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Simbody
3.3
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Simbody
3.3
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A ContactTracker implements an algorithm for detecting overlaps or potential overlaps between pairs of ContactGeometry objects, and managing Contact objects that track individual contacts as they evolve through time. More...
#include <ContactTracker.h>
Inheritance diagram for SimTK::ContactTracker:Classes | |
| class | ConvexImplicitPair |
| This ContactTracker handles contacts between two smooth, convex objects by using their implicit functions. More... | |
| class | GeneralImplicitPair |
| (TODO: not implemented yet) This ContactTracker handles contacts between two arbitrary smooth surfaces by using their implicit functions, with no shape restrictions. More... | |
| class | HalfSpaceEllipsoid |
| This ContactTracker handles contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Ellipsoid, in that order. More... | |
| class | HalfSpaceSphere |
| This ContactTracker handles contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Sphere, in that order. More... | |
| class | HalfSpaceTriangleMesh |
| This ContactTracker handles contacts between a ContactGeometry::HalfSpace and a ContactGeometry::TriangleMesh, in that order. More... | |
| class | SphereSphere |
| This ContactTracker handles contacts between two ContactGeometry::Sphere objects. More... | |
| class | SphereTriangleMesh |
| This ContactTracker handles contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh, in that order. More... | |
| class | TriangleMeshTriangleMesh |
| This ContactTracker handles contacts between two ContactGeometry::TriangleMesh surfaces. More... | |
Public Member Functions | |
| ContactTracker (ContactGeometryTypeId typeOfSurface1, ContactGeometryTypeId typeOfSurface2) | |
| Base class constructor for use by the concrete classes. More... | |
| const std::pair < ContactGeometryTypeId, ContactGeometryTypeId > & | getContactGeometryTypeIds () const |
| Return the pair of contact geometry type ids handled by this tracker, in the order that they must be presented to the tracker's methods. More... | |
| virtual | ~ContactTracker () |
| virtual bool | trackContact (const Contact &priorStatus, const Transform &X_GS1, const ContactGeometry &surface1, const Transform &X_GS2, const ContactGeometry &surface2, Real cutoff, Contact ¤tStatus) const =0 |
| The ContactTrackerSubsystem will invoke this method for any pair of contact surfaces that is already being tracked, or for which the static broad phase analysis indicated that they might be in contact now. More... | |
| virtual bool | predictContact (const Contact &priorStatus, const Transform &X_GS1, const SpatialVec &V_GS1, const SpatialVec &A_GS1, const ContactGeometry &surface1, const Transform &X_GS2, const SpatialVec &V_GS2, const SpatialVec &A_GS2, const ContactGeometry &surface2, Real cutoff, Real intervalOfInterest, Contact &predictedStatus) const =0 |
| The ContactTrackerSubsystem will invoke this method for any tracked pair of contact surfaces that is still not in contact after trackContact() looked at it, or any untracked pair for which the dynamic broad phase indicated that they might be in contact within the interval of interest. More... | |
| virtual bool | initializeContact (const Transform &X_GS1, const SpatialVec &V_GS1, const ContactGeometry &surface1, const Transform &X_GS2, const SpatialVec &V_GS2, const ContactGeometry &surface2, Real cutoff, Real intervalOfInterest, Contact &contactStatus) const =0 |
| At the beginning of a simulation we will have no past information to help disambiguate tricky contact situations. More... | |
Static Public Member Functions | |
| static bool | refineImplicitPair (const ContactGeometry &shapeA, Vec3 &pointP_A, const ContactGeometry &shapeB, Vec3 &pointQ_B, const Transform &X_AB, Real accuracyRequested, Real &accuracyAchieved, int &numIterations) |
| Given two shapes for which implicit functions are known, and a rough-guess contact point for each shape (each measured and expressed in its own surface's frame), refine those contact points to obtain the nearest pair that satisfies contact conditions to a requested accuracy. More... | |
| static Vec6 | findImplicitPairError (const ContactGeometry &shapeA, const Vec3 &pointP, const ContactGeometry &shapeB, const Vec3 &pointQ, const Transform &X_AB) |
| Calculate the error function described in refineImplicitPair(). More... | |
| static Mat66 | calcImplicitPairJacobian (const ContactGeometry &shapeA, const Vec3 &pointP, const ContactGeometry &shapeB, const Vec3 &pointQ, const Transform &X_AB, const Vec6 &err0) |
| Calculate the partial derivatives of the findImplicitPairError() error function with respect to the locations of the two points in their own surface's frame. More... | |
| static bool | estimateConvexImplicitPairContactUsingMPR (const ContactGeometry &shapeA, const ContactGeometry &shapeB, const Transform &X_AB, Vec3 &pointP_A, Vec3 &pointQ_B, UnitVec3 &dirInA, int &numIterations) |
| Use Minkowski Portal Refinement (XenoCollide method by G. More... | |
A ContactTracker implements an algorithm for detecting overlaps or potential overlaps between pairs of ContactGeometry objects, and managing Contact objects that track individual contacts as they evolve through time.
This class is used internally by ContractTrackerSubsystem 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 ContactTrackers to detect collisions with your new geometry type, then register it with the ContactTrackerSubsystem.
The result of a ContactTracker when applied to a pair of contact surfaces, is either a determination that the surfaces are not in contact, or a Contact object describing their contact interaction. There are different types of these Contact objects (for example, PointContact, LineContact, MeshContact) and the same algorithm may result in different kinds of Contact under different circumstances. At each evaluation, the caller passes in the previous Contact object, if any, that was associated with two ContactSurfaces, then receives an update from the algorithm.
Note that ContactTrackers that manage dissimilar geometry type pairs expect the two types in a particular order, e.g. (halfspace,sphere) rather than (sphere,halfspace) but are used for all contacts involving that pair of types. It is up to the ContactTrackerSubsystem to ensure that the contact surfaces are presented in the correct order regardless of how they are encountered. The Contact objects that are created and managed by trackers always have their (surface1,surface2) pairs in the order required by the tracker that handles those types.
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Base class constructor for use by the concrete classes.
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inlinevirtual |
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Return the pair of contact geometry type ids handled by this tracker, in the order that they must be presented to the tracker's methods.
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pure virtual |
The ContactTrackerSubsystem will invoke this method for any pair of contact surfaces that is already being tracked, or for which the static broad phase analysis indicated that they might be in contact now.
Only position information is available. Note that the arguments and Contact object surfaces must be ordered by geometry type id as required by this tracker.
Implemented in SimTK::ContactTracker::GeneralImplicitPair, SimTK::ContactTracker::ConvexImplicitPair, SimTK::ContactTracker::TriangleMeshTriangleMesh, SimTK::ContactTracker::SphereTriangleMesh, SimTK::ContactTracker::HalfSpaceTriangleMesh, SimTK::ContactTracker::SphereSphere, SimTK::ContactTracker::HalfSpaceEllipsoid, and SimTK::ContactTracker::HalfSpaceSphere.
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pure virtual |
The ContactTrackerSubsystem will invoke this method for any tracked pair of contact surfaces that is still not in contact after trackContact() looked at it, or any untracked pair for which the dynamic broad phase indicated that they might be in contact within the interval of interest.
Position, velocity, and acceleration information may be used. Ordering must be correct as discussed for trackContact().
Implemented in SimTK::ContactTracker::GeneralImplicitPair, SimTK::ContactTracker::ConvexImplicitPair, SimTK::ContactTracker::TriangleMeshTriangleMesh, SimTK::ContactTracker::SphereTriangleMesh, SimTK::ContactTracker::HalfSpaceTriangleMesh, SimTK::ContactTracker::SphereSphere, SimTK::ContactTracker::HalfSpaceEllipsoid, and SimTK::ContactTracker::HalfSpaceSphere.
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At the beginning of a simulation we will have no past information to help disambiguate tricky contact situations.
This method may use current position and velocity information in heuristics for guessing the contact status between the indicated pair of surfaces. Ordering must be correct as discussed for trackContact().
Implemented in SimTK::ContactTracker::GeneralImplicitPair, SimTK::ContactTracker::ConvexImplicitPair, SimTK::ContactTracker::TriangleMeshTriangleMesh, SimTK::ContactTracker::SphereTriangleMesh, SimTK::ContactTracker::HalfSpaceTriangleMesh, SimTK::ContactTracker::SphereSphere, SimTK::ContactTracker::HalfSpaceEllipsoid, and SimTK::ContactTracker::HalfSpaceSphere.
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Given two shapes for which implicit functions are known, and a rough-guess contact point for each shape (each measured and expressed in its own surface's frame), refine those contact points to obtain the nearest pair that satisfies contact conditions to a requested accuracy.
For separated objects, these will be the points of closest approach between the surfaces; for contacting objects these are the points of maximum penetration.
In implicit form there are six unknowns (spatial coordinates of the contact points). The six contact conditions we use are:
Note that these equations could be satisfied by incorrect points that have the opposite normals because the perpendicularity conditions can't distinguish n from -n. We are depending on having an initial guess that is good enough so that we find the correct solution by going downhill from there. Don't try to use this if you don't have a reasonably good guess already. For convex implicit surfaces you can use estimateConvexImplicitPairContactUsingMPR() to get a good start if the surfaces are in contact.
true if the requested accuracy is achieved but returns its best attempt at the refined points regardless.
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Calculate the error function described in refineImplicitPair().
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Calculate the partial derivatives of the findImplicitPairError() error function with respect to the locations of the two points in their own surface's frame.
This might be an approximation of the derivative; it needs only to be good enough for refineImplicitPair() to get usable directional information.
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Use Minkowski Portal Refinement (XenoCollide method by G.
Snethen) to generate a reasonably good starting estimate of the contact points between two convex implicit shapes that may be in contact. MPR cannot find those points if the surfaces are separated. Returns false if the two shapes are definitely not in contact (MPR found a separating plane); in that case the returned direction is the separating plane normal and the points are the support points that prove separation. Otherwise, there might be contact and the points are estimates of the contact point on each surface, determined roughly to the requested accuracy. You still have to refine these and it might turn out there is no contact after all.
1.8.6