SOFA API  fdacdac3
Open source framework for multi-physics simuation
sofa::component::collision::detection::algorithm::BruteForceBroadPhase Class Reference

#include <BruteForceBroadPhase.h>

Perform an extensive pair-wise collision test based on the bounding volume of collision models. More...

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

Detailed Description

Perform an extensive pair-wise collision test based on the bounding volume of collision models.

This component is a broad phase algorithm used during collision detection to limit the number of pairs of objects that need to be checked for intersection. The algorithm output is a list of pairs of objects that can potentially be in intersection. This list is then used as an input for a narrow phase algorithm. In this algorithm, all possible pairs of objects are tested (brute force test). If there are n objects, there will be n^2/2 tests. The tests are based on the bounding volume of the objects, usually an axis-aligned bounding box.

Classes

struct  FirstLastCollisionModel
 

Protected Attributes

collision::geometry::CubeCollisionModel::SPtr boxModel
 
sofa::type::vector< FirstLastCollisionModelm_collisionModels
 
- Protected Attributes inherited from sofa::core::collision::BroadPhaseDetection
sofa::type::vector< CollisionModelPaircmPairs
 Potentially colliding pairs. More...
 
std::map< Instance, sofa::type::vector< CollisionModelPair > > storedCmPairs
 
- Protected Attributes inherited from sofa::core::collision::Detection
IntersectionintersectionMethod
 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_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_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...
 

Public Member Functions

 SOFA_CLASS (BruteForceBroadPhase, core::collision::BroadPhaseDetection)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void reinit () override
 Update method called when variables used in precomputation are modified. More...
 
void beginBroadPhase () override
 Clear all the potentially colliding pairs detected in the previous simulation step. More...
 
void addCollisionModel (core::CollisionModel *cm) override
 In the broad phase, ignores collision with the provided collision model if possible and add pairs of collision models if in intersection. More...
 
bool needsDeepBoundingTree () const override
 Bounding tree is not required by this detection algorithm. More...
 
- Public Member Functions inherited from sofa::core::collision::BroadPhaseDetection
 SOFA_ABSTRACT_CLASS (BroadPhaseDetection, Detection)
 
virtual void addCollisionModels (const sofa::type::vector< core::CollisionModel * > &v)
 Add a list of collision models to the set of root collision models managed by this class. More...
 
virtual void endBroadPhase ()
 Actions to accomplish when the broadPhase is finished. By default do nothing. More...
 
sofa::type::vector< CollisionModelPair > & getCollisionModelPairs ()
 Get the potentially colliding pairs detected. More...
 
const sofa::type::vector< CollisionModelPair > & getCollisionModelPairs () 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...
 
IntersectiongetIntersectionMethod () const
 
- 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 draw (const core::visual::VisualParams *)
 Render internal data of this object, for debugging purposes. More...
 
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)
 
BasefindLinkDestClass (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 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)
 
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 bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. 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
 
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::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 (::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 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

static bool keepCollisionBetween (core::CollisionModel *cm1, core::CollisionModel *cm2)
 
- 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 BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Protected Member Functions

 BruteForceBroadPhase ()
 
 ~BruteForceBroadPhase () override=default
 
bool doesSelfCollide (core::CollisionModel *cm) const
 Return true if the provided CollisionModel can collide with itself. More...
 
bool intersectWithBoxModel (core::CollisionModel *cm) const
 Return true if the provided CollisionModel intersect boxModel, false otherwise. More...
 
- Protected Member Functions inherited from sofa::core::collision::BroadPhaseDetection
 ~BroadPhaseDetection () override=default
 Destructor. More...
 
void changeInstanceBP (Instance inst) override
 
- Protected Member Functions inherited from sofa::core::collision::Detection
 Detection ()
 
virtual void changeInstanceNP (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...
 

Additional Inherited Members

- 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
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
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 object belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_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}
 

Attribute details

◆ boxModel

collision::geometry::CubeCollisionModel::SPtr sofa::component::collision::detection::algorithm::BruteForceBroadPhase::boxModel
protected

◆ m_collisionModels

sofa::type::vector<FirstLastCollisionModel> sofa::component::collision::detection::algorithm::BruteForceBroadPhase::m_collisionModels
protected

vector of accumulated CollisionModel's when the collision pipeline asks to add a CollisionModel in BruteForceBroadPhase::addCollisionModel This vector is emptied at each time step in BruteForceBroadPhase::beginBroadPhase

Constructor details

◆ BruteForceBroadPhase()

sofa::component::collision::detection::algorithm::BruteForceBroadPhase::BruteForceBroadPhase ( )
protected

◆ ~BruteForceBroadPhase()

sofa::component::collision::detection::algorithm::BruteForceBroadPhase::~BruteForceBroadPhase ( )
overrideprotecteddefault

Function details

◆ addCollisionModel()

void sofa::component::collision::detection::algorithm::BruteForceBroadPhase::addCollisionModel ( core::CollisionModel cm)
overridevirtual

In the broad phase, ignores collision with the provided collision model if possible and add pairs of collision models if in intersection.

Ignore the collision with the provided collision model if it does not intersect with the box defined in the Data box when it is defined. Add the provided collision model to be investigated in the narrow phase in case of self collision. Check intersection with already added collision models. If it can intersect another collision model, the pair is added to be further investigated in the narrow phase.

Implements sofa::core::collision::BroadPhaseDetection.

◆ beginBroadPhase()

void sofa::component::collision::detection::algorithm::BruteForceBroadPhase::beginBroadPhase ( )
overridevirtual

Clear all the potentially colliding pairs detected in the previous simulation step.

Reimplemented from sofa::core::collision::BroadPhaseDetection.

◆ doesSelfCollide()

bool sofa::component::collision::detection::algorithm::BruteForceBroadPhase::doesSelfCollide ( core::CollisionModel cm) const
protected

Return true if the provided CollisionModel can collide with itself.

◆ init()

void sofa::component::collision::detection::algorithm::BruteForceBroadPhase::init ( void  )
overridevirtual

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

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

◆ intersectWithBoxModel()

bool sofa::component::collision::detection::algorithm::BruteForceBroadPhase::intersectWithBoxModel ( core::CollisionModel cm) const
protected

Return true if the provided CollisionModel intersect boxModel, false otherwise.

◆ keepCollisionBetween()

bool sofa::component::collision::detection::algorithm::BruteForceBroadPhase::keepCollisionBetween ( core::CollisionModel cm1,
core::CollisionModel cm2 
)
static

◆ needsDeepBoundingTree()

bool sofa::component::collision::detection::algorithm::BruteForceBroadPhase::needsDeepBoundingTree ( ) const
inlineoverridevirtual

Bounding tree is not required by this detection algorithm.

Reimplemented from sofa::core::collision::Detection.

◆ reinit()

void sofa::component::collision::detection::algorithm::BruteForceBroadPhase::reinit ( )
overridevirtual

Update method called when variables used in precomputation are modified.

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

◆ SOFA_CLASS()

sofa::component::collision::detection::algorithm::BruteForceBroadPhase::SOFA_CLASS ( BruteForceBroadPhase  ,
core::collision::BroadPhaseDetection   
)