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ContactGeometry.h
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1 #ifndef SimTK_SIMMATH_CONTACT_GEOMETRY_H_
2 #define SimTK_SIMMATH_CONTACT_GEOMETRY_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, Michael Sherman *
14  * Contributors: Ian Stavness, Andreas Scholz *
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 
31 #include "SimTKcommon.h"
36 
37 #include <cassert>
38 
39 namespace SimTK {
40 
44 SimTK_DEFINE_UNIQUE_INDEX_TYPE(ContactGeometryTypeId);
45 
46 class ContactGeometryImpl;
47 class OBBTreeNodeImpl;
48 class OBBTree;
49 class Plane;
50 
51 
52 
53 //==============================================================================
54 // CONTACT GEOMETRY
55 //==============================================================================
111 public:
112 class HalfSpace;
113 class Sphere;
114 class Ellipsoid;
115 class Torus;
116 class SmoothHeightMap;
117 class Cylinder;
118 class Brick;
119 class TriangleMesh;
120 
121 // TODO
122 class Cone;
123 
125 ContactGeometry() : impl(0) {}
127 ContactGeometry(const ContactGeometry& src);
129 ContactGeometry& operator=(const ContactGeometry& src);
133 ~ContactGeometry();
134 
136 DecorativeGeometry createDecorativeGeometry() const;
137 
148 Vec3 findNearestPoint(const Vec3& position, bool& inside, UnitVec3& normal) const;
149 
164 Vec3 projectDownhillToNearestPoint(const Vec3& pointQ) const;
165 
230 bool trackSeparationFromLine(const Vec3& pointOnLine,
231  const UnitVec3& directionOfLine,
232  const Vec3& startingGuessForClosestPoint,
233  Vec3& newClosestPointOnSurface,
234  Vec3& closestPointOnLine,
235  Real& height) const;
236 
237 
238 
250 bool intersectsRay(const Vec3& origin, const UnitVec3& direction,
251  Real& distance, UnitVec3& normal) const;
252 
258 void getBoundingSphere(Vec3& center, Real& radius) const;
259 
263 bool isSmooth() const;
264 
281 void calcCurvature(const Vec3& point, Vec2& curvature,
282  Rotation& orientation) const;
283 
294 const Function& getImplicitFunction() const;
295 
301 Real calcSurfaceValue(const Vec3& point) const;
302 
313 UnitVec3 calcSurfaceUnitNormal(const Vec3& point) const;
314 
320 Vec3 calcSurfaceGradient(const Vec3& point) const;
321 
327 Mat33 calcSurfaceHessian(const Vec3& point) const;
328 
357 Real calcGaussianCurvature(const Vec3& gradient,
358  const Mat33& Hessian) const;
359 
363 Real calcGaussianCurvature(const Vec3& point) const {
364  return calcGaussianCurvature(calcSurfaceGradient(point),
365  calcSurfaceHessian(point));
366 }
367 
376 Real calcSurfaceCurvatureInDirection(const Vec3& point, const UnitVec3& direction) const;
377 
386 void calcSurfacePrincipalCurvatures(const Vec3& point, Vec2& curvature,
387  Rotation& R_SP) const;
388 
391 bool isConvex() const;
392 
398 Vec3 calcSupportPoint(UnitVec3 direction) const;
399 
402 ContactGeometryTypeId getTypeId() const;
403 
454 static Vec2 evalParametricCurvature(const Vec3& P, const UnitVec3& nn,
455  const Vec3& dPdu, const Vec3& dPdv,
456  const Vec3& d2Pdu2, const Vec3& d2Pdv2,
457  const Vec3& d2Pdudv,
458  Transform& X_EP);
459 
533 static void combineParaboloids(const Rotation& R_SP1, const Vec2& k1,
534  const UnitVec3& x2, const Vec2& k2,
535  Rotation& R_SP, Vec2& k);
536 
541 static void combineParaboloids(const Rotation& R_SP1, const Vec2& k1,
542  const UnitVec3& x2, const Vec2& k2,
543  Vec2& k);
544 
545 
559 void initGeodesic(const Vec3& xP, const Vec3& xQ, const Vec3& xSP,
560  const GeodesicOptions& options, Geodesic& geod) const;
561 
562 
605 // XXX if xP and xQ are the exact end-points of prevGeod; then geod = prevGeod;
606 void continueGeodesic(const Vec3& xP, const Vec3& xQ, const Geodesic& prevGeod,
607  const GeodesicOptions& options, Geodesic& geod) const;
608 
635 void makeStraightLineGeodesic(const Vec3& xP, const Vec3& xQ,
636  const UnitVec3& defaultDirectionIfNeeded,
637  const GeodesicOptions& options, Geodesic& geod) const;
638 
639 
649 // XXX what to do if tP is not in the tangent plane at P -- project it?
650 void shootGeodesicInDirectionUntilLengthReached
651  (const Vec3& xP, const UnitVec3& tP, const Real& terminatingLength,
652  const GeodesicOptions& options, Geodesic& geod) const;
653 
667 void calcGeodesicReverseSensitivity
668  (Geodesic& geodesic,
669  const Vec2& initSensitivity = Vec2(0,1)) const; // j, jdot at end point
670 
671 
681 // XXX what to do if tP is not in the tangent plane at P -- project it?
682 // XXX what to do if we don't hit the plane
683 void shootGeodesicInDirectionUntilPlaneHit(const Vec3& xP, const UnitVec3& tP,
684  const Plane& terminatingPlane, const GeodesicOptions& options,
685  Geodesic& geod) const;
686 
687 
690 void calcGeodesic(const Vec3& xP, const Vec3& xQ,
691  const Vec3& tPhint, const Vec3& tQhint, Geodesic& geod) const;
692 
695 void calcGeodesicUsingOrthogonalMethod(const Vec3& xP, const Vec3& xQ,
696  const Vec3& tPhint, Real lengthHint, Geodesic& geod) const;
697 
700 void calcGeodesicUsingOrthogonalMethod(const Vec3& xP, const Vec3& xQ,
701  Geodesic& geod) const
702 {
703  const Vec3 r_PQ = xQ - xP;
704  const Real lengthHint = r_PQ.norm();
705  const UnitVec3 n = calcSurfaceUnitNormal(xP);
706  // Project r_PQ into the tangent plane.
707  const Vec3 t_PQ = r_PQ - (~r_PQ*n)*n;
708  const Real tLength = t_PQ.norm();
709  const UnitVec3 tPhint =
710  tLength != 0 ? UnitVec3(t_PQ/tLength, true)
711  : n.perp(); // some arbitrary perpendicular to n
712  calcGeodesicUsingOrthogonalMethod(xP, xQ, Vec3(tPhint), lengthHint, geod);
713 }
714 
715 
723 Vec2 calcSplitGeodError(const Vec3& P, const Vec3& Q,
724  const UnitVec3& tP, const UnitVec3& tQ,
725  Geodesic* geod=0) const;
726 
727 
728 
739 // XXX what to do if tP is not in the tangent plane at P -- project it?
740 void shootGeodesicInDirectionUntilLengthReachedAnalytical
741  (const Vec3& xP, const UnitVec3& tP, const Real& terminatingLength,
742  const GeodesicOptions& options, Geodesic& geod) const;
743 
744 
755 // XXX what to do if tP is not in the tangent plane at P -- project it?
