#include <BVHNarrowPhase.h>

Narrow phase collision detection based on bounding volume hierarchy. More...

Inheritance diagram for sofa::component::collision::detection::algorithm::BVHNarrowPhase:

Detailed Description

Narrow phase collision detection based on bounding volume hierarchy.

The algorithm uses the result of a broad phase collision detection. For a pair of collision models, it traverses the hierarchy of bounding volumes in order to rapidly eliminate pairs of elements which are not in intersection. Finally, the intersection method is called on the remaining pairs of elements.

Classes
struct	FinestCollision
	Store data related to two finest CollisionModel's. More...

Public Member Functions
	SOFA_CLASS (BVHNarrowPhase, core::collision::NarrowPhaseDetection)

void	addCollisionPair (const std::pair< core::CollisionModel , core::CollisionModel > &cmPair) override
	In the narrow phase, examine a potential collision between a pair of collision models, which has been detected in the broad phase. More...

Public Member Functions inherited from sofa::core::collision::NarrowPhaseDetection
	SOFA_ABSTRACT_CLASS (NarrowPhaseDetection, Detection)

void	draw (const core::visual::VisualParams *vparams) override
	Render internal data of this object, for debugging purposes. More...

virtual void	beginNarrowPhase ()
	Clear all the potentially colliding pairs detected in the previous simulation step. More...

virtual void	addCollisionPairs (const sofa::type::vector< std::pair< core::CollisionModel , core::CollisionModel > > &v)
	Add a new list of potentially colliding pairs of models. More...

virtual void	endNarrowPhase ()

size_t	getPrimitiveTestCount () const

const DetectionOutputMap &	getDetectionOutputs () const

DetectionOutputVector *&	getDetectionOutputs (CollisionModel cm1, CollisionModel cm2)

bool	zeroCollision () const

Public Member Functions inherited from sofa::core::collision::Detection
	SOFA_CLASS (Detection, CollisionAlgorithm)

virtual void	setIntersectionMethod (Intersection *v)
	virtual because subclasses might do precomputations based on intersection algorithms More...

Intersection *	getIntersectionMethod () const

virtual bool	needsDeepBoundingTree () const
	Returns true if the detection algorithm requires a deep bounding tree i.e. a depth that can be superior to 1. More...

Public Member Functions inherited from sofa::core::collision::CollisionAlgorithm
	SOFA_ABSTRACT_CLASS (CollisionAlgorithm, objectmodel::BaseObject)

virtual void	setInstance (Instance inst)
	Allow to store multiple internal states by specifying a different collision pipeline 'instance'. More...

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

virtual void	computeBBox (const core::ExecParams *, bool=false)

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)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override
	Return the full path name of this object. More...

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

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	init ()
	Initialization method called at graph creation and modification, during top-down traversal. More...

virtual void	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. 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 BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

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...

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...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate 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

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::TagSet &	getTags () 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)=delete
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (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...

BaseLink *	findLink (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 (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. 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	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () 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)

Protected Member Functions
	BVHNarrowPhase ()

	~BVHNarrowPhase () override=default

void	processExternalCell (const TestPair &externalCell, core::CollisionModel &cm1, core::CollisionModel &cm2, core::collision::ElementIntersector coarseIntersector, const FinestCollision &finest, MirrorIntersector mirror, std::queue< TestPair > &externalCells, sofa::core::collision::DetectionOutputVector *&outputs) const

Protected Member Functions inherited from sofa::core::collision::NarrowPhaseDetection
	~NarrowPhaseDetection () override
	Destructor. More...

void	changeInstanceNP (Instance inst) override

Protected Member Functions inherited from sofa::core::collision::Detection
	Detection ()

virtual void	changeInstanceBP (Instance)

void	changeInstance (Instance inst) override

Protected Member Functions inherited from sofa::core::collision::CollisionAlgorithm
	CollisionAlgorithm ()

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, std::size_t, 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...

Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual	~IntrusiveObject ()=default

Static Protected Member Functions
static bool	isSelfCollision (core::CollisionModel cm1, core::CollisionModel cm2)
	Return true if both collision models belong to the same object, false otherwise. More...

static void	initializeExternalCells (core::CollisionModel cm1, core::CollisionModel cm2, std::queue< TestPair > &externalCells)
	Build a list of TestPair's from internal and external children of two CollisionModel's. More...

static void	processInternalCell (const TestPair &internalCell, core::collision::ElementIntersector coarseIntersector, const FinestCollision &finest, std::queue< TestPair > &externalCells, std::stack< TestPair > &internalCells, sofa::core::collision::DetectionOutputVector &outputs, const sofa::core::collision::Intersection *currentIntersection)

static void	visitCollisionElements (const TestPair &root, core::collision::ElementIntersector coarseIntersector, const FinestCollision &finest, std::queue< TestPair > &externalCells, std::stack< TestPair > &internalCells, sofa::core::collision::DetectionOutputVector &outputs, const sofa::core::collision::Intersection *currentIntersection)

static void	visitExternalChildren (const core::CollisionElementIterator &it1, const core::CollisionElementIterator &it2, core::collision::ElementIntersector coarseIntersector, const FinestCollision &finest, std::queue< TestPair > &externalCells, sofa::core::collision::DetectionOutputVector &outputs, const sofa::core::collision::Intersection *currentIntersection)

static void	finalCollisionPairs (const TestPair &pair, bool selfCollision, core::collision::ElementIntersector intersector, sofa::core::collision::DetectionOutputVector &outputs, const sofa::core::collision::Intersection *currentIntersection)

Additional Inherited Members
Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the object belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes inherited from sofa::core::collision::NarrowPhaseDetection
bool	_zeroCollision

std::map< Instance, DetectionOutputMap >	m_storedOutputsMap

DetectionOutputMap	m_outputsMap

size_t	m_primitiveTestCount

Protected Attributes inherited from sofa::core::collision::Detection
Intersection *	intersectionMethod
	Current intersection method. More...

std::map< Instance, Intersection * >	storedIntersectionMethod
	All intersection methods. More...

Protected Attributes inherited from sofa::core::collision::CollisionAlgorithm
Instance	instance
	Current collision 'pipeline' instance, allowing to store multiple internal states. More...

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

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...

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 BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Constructor details

◆ BVHNarrowPhase()

sofa::component::collision::detection::algorithm::BVHNarrowPhase::BVHNarrowPhase ( )

protected

◆ ~BVHNarrowPhase()

sofa::component::collision::detection::algorithm::BVHNarrowPhase::~BVHNarrowPhase ( )

overrideprotecteddefault

Function details

◆ addCollisionPair()

void sofa::component::collision::detection::algorithm::BVHNarrowPhase::addCollisionPair ( const std::pair< core::CollisionModel *, core::CollisionModel * > & cmPair )

overridevirtual

In the narrow phase, examine a potential collision between a pair of collision models, which has been detected in the broad phase.

The function traverses the hierarchy of CollisionElement's contained in each CollisionModel to avoid unnecessary pair intersections. An iterative form of the hierarchy traversal is adopted instead of a recursive form.

Implements sofa::core::collision::NarrowPhaseDetection.

◆ finalCollisionPairs()

void sofa::component::collision::detection::algorithm::BVHNarrowPhase::finalCollisionPairs	(	const TestPair &	pair,
		bool	selfCollision,
		core::collision::ElementIntersector *	intersector,
		sofa::core::collision::DetectionOutputVector *&	outputs,
		const sofa::core::collision::Intersection *	currentIntersection
	)

staticprotected

Test intersection between two ranges of CollisionElement's The provided TestPair contains ranges of external CollisionElement's, which means that they can be tested against each other for intersection

◆ initializeExternalCells()

void sofa::component::collision::detection::algorithm::BVHNarrowPhase::initializeExternalCells	(	core::CollisionModel *	cm1,
		core::CollisionModel *	cm2,
		std::queue< TestPair > &	externalCells
	)

staticprotected

Build a list of TestPair's from internal and external children of two CollisionModel's.

◆ isSelfCollision()

bool sofa::component::collision::detection::algorithm::BVHNarrowPhase::isSelfCollision	(	core::CollisionModel *	cm1,
		core::CollisionModel *	cm2
	)

staticprotected

Return true if both collision models belong to the same object, false otherwise.

◆ processExternalCell()

void sofa::component::collision::detection::algorithm::BVHNarrowPhase::processExternalCell	(	const TestPair &	externalCell,
		core::CollisionModel *&	cm1,
		core::CollisionModel *&	cm2,
		core::collision::ElementIntersector *	coarseIntersector,
		const FinestCollision &	finest,
		MirrorIntersector *	mirror,
		std::queue< TestPair > &	externalCells,
		sofa::core::collision::DetectionOutputVector *&	outputs
	)		const

protected

◆ processInternalCell()

void sofa::component::collision::detection::algorithm::BVHNarrowPhase::processInternalCell	(	const TestPair &	internalCell,
		core::collision::ElementIntersector *	coarseIntersector,
		const FinestCollision &	finest,
		std::queue< TestPair > &	externalCells,
		std::stack< TestPair > &	internalCells,
		sofa::core::collision::DetectionOutputVector *&	outputs,
		const sofa::core::collision::Intersection *	currentIntersection
	)

staticprotected

◆ SOFA_CLASS()

sofa::component::collision::detection::algorithm::BVHNarrowPhase::SOFA_CLASS	(	BVHNarrowPhase	,
		core::collision::NarrowPhaseDetection
	)

◆ visitCollisionElements()

void sofa::component::collision::detection::algorithm::BVHNarrowPhase::visitCollisionElements	(	const TestPair &	root,
		core::collision::ElementIntersector *	coarseIntersector,
		const FinestCollision &	finest,
		std::queue< TestPair > &	externalCells,
		std::stack< TestPair > &	internalCells,
		sofa::core::collision::DetectionOutputVector *&	outputs,
		const sofa::core::collision::Intersection *	currentIntersection
	)

staticprotected

◆ visitExternalChildren()

void sofa::component::collision::detection::algorithm::BVHNarrowPhase::visitExternalChildren	(	const core::CollisionElementIterator &	it1,
		const core::CollisionElementIterator &	it2,
		core::collision::ElementIntersector *	coarseIntersector,
		const FinestCollision &	finest,
		std::queue< TestPair > &	externalCells,
		sofa::core::collision::DetectionOutputVector *&	outputs,
		const sofa::core::collision::Intersection *	currentIntersection
	)

staticprotected

Detailed Description

Classes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Constructor details

◆ BVHNarrowPhase()

◆ ~BVHNarrowPhase()

Function details

◆ addCollisionPair()

◆ finalCollisionPairs()

◆ initializeExternalCells()

◆ isSelfCollision()

◆ processExternalCell()

◆ processInternalCell()

◆ SOFA_CLASS()

◆ visitCollisionElements()

◆ visitExternalChildren()