This ContactGeometry subclass represents an ellipsoid centered at the origin, with its principal axes pointing along the x, y, and z axes and half dimensions a,b, and c (all > 0) along those axes, respectively. More...

#include <ContactGeometry.h>

Inheritance diagram for SimTK::ContactGeometry::Ellipsoid:

Public Member Functions
	Ellipsoid (const Vec3 &radii)
	Construct an Ellipsoid given its three principal half-axis dimensions a,b,c (all positive) along the local x,y,z directions respectively. More...

const Vec3 &	getRadii () const
	Obtain the three half-axis dimensions a,b,c used to define this ellipsoid. More...

void	setRadii (const Vec3 &radii)
	Set the three half-axis dimensions a,b,c (all positive) used to define this ellipsoid, overriding the current radii and recalculating the principal curvatures at a cost of about 30 flops. More...

const Vec3 &	getCurvatures () const
	For efficiency we precalculate the principal curvatures whenever the ellipsoid radii are set; this avoids having to repeatedly perform these three expensive divisions at runtime. More...

UnitVec3	findUnitNormalAtPoint (const Vec3 &P) const
	Given a point P =(x,y,z) on the ellipsoid surface, return the unique unit outward normal to the ellipsoid at that point. More...

Vec3	findPointWithThisUnitNormal (const UnitVec3 &n) const
	Given a unit direction n, find the unique point P on the ellipsoid surface at which the outward-facing normal is n. More...

Vec3	findPointInSameDirection (const Vec3 &Q) const
	Given a direction d defined by the vector Q-O for an arbitrary point in space Q=(x,y,z)!=O, find the unique point P on the ellipsoid surface that is in direction d from the ellipsoid origin O. More...

void	findParaboloidAtPoint (const Vec3 &Q, Transform &X_EP, Vec2 &k) const
	Given a point Q on the surface of the ellipsoid, find the approximating paraboloid at Q in a frame P where OP=Q, Pz is the outward-facing unit normal to the ellipsoid at Q, Px is the direction of maximum curvature and Py is the direction of minimum curvature. More...

void	findParaboloidAtPointWithNormal (const Vec3 &Q, const UnitVec3 &n, Transform &X_EP, Vec2 &k) const
	If you already have both a point and the unit normal at that point, this will save about 40 flops by trusting that you have provided the correct normal; be careful – no one is going to check that you got this right. More...

const Impl &	getImpl () const
	Internal use only. More...

Impl &	updImpl ()
	Internal use only. More...

Public Member Functions inherited from SimTK::ContactGeometry
	ContactGeometry ()
	Base class default constructor creates an empty handle. More...

	ContactGeometry (const ContactGeometry &src)
	Copy constructor makes a deep copy. More...

ContactGeometry &	operator= (const ContactGeometry &src)
	Copy assignment makes a deep copy. More...

	~ContactGeometry ()
	Base class destructor deletes the implementation object. Note that this is not virtual; handles should consist of just a pointer to the implementation. More...

DecorativeGeometry	createDecorativeGeometry () const
	Generate a DecorativeGeometry that matches the shape of this ContactGeometry. More...

Vec3	findNearestPoint (const Vec3 &position, bool &inside, UnitVec3 &normal) const
	Given a point, find the nearest point on the surface of this object. More...

Vec3	projectDownhillToNearestPoint (const Vec3 &pointQ) const
	Given a query point Q, find the nearest point P on the surface of this object, looking only down the local gradient. More...

bool	trackSeparationFromLine (const Vec3 &pointOnLine, const UnitVec3 &directionOfLine, const Vec3 &startingGuessForClosestPoint, Vec3 &newClosestPointOnSurface, Vec3 &closestPointOnLine, Real &height) const
	Track the closest point between this implicit surface and a given line, or the point of deepest penetration if the line intersects the surface. More...

bool	intersectsRay (const Vec3 &origin, const UnitVec3 &direction, Real &distance, UnitVec3 &normal) const
	Determine whether this object intersects a ray, and if so, find the intersection point. More...

void	getBoundingSphere (Vec3 &center, Real &radius) const
	Get a bounding sphere which completely encloses this object. More...

bool	isSmooth () const
	Returns `true` if this is a smooth surface, meaning that it can provide meaningful curvature information and continuous derivatives with respect to its parameterization. More...

void	calcCurvature (const Vec3 &point, Vec2 &curvature, Rotation &orientation) const
	Compute the principal curvatures and their directions, and the surface normal, at a given point on a smooth surface. More...

const Function &	getImplicitFunction () const
	Our smooth surfaces define a function f(P)=0 that provides an implicit representation of the surface. More...

Real	calcSurfaceValue (const Vec3 &point) const
	Calculate the value of the implicit surface function, at a given point. More...

UnitVec3	calcSurfaceUnitNormal (const Vec3 &point) const
	Calculate the implicit surface outward facing unit normal at the given point. More...

Vec3	calcSurfaceGradient (const Vec3 &point) const
	Calculate the gradient of the implicit surface function, at a given point. More...

Mat33	calcSurfaceHessian (const Vec3 &point) const
	Calculate the hessian of the implicit surface function, at a given point. More...

Real	calcGaussianCurvature (const Vec3 &gradient, const Mat33 &Hessian) const
	For an implicit surface, return the Gaussian curvature at the point p whose implicit surface function gradient g(p) and Hessian H(p) are supplied. More...

Real	calcGaussianCurvature (const Vec3 &point) const
	This signature is for convenience; use the other one to save time if you already have the gradient and Hessian available for this point. More...

Real	calcSurfaceCurvatureInDirection (const Vec3 &point, const UnitVec3 &direction) const
	For an implicit surface, return the curvature k of the surface at a given point p in a given direction tp. More...

bool	isConvex () const
	Returns `true` if this surface is known to be convex. More...

Vec3	calcSupportPoint (UnitVec3 direction) const
	Given a direction expressed in the surface's frame S, return the point P on the surface that is the furthest in that direction (or one of those points if there is more than one). More...

ContactGeometryTypeId	getTypeId () const
	ContactTrackerSubsystem uses this id for fast identification of specific surface shapes. More...

	ContactGeometry (ContactGeometryImpl *impl)
	Internal use only. More...

bool	isOwnerHandle () const
	Internal use only. More...

bool	isEmptyHandle () const
	Internal use only. More...

bool	hasImpl () const
	Internal use only. More...

const ContactGeometryImpl &	getImpl () const
	Internal use only. More...

ContactGeometryImpl &	updImpl ()
	Internal use only. More...

void	initGeodesic (const Vec3 &xP, const Vec3 &xQ, const Vec3 &xSP, const GeodesicOptions &options, Geodesic &geod) const
	Given two points, find a geodesic curve connecting them. More...

void	continueGeodesic (const Vec3 &xP, const Vec3 &xQ, const Geodesic &prevGeod, const GeodesicOptions &options, Geodesic &geod) const
	Given the current positions of two points P and Q moving on this surface, and the previous geodesic curve G' connecting prior locations P' and Q' of those same two points, return the geodesic G between P and Q that is closest in length to the previous one. More...

void	makeStraightLineGeodesic (const Vec3 &xP, const Vec3 &xQ, const UnitVec3 &defaultDirectionIfNeeded, const GeodesicOptions &options, Geodesic &geod) const
	Produce a straight-line approximation to the (presumably short) geodesic between two points on this implicit surface. More...

void	shootGeodesicInDirectionUntilLengthReached (const Vec3 &xP, const UnitVec3 &tP, const Real &terminatingLength, const GeodesicOptions &options, Geodesic &geod) const
	Compute a geodesic curve starting at the given point, starting in the given direction, and terminating at the given length. More...

void	calcGeodesicReverseSensitivity (Geodesic &geodesic, const Vec2 &initSensitivity=Vec2(0, 1)) const
	Given an already-calculated geodesic on this surface connecting points P and Q, fill in the sensitivity of point P with respect to a change of tangent direction at Q. More...

void	shootGeodesicInDirectionUntilPlaneHit (const Vec3 &xP, const UnitVec3 &tP, const Plane &terminatingPlane, const GeodesicOptions &options, Geodesic &geod) const
	Compute a geodesic curve starting at the given point, starting in the given direction, and terminating when it hits the given plane. More...

void	calcGeodesic (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, const Vec3 &tQhint, Geodesic &geod) const
	Utility method to find geodesic between P and Q using split geodesic method with initial shooting directions tPhint and -tQhint. More...

void	calcGeodesicUsingOrthogonalMethod (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, Real lengthHint, Geodesic &geod) const
	Utility method to find geodesic between P and Q using the orthogonal method, with initial direction tPhint and initial length lengthHint. More...

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. More...

Vec2	calcSplitGeodError (const Vec3 &P, const Vec3 &Q, const UnitVec3 &tP, const UnitVec3 &tQ, Geodesic *geod=0) const
	Utility method to calculate the "geodesic error" between one geodesic shot from P in the direction tP and another geodesic shot from Q in the direction tQ. More...

void	shootGeodesicInDirectionUntilLengthReachedAnalytical (const Vec3 &xP, const UnitVec3 &tP, const Real &terminatingLength, const GeodesicOptions &options, Geodesic &geod) const
	Analytically compute a geodesic curve starting at the given point, starting in the given direction, and terminating at the given length. More...

void	shootGeodesicInDirectionUntilPlaneHitAnalytical (const Vec3 &xP, const UnitVec3 &tP, const Plane &terminatingPlane, const GeodesicOptions &options, Geodesic &geod) const
	Analytically compute a geodesic curve starting at the given point, starting in the given direction, and terminating when it hits the given plane. More...

void	calcGeodesicAnalytical (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, const Vec3 &tQhint, Geodesic &geod) const
	Utility method to analytically find geodesic between P and Q with initial shooting directions tPhint and tQhint. More...

Vec2	calcSplitGeodErrorAnalytical (const Vec3 &P, const Vec3 &Q, const UnitVec3 &tP, const UnitVec3 &tQ, Geodesic *geod=0) const
	Utility method to analytically calculate the "geodesic error" between one geodesic shot from P in the direction tP and another geodesic shot from Q in the direction tQ. More...

const Plane &	getPlane () const
	Get the plane associated with the geodesic hit plane event handler. More...

void	setPlane (const Plane &plane) const
	Set the plane associated with the geodesic hit plane event handler. More...

const Geodesic &	getGeodP () const
	Get the geodesic for access by visualizer. More...

const Geodesic &	getGeodQ () const
	Get the geodesic for access by visualizer. More...

const int	getNumGeodesicsShot () const
	Get the plane associated with the geodesic hit plane event handler. More...

void	addVizReporter (ScheduledEventReporter *reporter) const
	Get the plane associated with the geodesic hit plane event handler. More...

Static Public Member Functions
static bool	isInstance (const ContactGeometry &geo)
	Return true if the supplied ContactGeometry object is an Ellipsoid. More...

static const Ellipsoid &	getAs (const ContactGeometry &geo)
	Cast the supplied ContactGeometry object to a const Ellipsoid. More...

static Ellipsoid &	updAs (ContactGeometry &geo)
	Cast the supplied ContactGeometry object to a writable Ellipsoid. More...

static ContactGeometryTypeId	classTypeId ()
	Obtain the unique id for Ellipsoid contact geometry. More...

Static Public Member Functions inherited from SimTK::ContactGeometry
static Vec2	evalParametricCurvature (const Vec3 &P, const UnitVec3 &nn, const Vec3 &dPdu, const Vec3 &dPdv, const Vec3 &d2Pdu2, const Vec3 &d2Pdv2, const Vec3 &d2Pdudv, Transform &X_EP)
	Calculate surface curvature at a point using differential geometry as suggested by Harris 2006, "Curvature of ellipsoids and other surfaces" Ophthal. More...

static void	combineParaboloids (const Rotation &R_SP1, const Vec2 &k1, const UnitVec3 &x2, const Vec2 &k2, Rotation &R_SP, Vec2 &k)
	This utility method is useful for characterizing the relative geometry of two locally-smooth surfaces in contact, in a way that is useful for later application of Hertz compliant contact theory for generating forces. More...

static void	combineParaboloids (const Rotation &R_SP1, const Vec2 &k1, const UnitVec3 &x2, const Vec2 &k2, Vec2 &k)
	This is a much faster version of combineParaboloids() for when you just need the curvatures of the difference paraboloid, but not the directions of those curvatures. More...

Additional Inherited Members
Protected Attributes inherited from SimTK::ContactGeometry
ContactGeometryImpl *	impl
	Internal use only. More...

Detailed Description

This ContactGeometry subclass represents an ellipsoid centered at the origin, with its principal axes pointing along the x, y, and z axes and half dimensions a,b, and c (all > 0) along those axes, respectively.

The implicit equation f(x,y,z)=0 of the ellipsoid surface is

    f(x,y,z) = Ax^2+By^2+Cz^2 - 1
    where A=1/a^2, B=1/b^2, C=1/c^2

A,B, and C are the squares of the principal curvatures ka=1/a, kb=1/b, and kc=1/c.

The interior of the ellipsoid consists of all points such that f(x,y,z)<0 and points exterior satisfy f(x,y,z)>0. The region around any point (x,y,z) on an ellipsoid surface is locally an elliptic paraboloid with equation

    -2 z' = kmax x'^2 + kmin y'^2

where z' is measured along the the outward unit normal n at (x,y,z), x' is measured along the the unit direction u of maximum curvature, and y' is measured along the unit direction v of minimum curvature. kmax,kmin are the curvatures with kmax >= kmin > 0. The signs of the mutually perpendicular vectors u and v are chosen so that (u,v,n) forms a right-handed coordinate system for the paraboloid.

Constructor & Destructor Documentation

SimTK::ContactGeometry::Ellipsoid::Ellipsoid ( const Vec3 & radii )

explicit

Construct an Ellipsoid given its three principal half-axis dimensions a,b,c (all positive) along the local x,y,z directions respectively.

The curvatures (reciprocals of radii) are precalculated here at a cost of about 30 flops.

Member Function Documentation

const Vec3& SimTK::ContactGeometry::Ellipsoid::getRadii ( ) const

Obtain the three half-axis dimensions a,b,c used to define this ellipsoid.

void SimTK::ContactGeometry::Ellipsoid::setRadii ( const Vec3 & radii )

Set the three half-axis dimensions a,b,c (all positive) used to define this ellipsoid, overriding the current radii and recalculating the principal curvatures at a cost of about 30 flops.

Parameters

[in] radii The three half-dimensions of the ellipsoid, in the ellipsoid's local x, y, and z directions respectively.

const Vec3& SimTK::ContactGeometry::Ellipsoid::getCurvatures ( ) const

For efficiency we precalculate the principal curvatures whenever the ellipsoid radii are set; this avoids having to repeatedly perform these three expensive divisions at runtime.

The curvatures are ka=1/a, kb=1/b, and kc=1/c so that the ellipsoid's implicit equation can be written Ax^2+By^2+Cz^2=1, with A=ka^2, etc.

UnitVec3 SimTK::ContactGeometry::Ellipsoid::findUnitNormalAtPoint ( const Vec3 & P ) const

Given a point P =(x,y,z) on the ellipsoid surface, return the unique unit outward normal to the ellipsoid at that point.

If P is not on the surface, the result is the same as for the point obtained by scaling the vector P - O until it just touches the surface. That is, we compute P'=findPointInThisDirection(P) and then return the normal at P'. Cost is about 40 flops regardless of whether P was initially on the surface.

Parameters

[in] P A point on the ellipsoid surface, measured and expressed in the ellipsoid's local frame. See text for what happens if P is not actually on the ellipsoid surface.

Returns: The outward-facing unit normal at point P (or at the surface point pointed to by P).