756 // XXX what to do if we don't hit the plane
757 void shootGeodesicInDirectionUntilPlaneHitAnalytical(const Vec3& xP, const UnitVec3& tP,
758  const Plane& terminatingPlane, const GeodesicOptions& options,
759  Geodesic& geod) const;
760 
761 
766 void calcGeodesicAnalytical(const Vec3& xP, const Vec3& xQ,
767  const Vec3& tPhint, const Vec3& tQhint, Geodesic& geod) const;
768 
777 Vec2 calcSplitGeodErrorAnalytical(const Vec3& P, const Vec3& Q,
778  const UnitVec3& tP, const UnitVec3& tQ,
779  Geodesic* geod=0) const;
780 
791 const Plane& getPlane() const;
794 void setPlane(const Plane& plane) const;
796 const Geodesic& getGeodP() const;
798 const Geodesic& getGeodQ() const;
799 const int getNumGeodesicsShot() const;
800 void addVizReporter(ScheduledEventReporter* reporter) const;
805 explicit ContactGeometry(ContactGeometryImpl* impl);
806 bool isOwnerHandle() const;
807 bool isEmptyHandle() const;
808 bool hasImpl() const {return impl != 0;}
810 const ContactGeometryImpl& getImpl() const {assert(impl); return *impl;}
812 ContactGeometryImpl& updImpl() {assert(impl); return *impl; }
813 
814 protected:
815 ContactGeometryImpl* impl;
816 };
817 
818 
819 
820 //==============================================================================
821 // HALF SPACE
822 //==============================================================================
827 public:
833 HalfSpace();
834 
836 UnitVec3 getNormal() const;
837 
839 static bool isInstance(const ContactGeometry& geo)
840 { return geo.getTypeId()==classTypeId(); }
842 static const HalfSpace& getAs(const ContactGeometry& geo)
843 { assert(isInstance(geo)); return static_cast<const HalfSpace&>(geo); }
846 { assert(isInstance(geo)); return static_cast<HalfSpace&>(geo); }
847 
849 static ContactGeometryTypeId classTypeId();
850 
851 class Impl;
852 const Impl& getImpl() const;
853 Impl& updImpl();
854 };
855 
856 
857 
858 //==============================================================================
859 // CYLINDER
860 //==============================================================================
865 public:
866 explicit Cylinder(Real radius);
867 Real getRadius() const;
868 void setRadius(Real radius);
869 
871 static bool isInstance(const ContactGeometry& geo)
872 { return geo.getTypeId()==classTypeId(); }
874 static const Cylinder& getAs(const ContactGeometry& geo)
875 { assert(isInstance(geo)); return static_cast<const Cylinder&>(geo); }
878 { assert(isInstance(geo)); return static_cast<Cylinder&>(geo); }
879 
881 static ContactGeometryTypeId classTypeId();
882 
883 class Impl;
884 const Impl& getImpl() const;
885 Impl& updImpl();
886 };
887 
888 
889 
890 //==============================================================================
891 // SPHERE
892 //==============================================================================
896 public:
897 explicit Sphere(Real radius);
898 Real getRadius() const;
899 void setRadius(Real radius);
900 
902 static bool isInstance(const ContactGeometry& geo)
903 { return geo.getTypeId()==classTypeId(); }
905 static const Sphere& getAs(const ContactGeometry& geo)
906 { assert(isInstance(geo)); return static_cast<const Sphere&>(geo); }
909 { assert(isInstance(geo)); return static_cast<Sphere&>(geo); }
910 
912 static ContactGeometryTypeId classTypeId();
913 
914 class Impl;
915 const Impl& getImpl() const;
916 Impl& updImpl();
917 };
918 
919 
920 
921 //==============================================================================
922 // ELLIPSOID
923 //==============================================================================
946 public:
950 explicit Ellipsoid(const Vec3& radii);
953 const Vec3& getRadii() const;
959 void setRadii(const Vec3& radii);
960 
966 const Vec3& getCurvatures() const;
967 
980 UnitVec3 findUnitNormalAtPoint(const Vec3& P) const;
981 
989 Vec3 findPointWithThisUnitNormal(const UnitVec3& n) const;
990 
999 Vec3 findPointInSameDirection(const Vec3& Q) const;
1000 
1023 void findParaboloidAtPoint(const Vec3& Q, Transform& X_EP, Vec2& k) const;
1024 
1030 void findParaboloidAtPointWithNormal(const Vec3& Q, const UnitVec3& n,
1031  Transform& X_EP, Vec2& k) const;
1032 
1034 static bool isInstance(const ContactGeometry& geo)
1035 { return geo.getTypeId()==classTypeId(); }
1037 static const Ellipsoid& getAs(const ContactGeometry& geo)
1038 { assert(isInstance(geo)); return static_cast<const Ellipsoid&>(geo); }
1041 { assert(isInstance(geo)); return static_cast<Ellipsoid&>(geo); }
1042 
1044 static ContactGeometryTypeId classTypeId();
1045 
1046 class Impl;
1047 const Impl& getImpl() const;
1048 Impl& updImpl();
1049 };
1050 
1051 
1052 
1053 //==============================================================================
1054 // SMOOTH HEIGHT MAP
1055 //==============================================================================
1068 public:
1072 explicit SmoothHeightMap(const BicubicSurface& surface);
1073 
1076 const BicubicSurface& getBicubicSurface() const;
1077 
1080 const OBBTree& getOBBTree() const;
1081 
1083 static bool isInstance(const ContactGeometry& geo)
1084 { return geo.getTypeId()==classTypeId(); }
1086 static const SmoothHeightMap& getAs(const ContactGeometry& geo)
1087 { assert(isInstance(geo)); return static_cast<const SmoothHeightMap&>(geo); }
1090 { assert(isInstance(geo)); return static_cast<SmoothHeightMap&>(geo); }
1091 
1093 static ContactGeometryTypeId classTypeId();
1094 
1095 class Impl;
1096 const Impl& getImpl() const;
1097 Impl& updImpl();
1098 };
1099 
1100 
1101 //==============================================================================
1102 // BRICK
1103 //==============================================================================
1107 public:
1110 explicit Brick(const Vec3& halfLengths);
1114 const Vec3& getHalfLengths() const;
1116 void setHalfLengths(const Vec3& halfLengths);
1117 
1119 const Geo::Box& getGeoBox() const;
1120 
1122 static bool isInstance(const ContactGeometry& geo)
1123 { return geo.getTypeId()==classTypeId(); }
1125 static const Brick& getAs(const ContactGeometry& geo)
1126 { assert(isInstance(geo)); return static_cast<const Brick&>(geo); }
1129 { assert(isInstance(geo)); return static_cast<Brick&>(geo); }
1130 
1132 static ContactGeometryTypeId classTypeId();
1133 
1134 class Impl;
1135 const Impl& getImpl() const;
1136 Impl& updImpl();
1137 };
1138 
1139 
1140 //==============================================================================
1141 // TRIANGLE MESH
1142 //==============================================================================
1164 : public ContactGeometry {
1165 public:
1166 class OBBTreeNode;
1177 TriangleMesh(const ArrayViewConst_<Vec3>& vertices, const ArrayViewConst_<int>& faceIndices, bool smooth=false);
1186 explicit TriangleMesh(const PolygonalMesh& mesh, bool smooth=false);
1188 int getNumEdges() const;
1190 int getNumFaces() const;
1192 int getNumVertices() const;
1196 const Vec3& getVertexPosition(int index) const;
1202 int getFaceEdge(int face, int edge) const;
1207 int getFaceVertex(int face, int vertex) const;
1212 int getEdgeFace(int edge, int face) const;
1217 int getEdgeVertex(int edge, int vertex) const;
1222 void findVertexEdges(int vertex, Array_<int>& edges) const;
1225 const UnitVec3& getFaceNormal(int face) const;
1228 Real getFaceArea(int face) const;
1234 Vec3 findPoint(int face, const Vec2& uv) const;
1239 Vec3 findCentroid(int face) const;
1244 UnitVec3 findNormalAtPoint(int face, const Vec2& uv) const;
1255 Vec3 findNearestPoint(const Vec3& position, bool& inside, UnitVec3& normal) const;
1268 Vec3 findNearestPoint(const Vec3& position, bool& inside, int& face, Vec2& uv) const;
1269 
1279 Vec3 findNearestPointToFace(const Vec3& position, int face, Vec2& uv) const;
1280 
1281 
1293 bool intersectsRay(const Vec3& origin, const UnitVec3& direction, Real& distance, UnitVec3& normal) const;
1307 bool intersectsRay(const Vec3& origin, const UnitVec3& direction, Real& distance, int& face, Vec2& uv) const;
1310 OBBTreeNode getOBBTreeNode() const;
1311 
1314 PolygonalMesh createPolygonalMesh() const;
1315 
1317 static bool isInstance(const ContactGeometry& geo)
1318 { return geo.getTypeId()==classTypeId(); }
1320 static const TriangleMesh& getAs(const ContactGeometry& geo)
1321 { assert(isInstance(geo)); return static_cast<const TriangleMesh&>(geo); }
1324 { assert(isInstance(geo)); return static_cast<TriangleMesh&>(geo); }
1325 
1327 static ContactGeometryTypeId classTypeId();
1328 
1329 class Impl;
1330 const Impl& getImpl() const;
1331 Impl& updImpl();
1332 };
1333 
1334 
1335 
1336 //==============================================================================
1337 // TRIANGLE MESH :: OBB TREE NODE
1338 //==============================================================================
1344 public:
1345 OBBTreeNode(const OBBTreeNodeImpl& impl);
1348 const OrientedBoundingBox& getBounds() const;
1350 bool isLeafNode() const;
1353 const OBBTreeNode getFirstChildNode() const;
1356 const OBBTreeNode getSecondChildNode() const;
1359 const Array_<int>& getTriangles() const;
1363 int getNumTriangles() const;
1364 
1365 private:
1366 const OBBTreeNodeImpl* impl;
1367 };
1368 
1369 //==============================================================================
1370 // TORUS
1371 //==============================================================================
1378 public:
1379 Torus(Real torusRadius, Real tubeRadius);
1380 Real getTorusRadius() const;
1381 void setTorusRadius(Real radius);
1382 Real getTubeRadius() const;
1383 void setTubeRadius(Real radius);
1384 
1386 static bool isInstance(const ContactGeometry& geo)
1387 { return geo.getTypeId()==classTypeId(); }
1389 static const Torus& getAs(const ContactGeometry& geo)
1390 { assert(isInstance(geo)); return static_cast<const Torus&>(geo); }
1393 { assert(isInstance(geo)); return static_cast<Torus&>(geo); }
1394 
1396 static ContactGeometryTypeId classTypeId();
1397 
1398 class Impl;
1399 const Impl& getImpl() const;
1400 Impl& updImpl();
1401 };
1402 
1403 
1404 
1405 
1406 //==============================================================================
1407 // GEODESIC EVALUATOR helper classes
1408 //==============================================================================
1409 
1410 
1414 class Plane {
1415 public:
1416  Plane() : m_normal(1,0,0), m_offset(0) { }
1417  Plane(const Vec3& normal, const Real& offset)
1418  : m_normal(normal), m_offset(offset) { }
1419 
1420  Real getDistance(const Vec3& pt) const {
1421  return ~m_normal*pt - m_offset;
1422  }
1423 
1424  Vec3 getNormal() const {
1425  return m_normal;
1426  }
1427 
1428  Real getOffset() const {
1429  return m_offset;
1430  }
1431 
1432 private:
1433  Vec3 m_normal;
1434  Real m_offset;
1435 }; // class Plane
1436 
1437 
1443 public:
1445  : TriggeredEventHandler(Stage::Position) { }
1446 
1447  explicit GeodHitPlaneEvent(const Plane& aplane)
1448  : TriggeredEventHandler(Stage::Position) {
1449  plane = aplane;
1450  }
1451 
1452  // event is triggered if distance of geodesic endpoint to plane is zero
1453  Real getValue(const State& state) const {
1454  if (!enabled) {
1455  return 1;
1456  }
1457  Vec3 endpt(&state.getQ()[0]);
1458  Real dist = plane.getDistance(endpt);
1459 // std::cout << "dist = " << dist << std::endl;
1460  return dist;
1461  }
1462 
1463  // This method is called whenever this event occurs.
1464  void handleEvent(State& state, Real accuracy, bool& shouldTerminate) const {
1465  if (!enabled) {
1466  return;
1467  }
1468 
1469  // This should be triggered when geodesic endpoint to plane is zero.
1470  Vec3 endpt;
1471  const Vector& q = state.getQ();
1472  endpt[0] = q[0]; endpt[1] = q[1]; endpt[2] = q[2];
1473  Real dist = plane.getDistance(endpt);
1474 
1475 // ASSERT(std::abs(dist) < 0.01 );
1476  shouldTerminate = true;
1477 // std::cout << "hit plane!" << std::endl;
1478  }
1479 
1480  void setPlane(const Plane& aplane) const {
1481  plane = aplane;
1482  }
1483 
1484  const Plane& getPlane() const {
1485  return plane;
1486  }
1487 
1488  const void setEnabled(bool enabledFlag) {
1489  enabled = enabledFlag;
1490  }
1491 
1492  const bool isEnabled() {
1493  return enabled;
1494  }
1495 
1496 private:
1497  mutable Plane plane;
1498  bool enabled;
1499 
1500 }; // class GeodHitPlaneEvent
1501 
1506 public:
1507  PathDecorator(const Vector& x, const Vec3& O, const Vec3& I, const Vec3& color) :
1508  m_x(x), m_O(O), m_I(I), m_color(color) { }
1509 
1510  virtual void generateDecorations(const State& state,
1511  Array_<DecorativeGeometry>& geometry) {
1512 // m_system.realize(state, Stage::Position);
1513 
1514  Vec3 P, Q;
1515  P[0] = m_x[0]; P[1] = m_x[1]; P[2] = m_x[2];
1516  Q[0] = m_x[3]; Q[1] = m_x[4]; Q[2] = m_x[5];
1517 
1518  geometry.push_back(DecorativeSphere(Real(.05)).setColor(Black).setTransform(m_O));
1519  geometry.push_back(DecorativeSphere(Real(.05)).setColor(Black).setTransform(P));
1520  geometry.push_back(DecorativeSphere(Real(.05)).setColor(Black).setTransform(Q));
1521  geometry.push_back(DecorativeSphere(Real(.05)).setColor(Black).setTransform(m_I));
1522 
1523  geometry.push_back(DecorativeLine(m_O,P)
1524  .setColor(m_color)
1525  .setLineThickness(2));
1526  geometry.push_back(DecorativeLine(Q,m_I)
1527  .setColor(m_color)
1528  .setLineThickness(2));
1529 
1530  }
1531 
1532 private:
1533  const Vector& m_x; // x = ~[P Q]
1534  const Vec3& m_O;
1535  const Vec3& m_I;
1536  const Vec3& m_color;
1537  Rotation R_plane;
1538  Vec3 offset;
1539 }; // class DecorationGenerator
1540 
1541 
1546 public:
1547  PlaneDecorator(const Plane& plane, const Vec3& color) :
1548  m_plane(plane), m_color(color) { }
1549 
1550  virtual void generateDecorations(const State& state,
1551  Array_<DecorativeGeometry>& geometry) {
1552 // m_system.realize(state, Stage::Position);
1553 
1554  // draw plane
1555  R_plane.setRotationFromOneAxis(UnitVec3(m_plane.getNormal()),
1557  offset = 0;
1558  offset[0] = m_plane.getOffset();
1559  geometry.push_back(
1560  DecorativeBrick(Vec3(Real(.01),1,1))
1561  .setTransform(Transform(R_plane, R_plane*offset))
1562  .setColor(m_color)
1563  .setOpacity(Real(.2)));
1564  }
1565 
1566 private:
1567  const Plane& m_plane;
1568  const Vec3& m_color;
1569  Rotation R_plane;
1570  Vec3 offset;
1571 }; // class DecorationGenerator
1572 
1573 
1574 } // namespace SimTK
1575 
1576 #endif // SimTK_SIMMATH_CONTACT_GEOMETRY_H_
This class will create a smooth surface that approximates a two-argument function F(X...
Definition: BicubicSurface.h:158
ScheduledEventReporter is a subclass of EventReporter for events that occur at a particular time that...
Definition: EventReporter.h:72
Plane(const Vec3 &normal, const Real &offset)
Definition: ContactGeometry.h:1417
This Array_ helper class is the base class for ArrayView_ which is the base class for Array_; here we...
Definition: Array.h:48
This defines a rectangular solid centered at the origin and aligned with the local frame axes...
Definition: DecorativeGeometry.h:424
SimTK_DEFINE_UNIQUE_INDEX_TYPE(AssemblyConditionIndex)
A simple plane class.
Definition: ContactGeometry.h:1414
UnitVec< Real, 1 > UnitVec3
Definition: UnitVec.h:41
static Ellipsoid & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable Ellipsoid.
Definition: ContactGeometry.h:1040
This class generates decoration for contact points and straight line path segments.
Definition: ContactGeometry.h:1505
static SmoothHeightMap & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable SmoothHeightMap.
Definition: ContactGeometry.h:1089
This is a unique integer type for quickly identifying specific types of contact geometry for fast loo...
const void setEnabled(bool enabledFlag)
Definition: ContactGeometry.h:1488
Plane()
Definition: ContactGeometry.h:1416
GeodHitPlaneEvent(const Plane &aplane)
Definition: ContactGeometry.h:1447
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is an Ellipsoid.
Definition: ContactGeometry.h:1034
This ContactGeometry subclass represents a torus centered at the origin with the axial direction alig...
Definition: ContactGeometry.h:1377
const bool isEnabled()
Definition: ContactGeometry.h:1492
Definition: CoordinateAxis.h:194
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:50
PathDecorator(const Vector &x, const Vec3 &O, const Vec3 &I, const Vec3 &color)
Definition: ContactGeometry.h:1507
This class stores a geodesic curve after it has been determined.
Definition: Geodesic.h:51
static const Brick & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const brick.
Definition: ContactGeometry.h:1125
static HalfSpace & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable halfspace.
Definition: ContactGeometry.h:845
This file defines the BicubicSurface class, and the BicubicFunction class that uses it to create a tw...
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is a halfspace.
Definition: ContactGeometry.h:839
This ContactGeometry subclass represents a smooth surface fit through a set of sampled points using b...
Definition: ContactGeometry.h:1066
ContactGeometryImpl * impl
Internal use only.
Definition: ContactGeometry.h:815
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
void handleEvent(State &state, Real accuracy, bool &shouldTerminate) const
This method is invoked to handle the event.
Definition: ContactGeometry.h:1464
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
virtual void generateDecorations(const State &state, Array_< DecorativeGeometry > &geometry)
This will be called every time a new State is about to be visualized.
Definition: ContactGeometry.h:1550
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is a cylinder.
Definition: ContactGeometry.h:871
PlaneDecorator(const Plane &plane, const Vec3 &color)
Definition: ContactGeometry.h:1547
static const TriangleMesh & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const triangle mesh.
Definition: ContactGeometry.h:1320
static const Sphere & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const sphere.
Definition: ContactGeometry.h:905
ContactGeometryImpl & updImpl()
Internal use only.
Definition: ContactGeometry.h:812
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
void calcGeodesicUsingOrthogonalMethod(const Vec3 &xP, const Vec3 &xQ, Geodesic &geod) const
This signature makes a guess at the initial direction and length and then calls the other signature...
Definition: ContactGeometry.h:700
static const Cylinder & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const cylinder.
Definition: ContactGeometry.h:874
CNT< ScalarNormSq >::TSqrt norm() const
Definition: Vec.h:608
This class represents a node in the Oriented Bounding Box Tree for a TriangleMesh.
Definition: ContactGeometry.h:1343
Real calcGaussianCurvature(const Vec3 &point) const
This signature is for convenience; use the other one to save time if you already have the gradient an...
Definition: ContactGeometry.h:363
static Brick & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable brick.
Definition: ContactGeometry.h:1128
const Complex I
We only need one complex constant, i = sqrt(-1). For the rest just multiply the real constant by i...
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
A DecorationGenerator is used to define geometry that may change over the course of a simulation...
Definition: DecorationGenerator.h:45
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is a SmoothHeightMap.
Definition: ContactGeometry.h:1083
static Torus & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable torus.
Definition: ContactGeometry.h:1392
This class generates decoration for a plane.
Definition: ContactGeometry.h:1545
This class stores options for calculating geodesics.
Definition: Geodesic.h:311
static Sphere & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable sphere.
Definition: ContactGeometry.h:908
This ContactGeometry subclass represents an arbitrary shape described by a mesh of triangular faces...
Definition: ContactGeometry.h:1163
static const Ellipsoid & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const Ellipsoid.
Definition: ContactGeometry.h:1037
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is a sphere.
Definition: ContactGeometry.h:902
static Cylinder & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable cylinder.
Definition: ContactGeometry.h:877
A ContactGeometry object describes the shape of all or part of the boundary of a solid object...
Definition: ContactGeometry.h:110
const Plane & getPlane() const
Definition: ContactGeometry.h:1484
A 3d rectangular box aligned with an unspecified frame F and centered at that frame's origin...
