#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_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. 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_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. 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_StringHolder &	getDataType () 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

void	appendFullDataPath (const SIM_Data *subdata, bool useobjectid, UT_String &datapath) const

bool	loadFromFile (const char *filename)

bool	loadFromStream (UT_IStream &is, bool skiptype=false)

bool	getIsOfType (const UT_StringRef &datatype) const

const void *	getConstPointerToType (const UT_StringRef &datatype) const

void *	getPointerToType (const UT_StringRef &datatype)

int	getNumSubData () const
	Get the number of sub-data items attached to this data. More...

const UT_StringHolder &	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_Query &	getQueryObject () const

SIM_Options *	getUserOptions ()

const SIM_Options *	getConstUserOptions () 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_Data *	getSubData (int index)

const SIM_Data *	getConstSubData (int index) const

SIM_Data *	getNamedSubData (const char *dataname)

const SIM_Data *	getConstNamedSubData (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_Data *	getNthSubData (UT_String name, const SIM_DataFilter &filter, int n, const char startfrom, const SIM_DataFilter &recurseFilter)

const SIM_Data *	getNthConstSubData (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_Data *	createNamedSubData (const char dataname, const char datatype, int creationflags, UT_String *newdatanameptr=NULL)

SIM_Data *	getOrCreateAlternateRepresentation (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_Guid &	getUniqueId () const

long	getReferenceCount () const

int	getCreatorId () const
	Get the ID of the node that created this data. More...

OP_Node *	getCreatorNode () const
	Use the creator ID to look up the OP_Node that created this data. More...

OP_Node *	getOwnerNetwork () const
	Look up the owner node of our engine to get the DOP Network pointer. More...

const SIM_Engine &	getEngine () 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_Time &	getCreationTime () 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_Node &	getNodePathsRelativeTo () const

OP_Node *	getOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

OBJ_Node *	getOBJNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

SOP_Node *	getSOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a SOP_Node. More...

DOP_Node *	getDOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a DOP_Node. More...

COP2_Node *	getCOP2Node (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a COP2_Node. More...

CHOP_Node *	getCHOPNode (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...

void	makeMemberDataUnique ()

virtual void	makeMemberDataUniqueSubclass ()

Public Member Functions inherited from SIM_OptionsUser
	SIM_OptionsUser (SIM_Data *owner)

virtual	~SIM_OptionsUser ()

void	optionChanged (const char *name)

const SIM_Options &	getOptions () const

Protected Member Functions
	RBD_ColliderBFA (const SIM_DataFactory *factory)

	~RBD_ColliderBFA () override

bool	doCheckTangle () const override

BV_LeafIterator *	createLeafIt (const SIM_Object &object, const SIM_Time &timestep, bool startPosOnly) const override

void	convertLeafToPrim (const BV_LeafIterator &leafIt, int leafId, int &outPrimId, int &outEdgeId) const override

fpreal	getLeafRadius (const BV_LeafIterator &leafIt, int leafId) const override

Protected Member Functions inherited from SIM_ColliderBFA
	SIM_ColliderBFA (const SIM_DataFactory *factory)

	~SIM_ColliderBFA () override

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...

	~SIM_Collider () override
	The SIM_Collider destructor. More...

SIM_Impacts *	getObjectImpactData (SIM_Object &object, SIM_ImpactApplyType impactapplytype) const

SIM_Impacts *	getAffectorImpactData (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_Query *	createQueryObjectSubclass () const

virtual long	getGuideParmVersionSubclass () const

virtual SIM_Guide *	createGuideObjectSubclass () 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 void *	getCastToType (const UT_StringRef &datatype) const

virtual const UT_StringHolder &	getDataTypeSubclass () const

const SIM_Data *	getAlternateRepresentationOf () const

Protected Member Functions inherited from SIM_OptionsUser
SIM_Options &	getOptions ()

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 void *	castConstPointerToType (const SIM_Data *data, const UT_StringRef &datatype)

static void *	castPointerToType (SIM_Data *data, const UT_StringRef &datatype)

Public Attributes inherited from SIM_ColliderBFA
int	myPrimId [2]

int	myEdgeId [2]

fpreal	myRadii [2]

int &	myAdjacent

UT_Array< simEdgeEdgeEvent >	myEdgeEdgeEvents

UT_Array< simFaceVertexEvent >	myFaceVertexEvents

UT_Array< SIM_Isect >	myTriTriEvents

Static Protected Member Functions inherited from SIM_Data
static const PRM_Template *	getEmptyTemplateList ()

static const SIM_DopDescription *	getEmptyDopDescription ()
	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

RBD_ColliderBFA::~RBD_ColliderBFA ( )

overrideprotected

Member Function Documentation

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

overrideprotectedvirtual

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.

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

overrideprotectedvirtual

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.

bool RBD_ColliderBFA::doCheckTangle ( ) const

inlineoverrideprotectedvirtual

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.

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

overrideprotectedvirtual

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:

RBD/RBD_ColliderBFA.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation