SOFA API  f8107965
Open source framework for multi-physics simuation
sofa::component::collision::TOBBModel< TDataTypes > Class Template Reference

#include <OBBModel.h>

Inheritance diagram for sofa::component::collision::TOBBModel< TDataTypes >:

Public Attributes

Data< VecCoordext
 Extents in x,y and z directions. More...
 
Data< Realdefault_ext
 Default extent. More...
 
- Public Attributes inherited from sofa::core::CollisionModel
CollisionElementActivermyCollElemActiver
 CollisionElementActiver that activate or deactivate collision element during execution. More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

core::behavior::MechanicalState< DataTypes > * _mstate
 
- Protected Attributes inherited from sofa::core::CollisionModel
Data< boolbActive
 
Data< boolbMoving
 flag indicating if this object is changing position between iterations More...
 
Data< boolbSimulated
 flag indicating if this object is controlled by a simulation More...
 
Data< boolbSelfCollision
 flag indication if the object can self collide More...
 
Data< SRealproximity
 Distance to the actual (visual) surface. More...
 
Data< SRealcontactStiffness
 Default contact stiffness. More...
 
Data< SRealcontactFriction
 Default contact friction (damping) coefficient. More...
 
Data< SRealcontactRestitution
 Default contact coefficient of restitution. More...
 
Data< std::string > contactResponse
 
Data< defaulttype::RGBAColorcolor
 color used to display the collision model if requested More...
 
Data< std::set< int > > group
 
int size
 Number of collision elements. More...
 
int numberOfContacts
 number of contacts attached to the collision model More...
 
SingleLink< CollisionModel, CollisionModel, BaseLink::FLAG_DOUBLELINK|BaseLink::FLAG_STRONGLINK > previous
 Pointer to the previous (coarser / upper / parent level) CollisionModel in the hierarchy. More...
 
SingleLink< CollisionModel, CollisionModel, BaseLink::FLAG_DOUBLELINK > next
 Pointer to the next (finer / lower / child level) CollisionModel in the hierarchy. More...
 
int enum_type
 
void * userData
 
SingleLink< CollisionModel, sofa::core::objectmodel::BaseObject, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > l_collElemActiver
 Pointer to the Controller component heritating from CollisionElementActiver. More...
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(TOBBModel, TDataTypes), core::CollisionModel)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void resize (int size) override
 Set the number of elements. More...
 
void computeBoundingTree (int maxDepth=0) override
 Create or update the bounding volume hierarchy. More...
 
void draw (const core::visual::VisualParams *vparams, int index) override
 Render an collision element. More...
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
core::behavior::MechanicalState< DataTypes > * getMechanicalState ()
 
virtual std::string getTemplateName () const override
 Get the template type names (if any) used to instantiate this object. More...
 
Coord axis (int index, int dim) const
 
Real extent (int index, int dim) const
 
const Coordextents (int index) const
 
const Coordcenter (int index) const
 
const Quaternionorientation (int index) const
 
Coord vertex (int index, int num) const
 
void vertices (int index, std::vector< Coord > &vs) const
 
void axes (int index, Coord *v_axes) const
 
const Coordlvelocity (int index) const
 
Coord localCoordinates (const Coord &c, int index) const
 
Coord generalCoordinates (const Coord &c, int index) const
 
Data< VecCoord > & writeExtents ()
 
void computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
 
- Public Member Functions inherited from sofa::core::CollisionModel
 SOFA_ABSTRACT_CLASS (CollisionModel, objectmodel::BaseObject)
 
void bwdInit () override
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
bool empty () const
 Return true if there are no elements. More...
 
int getSize () const
 Get the number of elements. More...
 
bool getSelfCollision () const
 Return true if this model process self collision. More...
 
void setSelfCollision (bool _bSelfCollision)
 set a value to bSelfCollision More...
 
int getNumberOfContacts () const
 Get the number of contacts attached to the collision model. More...
 
void setNumberOfContacts (int i)
 Set the number of contacts attached to the collision model. More...
 
Iterator begin ()
 Return an iterator to the first element. More...
 
Iterator end ()
 Return an iterator pointing after the last element. More...
 
CollisionModelgetNext ()
 Return the next (finer / lower / child level) CollisionModel in the hierarchy. More...
 
