | int | primId | ) | const |
| bool SIM_ColliderBFA::hasFusePointIds | ( | ) | const [inline] |
Definition at line 405 of file SIM_ColliderBFA.h.
| bool SIM_ColliderBFA::hasTriEdgeIds | ( | ) | const [inline] |
Definition at line 385 of file SIM_ColliderBFA.h.
| virtual void SIM_ColliderBFA::intersectPrims | ( | simPrimPairEvent & | event, | |
| simDetail & | sdpA, | |||
| simDetail & | sdpB, | |||
| fpreal | tolerance, | |||
| bool | doRepulsion, | |||
| bool | selfCollision | |||
| ) | const [protected, virtual] |
| bool SIM_ColliderBFA::operator== | ( | const simDetail & | rhs | ) | const [inline] |
Definition at line 365 of file SIM_ColliderBFA.h.
| void SIM_ColliderBFA::retrieveGeometry | ( | const SIM_Object & | object, | |
| GU_ConstDetailHandle & | outGdh, | |||
| const GU_Detail *& | outGdp, | |||
| UT_DMatrix4 * | outEndTransform, | |||
| const SIM_TriangulatedGeometry ** | tgeo | |||
| ) | const [protected] |
| bool SIM_ColliderBFA::setEdgeChecked | ( | int | eidA, | |
| const simDetail & | sdpB, | |||
| int | eidB | |||
| ) |
Flag that edge (pidA0,pidA1) of this detail has been tested against edge (pidB0,pidB1) of sdpB. Returns true if it had already been tested before.
| bool SIM_ColliderBFA::setPointChecked | ( | int | primIdA, | |
| const simDetail & | sdpB, | |||
| int | pidB | |||
| ) |
Flag that point pidB of sdpB has been tested against primIdA from this simDetail. Returns true if it had already been tested before.
| SIM_ColliderBFA::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 | |||
| ) |
The difference between rigid/deformable is the presence/absence of tgeo data.
| SIM_ColliderBFA::simPrimPairEvent | ( | int | primId0, | |
| int | primId1, | |||
| int | edgeId0, | |||
| int | edgeId1, | |||
| fpreal | radius0, | |||
| fpreal | radius1, | |||
| int & | adjacent | |||
| ) |
| bool SIM_ColliderBFA::testEdgesSharePoint | ( | const simDetail & | sdpA, | |
| int | pidA0, | |||
| int | pidA1, | |||
| const simDetail & | sdpB, | |||
| int | pidB0, | |||
| int | pidB1 | |||
| ) | const [protected] |
Return true if the two edges (defined by their endpoint ids) share an endpoint. If the "fuse mapping" point attribute is present on both GU_Details, it is used to determine if two points are fused; If absent, sharing is only possible if the face and point belong to the same GU_Detail - i.e., self-collision.
| bool SIM_ColliderBFA::testFaceSharesPoint | ( | const simDetail & | sdpF, | |
| int | pidF0, | |||
| int | pidF1, | |||
| int | pidF2, | |||
| const simDetail & | sdpV, | |||
| int | pidV | |||
| ) | const [protected] |
Return true if a face and point share a point. If the "fuse mapping" point attribute is present on both GU_Details, it is used to determine if two points are fused; If absent, sharing is only possible if the face and point belong to the same GU_Detail - i.e., self-collision.
Friends And Related Function Documentation
friend class simBVCallback [friend] |
Definition at line 345 of file SIM_ColliderBFA.h.
Member Data Documentation
A flag to indicate that the two primitives are adjacent (i.e., share one or more vertices)
Definition at line 497 of file SIM_ColliderBFA.h.
GB_AttributeRef SIM_ColliderBFA::myAttMass [protected] |
If mass attribute is missing (e.g., solid object), infinity is assumed. TODO: change this?
Definition at line 447 of file SIM_ColliderBFA.h.
Definition at line 498 of file SIM_ColliderBFA.h.
| int SIM_ColliderBFA::myEdgeId[2] |
Definition at line 493 of file SIM_ColliderBFA.h.
Definition at line 499 of file SIM_ColliderBFA.h.
| int SIM_ColliderBFA::myPrimId[2] |
Definition at line 492 of file SIM_ColliderBFA.h.
Definition at line 494 of file SIM_ColliderBFA.h.
Definition at line 500 of file SIM_ColliderBFA.h.
The documentation for this class was generated from the following file:
