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CollisionDetectionAlgorithm.h
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1 #ifndef SimTK_SIMMATH_COLLISION_DETECTION_ALGORITHM_H_
2 #define SimTK_SIMMATH_COLLISION_DETECTION_ALGORITHM_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKmath *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2008-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 #include "SimTKcommon.h"
31 
32 #include <map>
33 
34 namespace SimTK {
35 
44 public:
45  class HalfSpaceSphere;
46  class SphereSphere;
47  class HalfSpaceEllipsoid;
49  class SphereTriangleMesh;
51  class ConvexConvex;
68  virtual void processObjects
69  (ContactSurfaceIndex index1, const ContactGeometry& object1,
70  const Transform& transform1,
71  ContactSurfaceIndex index2, const ContactGeometry& object2,
72  const Transform& transform2,
73  Array_<Contact>& contacts) const = 0;
84  static void registerAlgorithm(ContactGeometryTypeId type1,
85  ContactGeometryTypeId type2,
86  CollisionDetectionAlgorithm* algorithm);
97  getAlgorithm(ContactGeometryTypeId type1, ContactGeometryTypeId type2);
98 private:
99  struct AlgorithmMap
100  : public std::map<std::pair<ContactGeometryTypeId, ContactGeometryTypeId>,
101  CollisionDetectionAlgorithm*>
102  {
103  ~AlgorithmMap();
104  };
105 
106  static AlgorithmMap algorithmMap;
107 };
108 
115 public:
116  virtual ~HalfSpaceSphere() {}
117  void processObjects
118  (ContactSurfaceIndex index1, const ContactGeometry& object1,
119  const Transform& transform1,
120  ContactSurfaceIndex index2, const ContactGeometry& object2,
121  const Transform& transform2,
122  Array_<Contact>& contacts) const;
123 };
124 
131 public:
132  virtual ~HalfSpaceEllipsoid() {}
133  void processObjects
134  (ContactSurfaceIndex index1, const ContactGeometry& object1,
135  const Transform& transform1,
136  ContactSurfaceIndex index2, const ContactGeometry& object2,
137  const Transform& transform2,
138  Array_<Contact>& contacts) const;
139 };
140 
146 public:
147  virtual ~SphereSphere() {}
148  void processObjects
149  (ContactSurfaceIndex index1, const ContactGeometry& object1,
150  const Transform& transform1,
151  ContactSurfaceIndex index2, const ContactGeometry& object2,
152  const Transform& transform2,
153  Array_<Contact>& contacts) const;
154 };
155 
162 public:
164  void processObjects
165  (ContactSurfaceIndex index1, const ContactGeometry& object1,
166  const Transform& transform1,
167  ContactSurfaceIndex index2, const ContactGeometry& object2,
168  const Transform& transform2,
169  Array_<Contact>& contacts) const;
170 private:
171  void processBox(const ContactGeometry::TriangleMesh& mesh,
173  const Transform& transform, const Vec3& axisDir,
174  Real xoffset, std::set<int>& insideFaces) const;
175  void addAllTriangles(const ContactGeometry::TriangleMesh::OBBTreeNode& node,
176  std::set<int>& insideFaces) const;
177 };
178 
185 public:
186  virtual ~SphereTriangleMesh() {}
187  void processObjects
188  (ContactSurfaceIndex index1, const ContactGeometry& object1,
189  const Transform& transform1,
190  ContactSurfaceIndex index2, const ContactGeometry& object2,
191  const Transform& transform2,
192  Array_<Contact>& contacts) const;
193 private:
194  void processBox(const Vec3& center, Real radius2,
195  const ContactGeometry::TriangleMesh& mesh,
197  std::set<int>& insideFaces) const;
198 };
199 
206 public:
208  void processObjects
209  (ContactSurfaceIndex index1, const ContactGeometry& object1,
210  const Transform& transform1,
211  ContactSurfaceIndex index2, const ContactGeometry& object2,
212  const Transform& transform2,
213  Array_<Contact>& contacts) const;
214 private:
215  void processNodes(const ContactGeometry::TriangleMesh& mesh1,
216  const ContactGeometry::TriangleMesh& mesh2,
219  const OrientedBoundingBox& node2Bounds,
220  const Transform& transform, std::set<int>& triangles1,
221  std::set<int>& triangles2) const;
222  void findInsideTriangles(const ContactGeometry::TriangleMesh& mesh,
223  const ContactGeometry::TriangleMesh& otherMesh,
224  const Transform& transform,
225  std::set<int>& triangles) const;
226  void tagFaces(const ContactGeometry::TriangleMesh& mesh,
227  Array_<int>& faceType, std::set<int>& triangles,
228  int index, int depth) const;
229  static const int OUTSIDE = -1;
230  static const int UNKNOWN = 0;
231  static const int BOUNDARY = 1;
232  static const int INSIDE = 2;
233 };
234 
240 public:
241  virtual ~ConvexConvex() {}
242  void processObjects
243  (ContactSurfaceIndex index1, const ContactGeometry& object1,
244  const Transform& transform1,
245  ContactSurfaceIndex index2, const ContactGeometry& object2,
246  const Transform& transform2,
247  Array_<Contact>& contacts) const;
248 private:
249  static Vec3 computeSupport(const ContactGeometry& object1,
250  const ContactGeometry& object2,
251  const Transform& transform, UnitVec3 direction);
252  static void addContact
254  const ContactGeometry& object1,
255  const ContactGeometry& object2,
256  const Transform& transform1, const Transform& transform2,
257  const Transform& transform12,
258  Vec3 point1, Vec3 point2, Array_<Contact>& contacts);
259  static Vec6 computeErrorVector(const ContactGeometry& object1,
260  const ContactGeometry& object2,
261  Vec3 pos1, Vec3 pos2,
262  const Transform& transform12);
263  static Mat66 computeJacobian(const ContactGeometry& object1,
264  const ContactGeometry& object2,
265  Vec3 pos1, Vec3 pos2,
266  const Transform& transform12);
267 };
268 
269 } // namespace SimTK
270 
271 #endif // SimTK_SIMMATH_COLLISION_DETECTION_ALGORITHM_H_
virtual ~HalfSpaceTriangleMesh()
Definition: CollisionDetectionAlgorithm.h:163
This defines a unique index for all the contact surfaces being handled either by a ContactTrackerSubs...
This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Ellipsoid...
Definition: CollisionDetectionAlgorithm.h:129
This is a unique integer type for quickly identifying specific types of contact geometry for fast loo...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
This algorithm detects contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh...
Definition: CollisionDetectionAlgorithm.h:183
virtual ~HalfSpaceEllipsoid()
Definition: CollisionDetectionAlgorithm.h:132
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
virtual ~ConvexConvex()
Definition: CollisionDetectionAlgorithm.h:241
The SimTK::Array_ container class is a plug-compatible replacement for the C++ standard template l...
Definition: Array.h:50
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:577
This class represents a node in the Oriented Bounding Box Tree for a TriangleMesh.
Definition: ContactGeometry.h:1343
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
This ContactGeometry subclass represents an arbitrary shape described by a mesh of triangular faces...
Definition: ContactGeometry.h:1163
A ContactGeometry object describes the shape of all or part of the boundary of a solid object...
Definition: ContactGeometry.h:110
virtual ~HalfSpaceSphere()
Definition: CollisionDetectionAlgorithm.h:116
A CollisionDetectionAlgorithm implements an algorithm for detecting overlaps between pairs of Contact...
Definition: CollisionDetectionAlgorithm.h:43
This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::TriangleM...
Definition: CollisionDetectionAlgorithm.h:160
This is the header file that every Simmath compilation unit should include first. ...
virtual ~SphereTriangleMesh()
Definition: CollisionDetectionAlgorithm.h:186
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:591
This algorithm detects contacts between two ContactGeometry::Convex objects.
Definition: CollisionDetectionAlgorithm.h:238
This algorithm detects contacts between two ContactGeometry::TriangleMesh objects.
Definition: CollisionDetectionAlgorithm.h:204
This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Sphere.
Definition: CollisionDetectionAlgorithm.h:113
virtual ~SphereSphere()
Definition: CollisionDetectionAlgorithm.h:147
This algorithm detects contacts between two ContactGeometry::Sphere objects.
Definition: CollisionDetectionAlgorithm.h:144
Defines the ContactGeometry class and its API-visible local subclasses for individual contact shapes...
virtual ~TriangleMeshTriangleMesh()
Definition: CollisionDetectionAlgorithm.h:207
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64
virtual ~CollisionDetectionAlgorithm()
Definition: CollisionDetectionAlgorithm.h:52