CollisionModelgetPrevious ()
 Return the previous (coarser / upper / parent level) CollisionModel in the hierarchy. More...
 
void setPrevious (CollisionModel::SPtr val)
 Set the previous (coarser / upper / parent level) CollisionModel in the hierarchy. More...
 
virtual bool isActive () const
 Return true if this CollisionModel should be used for collisions. More...
 
virtual void setActive (bool val=true)
 Set true if this CollisionModel should be used for collisions. More...
 
virtual bool isMoving () const
 Return true if this CollisionModel is changing position between iterations. More...
 
virtual void setMoving (bool val=true)
 Set true if this CollisionModel is changing position between iterations. More...
 
virtual bool isSimulated () const
 Return true if this CollisionModel is attached to a simulation. It is false for immobile or procedurally animated objects that don't use contact forces. More...
 
virtual void setSimulated (bool val=true)
 Set true if this CollisionModel is attached to a simulation. More...
 
virtual void computeContinuousBoundingTree (double, int maxDepth=0)
 Create or update the bounding volume hierarchy, accounting for motions within the given timestep. More...
 
virtual std::pair< CollisionElementIterator, CollisionElementIteratorgetInternalChildren (int) const
 Return the list (as a pair of iterators) of internal children of an element. More...
 
virtual std::pair< CollisionElementIterator, CollisionElementIteratorgetExternalChildren (int) const
 Return the list (as a pair of iterators) of external children of an element. More...
 
virtual bool isLeaf (int) const
 Checks if the element(index) is a leaf and a primitive of the collision model. More...
 
virtual bool canCollideWith (CollisionModel *model)
 Test if this model can collide with another model. More...
 
virtual bool canCollideWithElement (int, CollisionModel *, int)
 Test if two elements can collide with each other. More...
 
void draw (const core::visual::VisualParams *) override
 Render the whole collision model. More...
 
CollisionModelgetFirst ()
 Return the first (i.e. root) CollisionModel in the hierarchy. More...
 
CollisionModelgetLast ()
 Return the last (i.e. leaf) CollisionModel in the hierarchy. More...
 
template<class DerivedModel >
DerivedModel * createPrevious ()
 Helper method to get or create the previous model in the hierarchy. More...
 
virtual sofa::core::topology::BaseMeshTopologygetCollisionTopology ()
 BaseMeshTopology associated to the collision model. TODO: epernod remove virtual pure method by l_topology.get as soons as new link will be available. More...
 
const floatgetColor4f ()
 Get a color that can be used to display this CollisionModel. More...
 
void setColor4f (const float *c)
 Set a color that can be used to display this CollisionModel. More...
 
void setProximity (const SReal a)
 Set of differents parameters. More...
 
void setContactResponse (const std::string &a)
 
int getEnumType () const
 
void SetUserData (void *pUserData)
 Set user data. More...
 
void * GetUserData ()
 Get user data. More...
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
SReal getProximity ()
 Get distance to the actual (visual) surface. More...
 
SReal getContactStiffness (int)
 Get contact stiffness. More...
 
void setContactStiffness (SReal stiffness)
 Set contact stiffness. More...
 
SReal getContactFriction (int)
 Get contact friction (damping) coefficient. More...
 
void setContactFriction (SReal friction)
 Set contact friction (damping) coefficient. More...
 
SReal getContactRestitution (int)
 Get contact coefficient of restitution. More...
 
void setContactRestitution (SReal restitution)
 Set contact coefficient of restitution. More...
 
std::string getContactResponse ()
 Contact response algorithm. More...
 
const std::set< int > & getGroups () const
 Return the group IDs containing this model. More...
 
void addGroup (const int groupId)
 add the group ID to this model. More...
 
void setGroups (const std::set< int > &ids)
 Set the group IDs to this model. More...
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
void copyAspect (int destAspect, int srcAspect) override
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
void releaseAspect (int aspect) override
 Release memory allocated for the specified aspect. More...
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void reinit ()
 Update method called when variables used in precomputation are modified. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
virtual std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void removeLink (BaseLink *l)
 Remove a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Static Public Member Functions

template<class T >
static bool canCreate (T *&obj, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 
static std::string templateName (const TOBBModel< DataTypes > *=nullptr)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const MyClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Protected Member Functions

 TOBBModel ()
 
 TOBBModel (core::behavior::MechanicalState< TDataTypes > *mstate)
 
- Protected Member Functions inherited from sofa::core::CollisionModel
 CollisionModel ()
 Constructor. More...
 
 ~CollisionModel () override
 Destructor. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 Implementation of the internal update. More...
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, unsigned int, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Friends

class TOBB< DataTypes >
 

Attribute details

template<class TDataTypes>
core::behavior::MechanicalState<DataTypes>* sofa::component::collision::TOBBModel< TDataTypes >::_mstate
protected
template<class TDataTypes>
Data<Real> sofa::component::collision::TOBBModel< TDataTypes >::default_ext

Default extent.

template<class TDataTypes>
Data<VecCoord> sofa::component::collision::TOBBModel< TDataTypes >::ext

Extents in x,y and z directions.