See Also: findPointInSameDirection()

Vec3 SimTK::ContactGeometry::Ellipsoid::findPointWithThisUnitNormal ( const UnitVec3 & n ) const

Given a unit direction n, find the unique point P on the ellipsoid surface at which the outward-facing normal is n.

Cost is about 40 flops.

Parameters

[in] n The unit vector for which we want to find a match on the ellipsoid surface, expressed in the ellipsoid's local frame.

Returns: The point on the ellipsoid's surface at which the outward-facing normal is the same as n. The point is measured and expressed in the ellipsoid's local frame.

Vec3 SimTK::ContactGeometry::Ellipsoid::findPointInSameDirection ( const Vec3 & Q ) const

Given a direction d defined by the vector Q-O for an arbitrary point in space Q=(x,y,z)!=O, find the unique point P on the ellipsoid surface that is in direction d from the ellipsoid origin O.

That is, P=s*d for some scalar s > 0 such that f(P)=0. Cost is about 40 flops.

Parameters

[in] Q A point in space measured from the ellipsoid origin but not the origin.

Returns: P, the intersection of the ray in the direction Q-O with the ellipsoid surface

void SimTK::ContactGeometry::Ellipsoid::findParaboloidAtPoint	(	const Vec3 &	Q,
		Transform &	X_EP,
		Vec2 &	k
	)		const

Given a point Q on the surface of the ellipsoid, find the approximating paraboloid at Q in a frame P where OP=Q, Pz is the outward-facing unit normal to the ellipsoid at Q, Px is the direction of maximum curvature and Py is the direction of minimum curvature.

k=(kmax,kmin) are the returned curvatures with kmax >= kmin > 0. The equation of the resulting paraboloid in the P frame is -2z = kmax*x^2 + kmin*y^2. Cost is about 260 flops; you can save a little time if you already know the normal at Q by using the other overloaded signature for this method.

Warning: It is up to you to make sure that Q is actually on the ellipsoid surface. If it is not you will quietly get a meaningless result.

Parameters

[in]	Q	A point on the surface of this ellipsoid, measured and expressed in the ellipsoid's local frame.
[out]	X_EP	The frame of the paraboloid P, measured and expressed in the ellipsoid local frame E. X_EP.p() is Q, X_EP.x() is the calculated direction of maximum curvature kmax; y() is the direction of minimum curvature kmin; z is the outward facing normal at Q.
[out]	k	The maximum (k[0]) and minimum (k[1]) curvatures of the ellipsoid (and paraboloid P) at point Q.

See Also: findParaboloidAtPointWithNormal()

void SimTK::ContactGeometry::Ellipsoid::findParaboloidAtPointWithNormal	(	const Vec3 &	Q,
		const UnitVec3 &	n,
		Transform &	X_EP,
		Vec2 &	k
	)		const

If you already have both a point and the unit normal at that point, this will save about 40 flops by trusting that you have provided the correct normal; be careful – no one is going to check that you got this right.

The results are meaningless if the point and normal are not consistent. Cost is about 220 flops.

See Also: findParaboloidAtPoint() for details

static bool SimTK::ContactGeometry::Ellipsoid::isInstance ( const ContactGeometry & geo )

inlinestatic

Return true if the supplied ContactGeometry object is an Ellipsoid.

static const Ellipsoid& SimTK::ContactGeometry::Ellipsoid::getAs ( const ContactGeometry & geo )

inlinestatic

Cast the supplied ContactGeometry object to a const Ellipsoid.

static Ellipsoid& SimTK::ContactGeometry::Ellipsoid::updAs ( ContactGeometry & geo )

inlinestatic

Cast the supplied ContactGeometry object to a writable Ellipsoid.

static ContactGeometryTypeId SimTK::ContactGeometry::Ellipsoid::classTypeId ( )

static

Obtain the unique id for Ellipsoid contact geometry.

const Impl& SimTK::ContactGeometry::Ellipsoid::getImpl ( ) const

Internal use only.

Impl& SimTK::ContactGeometry::Ellipsoid::updImpl ( )

Internal use only.

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

ContactGeometry.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation