A CollisionDetectionAlgorithm implements an algorithm for detecting overlaps between pairs of ContactGeometry objects, and creating Contact objects based on them. More...

#include <CollisionDetectionAlgorithm.h>

Inheritance diagram for SimTK::CollisionDetectionAlgorithm:

Classes
class	ConvexConvex
	This algorithm detects contacts between two ContactGeometry::Convex objects. More...

class	HalfSpaceEllipsoid
	This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Ellipsoid. More...

class	HalfSpaceSphere
	This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Sphere. More...

class	HalfSpaceTriangleMesh
	This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::TriangleMesh. More...

class	SphereSphere
	This algorithm detects contacts between two ContactGeometry::Sphere objects. More...

class	SphereTriangleMesh
	This algorithm detects contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh. More...

class	TriangleMeshTriangleMesh
	This algorithm detects contacts between two ContactGeometry::TriangleMesh objects. More...

Public Member Functions
virtual	~CollisionDetectionAlgorithm ()

virtual void	processObjects (ContactSurfaceIndex index1, const ContactGeometry &object1, const Transform &transform1, ContactSurfaceIndex index2, const ContactGeometry &object2, const Transform &transform2, Array_< Contact > &contacts) const =0
	Identify contacts between a pair of bodies. More...

Static Public Member Functions
static void	registerAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2, CollisionDetectionAlgorithm *algorithm)
	Register a CollisionDetectionAlgorithm to be used for identifying contacts between bodies of two specific types. More...

static CollisionDetectionAlgorithm *	getAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2)
	Get the CollisionDetectionAlgorithm to use for identifying contacts between bodies of two specific types. More...

Detailed Description

A CollisionDetectionAlgorithm implements an algorithm for detecting overlaps between pairs of ContactGeometry objects, and creating Contact objects based on them.

This class is used internally by GeneralContactSubsystem, and there usually is no reason to access it directly. The exception is if you are defining a new ContactGeometry subclass. In that case, you will also need to define one or more CollisionDetectionAlgorithms to detect collisions with your new geometry type, then register it calling registerAlgorithm().

Constructor & Destructor Documentation

virtual SimTK::CollisionDetectionAlgorithm::~CollisionDetectionAlgorithm ( )

inlinevirtual

Member Function Documentation

virtual void SimTK::CollisionDetectionAlgorithm::processObjects	(	ContactSurfaceIndex	index1,
		const ContactGeometry &	object1,
		const Transform &	transform1,
		ContactSurfaceIndex	index2,
		const ContactGeometry &	object2,
		const Transform &	transform2,
		Array_< Contact > &	contacts
	)		const

pure virtual

Identify contacts between a pair of bodies.

Parameters

index1	the index of the first body within its contact set
object1	the ContactGeometry for the first body
transform1	the location and orientation of the first body in the ground frame
index2	the index of the second body within its contact set
object2	the ContactGeometry for the second body
transform2	the location and orientation of the second body in the ground frame
contacts	if the bodies overlap, a Contact should be added to this for each distinct contact between them. (Multiple contacts may exist if one of the bodies is concave.)

Implemented in SimTK::CollisionDetectionAlgorithm::ConvexConvex, SimTK::CollisionDetectionAlgorithm::TriangleMeshTriangleMesh, SimTK::CollisionDetectionAlgorithm::SphereTriangleMesh, SimTK::CollisionDetectionAlgorithm::HalfSpaceTriangleMesh, SimTK::CollisionDetectionAlgorithm::SphereSphere, SimTK::CollisionDetectionAlgorithm::HalfSpaceEllipsoid, and SimTK::CollisionDetectionAlgorithm::HalfSpaceSphere.

static void SimTK::CollisionDetectionAlgorithm::registerAlgorithm	(	ContactGeometryTypeId	type1,
		ContactGeometryTypeId	type2,
		CollisionDetectionAlgorithm *	algorithm
	)

static

Register a CollisionDetectionAlgorithm to be used for identifying contacts between bodies of two specific types.

Parameters

type1	the type identifier for the ContactGeometry subclass the algorithm expects as the first body
type2	the type identifier for the ContactGeometry subclass the algorithm expects as the second body
algorithm	the algorithm to use for bodies of the specified types

static CollisionDetectionAlgorithm* SimTK::CollisionDetectionAlgorithm::getAlgorithm	(	ContactGeometryTypeId	type1,
		ContactGeometryTypeId	type2
	)

static

Get the CollisionDetectionAlgorithm to use for identifying contacts between bodies of two specific types.

Parameters

type1	the type id of the first body's ContactGeometry
type2	the type id of the second body's ContactGeometry

Returns: the CollisionDetectionAlgorithm to use, or NULL if no suitable algorithm has been registered

The documentation for this class was generated from the following file:

CollisionDetectionAlgorithm.h

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation