#include <CollisionModel.h>

Abstract CollisionModel interface. More...

Inheritance diagram for sofa::core::CollisionModel:

Detailed Description

A CollisionModel contains a list of same-type elements. It can be part of a list of CollisionModels, each describing a level in a bounding-volume hierarchy.

Each CollisionModel stores a pointer to the next model in the hierarchy (i.e. finer / lower / child level) as well as the previous model (i.e. coarser / upper / parent level). The first CollisionModel in this list is the root of the hierarchy and contains only one element. The last CollisionModel contains the leaves of the hierarchy which are the real elements of the object.

Each element inside CollisionModels except for the last one can have a list of children. There are 2 types of child elements:

internal children: child elements of the same type as their parent (often corresponding to non-final elements)
external children: child elements of a different type (often corresponding to the final elements)

Public Attributes
CollisionElementActiver *	myCollElemActiver
	CollisionElementActiver that activate or deactivate collision element during execution. More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the object belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes
Data< bool >	bActive

Data< bool >	bMoving
	flag indicating if this object is changing position between iterations More...

Data< bool >	bSimulated
	flag indicating if this object is controlled by a simulation More...

Data< bool >	bSelfCollision
	flag indication if the object can self collide More...

Data< SReal >	proximity
	Distance to the actual (visual) surface. More...

Data< SReal >	contactStiffness
	Default contact stiffness. More...

Data< SReal >	contactFriction
	Default contact friction (damping) coefficient. More...

Data< SReal >	contactRestitution
	Default contact coefficient of restitution. More...

Data< std::string >	contactResponse

Data< sofa::type::RGBAColor >	color
	color used to display the collision model if requested More...

Data< std::set< int > >	group

Size	size
	Number of collision elements. More...

Data< Size >	d_numberOfContacts
	number of contacts attached to the collision model More...

SingleLink< CollisionModel, CollisionModel, BaseLink::FLAG_DOUBLELINK\|BaseLink::FLAG_STRONGLINK >	previous
	Pointer to the previous (coarser / upper / parent level) CollisionModel in the hierarchy. More...

SingleLink< CollisionModel, CollisionModel, BaseLink::FLAG_DOUBLELINK >	next
	Pointer to the next (finer / lower / child level) CollisionModel in the hierarchy. More...

int	enum_type

void *	userData

SingleLink< CollisionModel, sofa::core::objectmodel::BaseObject, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_collElemActiver
	Pointer to the Controller component heritating from CollisionElementActiver. More...

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Public Member Functions
	SOFA_ABSTRACT_CLASS (CollisionModel, objectmodel::BaseObject)

void	bwdInit () override
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

bool	empty () const
	Return true if there are no elements. More...

Size	getSize () const
	Get the number of elements. More...

bool	getSelfCollision () const
	Return true if this model process self collision. More...

void	setSelfCollision (bool _bSelfCollision)
	set a value to bSelfCollision More...

Size	getNumberOfContacts () const
	Get the number of contacts attached to the collision model. More...

void	setNumberOfContacts (Size i)
	Set the number of contacts attached to the collision model. More...

virtual void	resize (Size s)
	Set the number of elements. More...

Iterator	begin ()
	Return an iterator to the first element. More...

Iterator	end ()
	Return an iterator pointing after the last element. More...

CollisionModel *	getNext ()
	Return the next (finer / lower / child level) CollisionModel in the hierarchy. More...

CollisionModel *	getPrevious ()
	Return the previous (coarser / upper / parent level) CollisionModel in the hierarchy. More...

void	setPrevious (CollisionModel::SPtr val)
	Set the previous (coarser / upper / parent level) CollisionModel in the hierarchy. More...

virtual bool	isActive () const
	Return true if this CollisionModel should be used for collisions. More...

virtual void	setActive (bool val=true)
	Set true if this CollisionModel should be used for collisions. More...

virtual bool	isMoving () const
	Return true if this CollisionModel is changing position between iterations. More...

virtual void	setMoving (bool val=true)
	Set true if this CollisionModel is changing position between iterations. More...

virtual bool	isSimulated () const
	Return true if this CollisionModel is attached to a simulation. It is false for immobile or procedurally animated objects that don't use contact forces. More...

virtual void	setSimulated (bool val=true)
	Set true if this CollisionModel is attached to a simulation. More...

virtual void	computeBoundingTree (int maxDepth=0)=0
	Create or update the bounding volume hierarchy. More...

virtual void	computeContinuousBoundingTree (SReal, int maxDepth=0)
	Create or update the bounding volume hierarchy, accounting for motions within the given timestep. More...

virtual std::pair< CollisionElementIterator, CollisionElementIterator >	getInternalChildren (Index) const
	Return the list (as a pair of iterators) of internal children of an element. More...

virtual std::pair< CollisionElementIterator, CollisionElementIterator >	getExternalChildren (Index) const
	Return the list (as a pair of iterators) of external children of an element. More...

virtual bool	isLeaf (Index) const
	Checks if the element(index) is a leaf and a primitive of the collision model. More...

virtual bool	canCollideWith (CollisionModel *model)
	Test if this model can collide with another model. More...

virtual bool	canCollideWithElement (Index, CollisionModel *, Index)
	Test if two elements can collide with each other. More...

virtual void	draw (const core::visual::VisualParams *, Index)
	Render an collision element. More...

void	draw (const core::visual::VisualParams *) override
	Render the whole collision model. More...

CollisionModel *	getFirst ()
	Return the first (i.e. root) CollisionModel in the hierarchy. More...

CollisionModel *	getLast ()
	Return the last (i.e. leaf) CollisionModel in the hierarchy. More...

template<class DerivedModel >
DerivedModel *	createPrevious ()
	Helper method to get or create the previous model in the hierarchy. More...

virtual sofa::core::topology::BaseMeshTopology *	getCollisionTopology ()
	BaseMeshTopology associated to the collision model. TODO: epernod remove virtual pure method by l_topology.get as soons as new link will be available. More...

const float *	getColor4f ()
	Get a color that can be used to display this CollisionModel. More...

void	setColor4f (const float *c)
	Set a color that can be used to display this CollisionModel. More...

void	setProximity (const SReal a)
	Set of differents parameters. More...

void	setContactResponse (const std::string &a)

int	getEnumType () const

void	SetUserData (void *pUserData)
	Set user data. More...

void *	GetUserData ()
	Get user data. More...

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

Experimental methods
SReal	getProximity () const
	Get distance to the actual (visual) surface. More...

SReal	getContactStiffness (Index) const
	Get contact stiffness. More...

void	setContactStiffness (SReal stiffness)
	Set contact stiffness. More...

bool	isContactStiffnessSet () const
	Get contact stiffness. More...

SReal	getContactFriction (Index) const
	Get contact friction (damping) coefficient. More...

void	setContactFriction (SReal friction)
	Set contact friction (damping) coefficient. More...

SReal	getContactRestitution (Index) const
	Get contact coefficient of restitution. More...

void	setContactRestitution (SReal restitution)
	Set contact coefficient of restitution. More...

std::string	getContactResponse () const
	Contact response algorithm. More...

const std::set< int > &	getGroups () const
	Return the group IDs containing this model. More...

void	addGroup (const int groupId)
	add the group ID to this model. More...

void	setGroups (const std::set< int > &ids)
	Set the group IDs to this model. More...

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

virtual void	computeBBox (const core::ExecParams *, bool=false)

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
	Sets a source Object and parses it to collect dependent Data. More...

void	setSrc (const std::string &v, const BaseObject loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override
	Return the full path name of this object. More...

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	handleEvent (Event *)
	Handle an event. More...

virtual void	handleTopologyChange ()

virtual void	handleTopologyChange (core::topology::Topology *t)

void	parse (BaseObjectDescription *arg) override
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

virtual void	init ()
	Initialization method called at graph creation and modification, during top-down traversal. More...

virtual void	reinit ()
	Update method called when variables used in precomputation are modified. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

const std::string &	getName () const
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::map< std::string, std::string * > &str)
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const
	Find data fields given a name: several can be found as we look into the alias map. More...

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

Protected Member Functions
	CollisionModel ()
	Constructor. More...

	~CollisionModel () override
	Destructor. More...

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	BaseObject ()

	~BaseObject () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
	This method insures that slaves objects have master and context links set correctly. More...

void	trackInternalData (const BaseData &data)
	Method called to add the Data to the DataTracker (listing the Data to track) More...

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)
	Method called to know if a tracked Data has changed. More...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	Base ()

virtual	~Base ()

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)
	Helper method used by initData() More...

template<class T >
void	initData0 (Data< T > field, typename Data< T >::InitData &res, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

Additional Inherited Members
Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Attribute details

◆ bActive

Data<bool> sofa::core::CollisionModel::bActive

protected

flag indicating if this collision model is active and should be included in default collision detections

◆ bMoving

Data<bool> sofa::core::CollisionModel::bMoving

protected

flag indicating if this object is changing position between iterations

◆ bSelfCollision

Data<bool> sofa::core::CollisionModel::bSelfCollision

protected

flag indication if the object can self collide

◆ bSimulated

Data<bool> sofa::core::CollisionModel::bSimulated

protected

flag indicating if this object is controlled by a simulation

◆ color

Data<sofa::type::RGBAColor> sofa::core::CollisionModel::color

protected

color used to display the collision model if requested

◆ contactFriction

Data<SReal> sofa::core::CollisionModel::contactFriction

protected

Default contact friction (damping) coefficient.

◆ contactResponse

Data<std::string> sofa::core::CollisionModel::contactResponse

protected

If non-empty, indicate to the ContactManager that this model should use the given class of contacts. Note that this is only indicative, and in particular if both collision models specify a different class it is up to the manager to choose.

◆ contactRestitution

Data<SReal> sofa::core::CollisionModel::contactRestitution

protected

Default contact coefficient of restitution.

◆ contactStiffness

Data<SReal> sofa::core::CollisionModel::contactStiffness

protected

Default contact stiffness.

◆ d_numberOfContacts

Data<Size> sofa::core::CollisionModel::d_numberOfContacts

protected

number of contacts attached to the collision model

◆ enum_type

int sofa::core::CollisionModel::enum_type

protected

an int corresponding to the type of this. Useful for optimizations involving static_cast

◆ group

Data< std::set<int> > sofa::core::CollisionModel::group

protected

No collision can occur between collision models included in a common group (i.e. sharing a common id)

◆ l_collElemActiver

SingleLink<CollisionModel, sofa::core::objectmodel::BaseObject, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::core::CollisionModel::l_collElemActiver

protected

Pointer to the Controller component heritating from CollisionElementActiver.

◆ myCollElemActiver

CollisionElementActiver* sofa::core::CollisionModel::myCollElemActiver

CollisionElementActiver that activate or deactivate collision element during execution.

◆ next

SingleLink<CollisionModel,CollisionModel,BaseLink::FLAG_DOUBLELINK> sofa::core::CollisionModel::next

protected

Pointer to the next (finer / lower / child level) CollisionModel in the hierarchy.

◆ previous

SingleLink<CollisionModel,CollisionModel,BaseLink::FLAG_DOUBLELINK|BaseLink::FLAG_STRONGLINK> sofa::core::CollisionModel::previous

protected

Pointer to the previous (coarser / upper / parent level) CollisionModel in the hierarchy.

◆ proximity

Data<SReal> sofa::core::CollisionModel::proximity

protected

Distance to the actual (visual) surface.

◆ size

Size sofa::core::CollisionModel::size

protected

Number of collision elements.

◆ userData

void* sofa::core::CollisionModel::userData

protected

Constructor details

◆ CollisionModel()

sofa::core::CollisionModel::CollisionModel ( )

protected

Constructor.

◆ ~CollisionModel()

sofa::core::CollisionModel::~CollisionModel ( )

inlineoverrideprotected

Destructor.

Function details

◆ addGroup()

void sofa::core::CollisionModel::addGroup ( const int groupId )

inline

add the group ID to this model.

◆ begin()

Iterator sofa::core::CollisionModel::begin ( )

inline

Return an iterator to the first element.

◆ bwdInit()

void sofa::core::CollisionModel::bwdInit ( )

overridevirtual

Initialization method called at graph creation and modification, during bottom-up traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ canCollideWith()

bool sofa::core::CollisionModel::canCollideWith ( CollisionModel * model )

virtual

Test if this model can collide with another model.

Note that this test is only related to what are the two models (i.e. which type, attached to which object) and not where they are in space. It is used to prune unnecessary or invalid collisions (i.e. vertices of an object should be tested with triangles of another but not the same object).

Depending on selfCollision value if the collision models are attached to the same context (i.e. the same node in the scenegraph). If both models are included in a common "group", they won't collide

◆ canCollideWithElement()

virtual bool sofa::core::CollisionModel::canCollideWithElement	(	Index	,
		CollisionModel *	,
		Index
	)

inlinevirtual

Test if two elements can collide with each other.

This method should be implemented by models supporting self-collisions to prune tests between adjacent elements.

Default to true. Note that this method assumes that canCollideWith(model2) was already used to test if the collision models can collide.

Reimplemented in sofa::component::collision::geometry::TriangleCollisionModel< TDataTypes >, sofa::component::collision::geometry::TriangleCollisionModel< sofa::defaulttype::Vec3Types >, sofa::component::collision::geometry::PointCollisionModel< TDataTypes >, sofa::component::collision::geometry::PointCollisionModel< sofa::defaulttype::StdVectorTypes >, and sofa::component::collision::geometry::LineCollisionModel< TDataTypes >.

◆ computeBoundingTree()

virtual void sofa::core::CollisionModel::computeBoundingTree ( int maxDepth = 0 )

pure virtual

Create or update the bounding volume hierarchy.

◆ computeContinuousBoundingTree()

virtual void sofa::core::CollisionModel::computeContinuousBoundingTree	(	SReal	,
		int	maxDepth = `0`
	)

inlinevirtual

Create or update the bounding volume hierarchy, accounting for motions within the given timestep.

Default to computeBoundingTree().

Reimplemented in sofa::component::collision::geometry::TriangleOctreeModel, sofa::component::collision::geometry::TriangleCollisionModel< TDataTypes >, sofa::component::collision::geometry::TriangleCollisionModel< sofa::defaulttype::Vec3Types >, sofa::component::collision::geometry::SphereCollisionModel< TDataTypes >, sofa::component::collision::geometry::PointCollisionModel< TDataTypes >, sofa::component::collision::geometry::PointCollisionModel< sofa::defaulttype::StdVectorTypes >, and sofa::component::collision::geometry::LineCollisionModel< TDataTypes >.

◆ createPrevious()

template<class DerivedModel >

DerivedModel* sofa::core::CollisionModel::createPrevious ( )

inline

Helper method to get or create the previous model in the hierarchy.

◆ draw() [1/2]

void sofa::core::CollisionModel::draw ( const core::visual::VisualParams * )

inlineoverridevirtual

Render the whole collision model.

Reimplemented from sofa::core::objectmodel::BaseObject.

Reimplemented in sofa::component::collision::geometry::TriangleCollisionModel< sofa::defaulttype::Vec3Types >, and sofa::component::collision::geometry::PointCollisionModel< sofa::defaulttype::StdVectorTypes >.

◆ draw() [2/2]

virtual void sofa::core::CollisionModel::draw	(	const core::visual::VisualParams *	,
		Index
	)

inlinevirtual

Render an collision element.

◆ empty()

bool sofa::core::CollisionModel::empty ( ) const

inline

Return true if there are no elements.

◆ end()

Iterator sofa::core::CollisionModel::end ( )

inline

Return an iterator pointing after the last element.

◆ getCollisionTopology()

virtual sofa::core::topology::BaseMeshTopology* sofa::core::CollisionModel::getCollisionTopology ( )

inlinevirtual

BaseMeshTopology associated to the collision model. TODO: epernod remove virtual pure method by l_topology.get as soons as new link will be available.

Reimplemented in sofa::component::collision::geometry::TriangleCollisionModel< TDataTypes >, sofa::component::collision::geometry::TriangleCollisionModel< sofa::defaulttype::Vec3Types >, sofa::component::collision::geometry::PointCollisionModel< TDataTypes >, sofa::component::collision::geometry::PointCollisionModel< sofa::defaulttype::StdVectorTypes >, and sofa::component::collision::geometry::LineCollisionModel< TDataTypes >.

◆ getColor4f()

const float * sofa::core::CollisionModel::getColor4f ( )

Get a color that can be used to display this CollisionModel.

◆ getContactFriction()

SReal sofa::core::CollisionModel::getContactFriction ( Index ) const

inline

Get contact friction (damping) coefficient.

◆ getContactResponse()

std::string sofa::core::CollisionModel::getContactResponse ( ) const

inline

Contact response algorithm.

◆ getContactRestitution()

SReal sofa::core::CollisionModel::getContactRestitution ( Index ) const

inline

Get contact coefficient of restitution.

◆ getContactStiffness()

SReal sofa::core::CollisionModel::getContactStiffness ( Index ) const

inline

Get contact stiffness.

◆ getEnumType()

int sofa::core::CollisionModel::getEnumType ( ) const

inline

Returns an int corresponding to the type of this. Useful for optimizations involving static_cast.

◆ getExternalChildren()

virtual std::pair<CollisionElementIterator,CollisionElementIterator> sofa::core::CollisionModel::getExternalChildren ( Index ) const

inlinevirtual

Return the list (as a pair of iterators) of external children of an element.

External children are child elements of a different type than their parent (often corresponding to the final elements).

Default to empty (i.e. two identical iterators)

Reimplemented in sofa::component::collision::geometry::CubeCollisionModel.

◆ getFirst()

CollisionModel * sofa::core::CollisionModel::getFirst ( )

Return the first (i.e. root) CollisionModel in the hierarchy.

◆ getGroups()

const std::set<int>& sofa::core::CollisionModel::getGroups ( ) const

inline

Return the group IDs containing this model.

◆ getInternalChildren()

virtual std::pair<CollisionElementIterator,CollisionElementIterator> sofa::core::CollisionModel::getInternalChildren ( Index ) const

inlinevirtual

Return the list (as a pair of iterators) of internal children of an element.

Internal children are child elements of the same type as their parent (often corresponding to non-final elements). This distinction is used to optimize the intersection tests inside the hierarchy, as internal children can be processed without dynamically retrieving a new intersection method.

Default to empty (i.e. two identical iterators)

Reimplemented in sofa::component::collision::geometry::CubeCollisionModel.

◆ getLast()

CollisionModel * sofa::core::CollisionModel::getLast ( )

Return the last (i.e. leaf) CollisionModel in the hierarchy.

◆ getNext()

CollisionModel* sofa::core::CollisionModel::getNext ( )

inline

Return the next (finer / lower / child level) CollisionModel in the hierarchy.

◆ getNumberOfContacts()

Size sofa::core::CollisionModel::getNumberOfContacts ( ) const

inline

Get the number of contacts attached to the collision model.

◆ getPrevious()

CollisionModel* sofa::core::CollisionModel::getPrevious ( )

inline

Return the previous (coarser / upper / parent level) CollisionModel in the hierarchy.

◆ getProximity()

SReal sofa::core::CollisionModel::getProximity ( ) const

inline

Get distance to the actual (visual) surface.

◆ getSelfCollision()

bool sofa::core::CollisionModel::getSelfCollision ( ) const

inline

Return true if this model process self collision.

◆ getSize()

Size sofa::core::CollisionModel::getSize ( ) const

inline

Get the number of elements.

◆ GetUserData()

void* sofa::core::CollisionModel::GetUserData ( )

inline

Get user data.

◆ insertInNode()

bool sofa::core::CollisionModel::insertInNode ( objectmodel::BaseNode * )

overridevirtual

the component can insert itself directly in the right sequence in the Node so the Node does not have to test its type against all known types

Returns: true if the component was inserted

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ isActive()

virtual bool sofa::core::CollisionModel::isActive ( ) const

inlinevirtual

Return true if this CollisionModel should be used for collisions.

Default to true.

◆ isContactStiffnessSet()

bool sofa::core::CollisionModel::isContactStiffnessSet ( ) const

inline

Get contact stiffness.

◆ isLeaf()

virtual bool sofa::core::CollisionModel::isLeaf ( Index ) const

inlinevirtual

Checks if the element(index) is a leaf and a primitive of the collision model.

Default to true since triangle model, line model, etc. does not have this method implemented and they are themselves (normally) leaves and primitives

Reimplemented in sofa::component::collision::geometry::CubeCollisionModel.

◆ isMoving()

virtual bool sofa::core::CollisionModel::isMoving ( ) const

inlinevirtual

Return true if this CollisionModel is changing position between iterations.

Default to true.

◆ isSimulated()

virtual bool sofa::core::CollisionModel::isSimulated ( ) const

inlinevirtual

Return true if this CollisionModel is attached to a simulation. It is false for immobile or procedurally animated objects that don't use contact forces.

Default to true.

◆ removeInNode()

bool sofa::core::CollisionModel::removeInNode ( objectmodel::BaseNode * )

overridevirtual

the component can remove itself directly in the right sequence in the Node so the Node does not have to test its type against all known types

Returns: true if the component was removed

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ resize()

virtual void sofa::core::CollisionModel::resize ( Size s )

inlinevirtual

Set the number of elements.

◆ setActive()

virtual void sofa::core::CollisionModel::setActive ( bool val = true )

inlinevirtual

Set true if this CollisionModel should be used for collisions.