Constructor details

template<class DataTypes >
sofa::component::collision::TOBBModel< DataTypes >::TOBBModel ( )
protected

Function details

template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::axes ( int  index,
Coord v_axes 
) const
inline

Fills v_axes of size 3 with the local frame of the OBB at index index.

template<class DataTypes >
TOBBModel< DataTypes >::Coord sofa::component::collision::TOBBModel< DataTypes >::axis ( int  index,
int  dim 
) const
inline

Returns the axis of the local frame at i-th dimension of the OBB at index index.

template<class TDataTypes>
template<class T >
static bool sofa::component::collision::TOBBModel< TDataTypes >::canCreate ( T *&  obj,
core::objectmodel::BaseContext context,
core::objectmodel::BaseObjectDescription arg 
)
inlinestatic

Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.

template<class DataTypes >
const TOBBModel< DataTypes >::Coord & sofa::component::collision::TOBBModel< DataTypes >::center ( int  index) const
inline
template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::computeBBox ( const core::ExecParams ,
bool  = false 
)
overridevirtual

Bounding Box computation method. Default to empty method.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::computeBoundingTree ( int  maxDepth = 0)
overridevirtual

Create or update the bounding volume hierarchy.

Implements sofa::core::CollisionModel.

template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::draw ( const core::visual::VisualParams ,
int   
)
overridevirtual

Render an collision element.

Reimplemented from sofa::core::CollisionModel.

template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
TOBBModel< DataTypes >::Real sofa::component::collision::TOBBModel< DataTypes >::extent ( int  index,
int  dim 
) const
inline

Returns the 3 extents.

template<class DataTypes >
const TOBBModel< DataTypes >::Coord & sofa::component::collision::TOBBModel< DataTypes >::extents ( int  index) const
inline

Returns the extent at i-th dimension of the OBB at index index.

template<class DataTypes >
TOBBModel< DataTypes >::Coord sofa::component::collision::TOBBModel< DataTypes >::generalCoordinates ( const Coord c,
int  index 
) const
inline

Returns the coordinates of c (in the local frame) in the general coordinate system of the OBB at index index.

template<class TDataTypes>
core::behavior::MechanicalState<DataTypes>* sofa::component::collision::TOBBModel< TDataTypes >::getMechanicalState ( )
inline
template<class TDataTypes>
virtual std::string sofa::component::collision::TOBBModel< TDataTypes >::getTemplateName ( ) const
inlineoverridevirtual

Get the template type names (if any) used to instantiate this object.

Reimplemented from sofa::core::objectmodel::Base.

template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::init ( void  )
overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
TOBBModel< DataTypes >::Coord sofa::component::collision::TOBBModel< DataTypes >::localCoordinates ( const Coord c,
int  index 
) const
inline

Returns the coordinates of c (in general coordinate system) in the local frame of the OBB at index index.

template<class DataTypes >
const TOBBModel< DataTypes >::Coord & sofa::component::collision::TOBBModel< DataTypes >::lvelocity ( int  index) const
inline

Returns linear velocity.

template<class DataTypes >
const TOBBModel< DataTypes >::Quaternion & sofa::component::collision::TOBBModel< DataTypes >::orientation ( int  index) const
inline

Returns the quaterion representing the rotation of the local frame of the OBB at index index.

template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::resize ( int  s)
overridevirtual

Set the number of elements.

Reimplemented from sofa::core::CollisionModel.

template<class TDataTypes>
sofa::component::collision::TOBBModel< TDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(TOBBModel< TDataTypes >, TDataTypes)  ,
core::CollisionModel   
)
template<class TDataTypes>
static std::string sofa::component::collision::TOBBModel< TDataTypes >::templateName ( const TOBBModel< DataTypes > *  = nullptr)
inlinestatic
template<class DataTypes >
TOBBModel< DataTypes >::Coord sofa::component::collision::TOBBModel< DataTypes >::vertex ( int  index,
int  num 
) const
inline
template<class DataTypes >
void sofa::component::collision::TOBBModel< DataTypes >::vertices ( int  index,
std::vector< Coord > &  vs 
) const
inline

Returns the 8 vertices in vs in general coordinate system of the OBB at index index. vertex indexation below :

                                     7--------6
                                    /|       /|
                                   3--------2 |
                                   | |      | |
                                   | 4------|-5
                                   |/       |/
                                   0--------1
template<class DataTypes >
Data< typename TOBBModel< DataTypes >::VecCoord > & sofa::component::collision::TOBBModel< DataTypes >::writeExtents ( )
inline

Related details

template<class TDataTypes>
friend class TOBB< DataTypes >
friend