Definition: Geo.h:61
static const SmoothHeightMap & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const SmoothHeightMap.
Definition: ContactGeometry.h:1086
Rotation_ & setRotationFromOneAxis(const UnitVec3P &uvec, CoordinateAxis axis)
Calculate R_AB by knowing one of B's unit vectors expressed in A.
Real getDistance(const Vec3 &pt) const
Definition: ContactGeometry.h:1420
This ContactGeometry subclass represents an object that occupies the entire half-space x>0...
Definition: ContactGeometry.h:826
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is a triangle mesh.
Definition: ContactGeometry.h:1317
UnitVec< P, 1 > perp() const
Return a new unit vector perpendicular to this one but otherwise arbitrary.
Definition: UnitVec.h:182
This class provides a description of a mesh made of polygonal faces (not limited to triangles)...
Definition: PolygonalMesh.h:70
This is the header file that every Simmath compilation unit should include first. ...
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
This defines a sphere centered at the origin.
Definition: DecorativeGeometry.h:365
This ContactGeometry subclass represents a sphere centered at the origin.
Definition: ContactGeometry.h:895
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
virtual void generateDecorations(const State &state, Array_< DecorativeGeometry > &geometry)
This will be called every time a new State is about to be visualized.
Definition: ContactGeometry.h:1510
TODO.
Definition: OBBTree.h:100
TriggeredEventHandler is a subclass of EventHandler for events that occur when some condition is sati...
Definition: EventHandler.h:109
Real getOffset() const
Definition: ContactGeometry.h:1428
static const Torus & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const torus.
Definition: ContactGeometry.h:1389
Vec3 getNormal() const
Definition: ContactGeometry.h:1424
const Vector & getQ(SubsystemIndex) const
Per-subsystem access to the global shared variables.
This ContactGeometry subclass represents a cylinder centered at the origin, with radius r in the x-y ...
Definition: ContactGeometry.h:864
bool hasImpl() const
Internal use only.
Definition: ContactGeometry.h:808
static TriangleMesh & updAs(ContactGeometry &geo)
Cast the supplied ContactGeometry object to a writable triangle mesh.
Definition: ContactGeometry.h:1323
void setPlane(const Plane &aplane) const
Definition: ContactGeometry.h:1480
void push_back(const T &value)
This method increases the size of the Array by one element at the end and initializes that element by...
Definition: Array.h:2359
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is a torus.
Definition: ContactGeometry.h:1386
ContactGeometry()
Base class default constructor creates an empty handle.
Definition: ContactGeometry.h:125
static bool isInstance(const ContactGeometry &geo)
Return true if the supplied ContactGeometry object is a brick.
Definition: ContactGeometry.h:1122
const ContactGeometryImpl & getImpl() const
Internal use only.
Definition: ContactGeometry.h:810
static const HalfSpace & getAs(const ContactGeometry &geo)
Cast the supplied ContactGeometry object to a const halfspace.
Definition: ContactGeometry.h:842
Vec< 3 > Vec3
This is the most common 3D vector type: a column of 3 Real values stored consecutively in memory (pac...
Definition: SmallMatrix.h:129
A line between two points.
Definition: DecorativeGeometry.h:304
Real getValue(const State &state) const
Get the value of the event trigger function for a State.
Definition: ContactGeometry.h:1453
This file defines the Geodesic class.
This ContactGeometry subclass represents an ellipsoid centered at the origin, with its principal axes...
Definition: ContactGeometry.h:945
A event handler to terminate integration when geodesic hits the plane.
Definition: ContactGeometry.h:1442
GeodHitPlaneEvent()
Definition: ContactGeometry.h:1444
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64
Transform_< Real > Transform
Definition: Transform.h:44
ContactGeometryTypeId getTypeId() const
ContactTrackerSubsystem uses this id for fast identification of specific surface shapes.
Vec< 2 > Vec2
This is the most common 2D vector type: a column of 2 Real values stored consecutively in memory (pac...
Definition: SmallMatrix.h:126
const Vec3 Black
RGB=( 0, 0, 0)
This ContactGeometry subclass represents a rectangular solid centered at the origin.
Definition: ContactGeometry.h:1106