◆ setColor4f()

void sofa::core::CollisionModel::setColor4f ( const float * c )

Set a color that can be used to display this CollisionModel.

◆ setContactFriction()

void sofa::core::CollisionModel::setContactFriction ( SReal friction )

inline

Set contact friction (damping) coefficient.

◆ setContactResponse()

void sofa::core::CollisionModel::setContactResponse ( const std::string & a )

inline

◆ setContactRestitution()

void sofa::core::CollisionModel::setContactRestitution ( SReal restitution )

inline

Set contact coefficient of restitution.

◆ setContactStiffness()

void sofa::core::CollisionModel::setContactStiffness ( SReal stiffness )

inline

Set contact stiffness.

◆ setGroups()

void sofa::core::CollisionModel::setGroups ( const std::set< int > & ids )

inline

Set the group IDs to this model.

◆ setMoving()

virtual void sofa::core::CollisionModel::setMoving ( bool val = true )

inlinevirtual

Set true if this CollisionModel is changing position between iterations.

◆ setNumberOfContacts()

void sofa::core::CollisionModel::setNumberOfContacts ( Size i )

inline

Set the number of contacts attached to the collision model.

◆ setPrevious()

void sofa::core::CollisionModel::setPrevious ( CollisionModel::SPtr val )

Set the previous (coarser / upper / parent level) CollisionModel in the hierarchy.

◆ setProximity()

void sofa::core::CollisionModel::setProximity ( const SReal a )

inline

Set of differents parameters.

◆ setSelfCollision()

void sofa::core::CollisionModel::setSelfCollision ( bool _bSelfCollision )

inline

set a value to bSelfCollision

◆ setSimulated()

virtual void sofa::core::CollisionModel::setSimulated ( bool val = true )

inlinevirtual

Set true if this CollisionModel is attached to a simulation.

◆ SetUserData()

void sofa::core::CollisionModel::SetUserData ( void * pUserData )

inline

Set user data.

◆ SOFA_ABSTRACT_CLASS()

sofa::core::CollisionModel::SOFA_ABSTRACT_CLASS	(	CollisionModel	,
		objectmodel::BaseObject
	)

Enum details

◆ anonymous enum

anonymous enum

Enumerator
AABB_TYPE
OBB_TYPE
CAPSULE_TYPE
SPHERE_TYPE
TRIANGLE_TYPE
LINE_TYPE
POINT_TYPE
TETRAHEDRON_TYPE
RDISTANCE_GRIDE_TYPE
FFDDISTANCE_GRIDE_TYPE
CYLINDER_TYPE
ENUM_TYPE_SIZE

Detailed Description

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ bActive

◆ bMoving

◆ bSelfCollision

◆ bSimulated

◆ color

◆ contactFriction

◆ contactResponse

◆ contactRestitution

◆ contactStiffness

◆ d_numberOfContacts

◆ enum_type

◆ group

◆ l_collElemActiver

◆ myCollElemActiver

◆ next

◆ previous

◆ proximity

◆ size

◆ userData

Constructor details

◆ CollisionModel()

◆ ~CollisionModel()

Function details

◆ addGroup()

◆ begin()

◆ bwdInit()

◆ canCollideWith()

◆ canCollideWithElement()

◆ computeBoundingTree()

◆ computeContinuousBoundingTree()

◆ createPrevious()

◆ draw() [1/2]

◆ draw() [2/2]

◆ empty()

◆ end()

◆ getCollisionTopology()

◆ getColor4f()

◆ getContactFriction()

◆ getContactResponse()

◆ getContactRestitution()

◆ getContactStiffness()

◆ getEnumType()

◆ getExternalChildren()

◆ getFirst()

◆ getGroups()

◆ getInternalChildren()

◆ getLast()

◆ getNext()

◆ getNumberOfContacts()

◆ getPrevious()

◆ getProximity()

◆ getSelfCollision()

◆ getSize()

◆ GetUserData()

◆ insertInNode()

◆ isActive()

◆ isContactStiffnessSet()

◆ isLeaf()

◆ isMoving()

◆ isSimulated()

◆ removeInNode()

◆ resize()

◆ setActive()

◆ setColor4f()

◆ setContactFriction()

◆ setContactResponse()

◆ setContactRestitution()

◆ setContactStiffness()

◆ setGroups()

◆ setMoving()

◆ setNumberOfContacts()

◆ setPrevious()

◆ setProximity()