sofa::component::collision::detection::algorithm::ISAPBox Class Reference

#include <IncrSAP.h>

Detailed Description

ISAPBox is a simple bounding box. It contains a Cube which contains only one final CollisionElement and pointers to min and max EndPoints along the three dimensions. min and max end points are respectively min and max coordinates of the cube on a coordinate axis. The between end points (_min, _max) and the field cube is that cube is always updated whereas _min and _max are stored values of the cube end points at previous time step.

Public Attributes
collision::geometry::Cube	cube
EndPointID *	_min [3]
EndPointID *	_max [3]

Static Public Attributes
static double	tolerance = (double)(1e-7)

Public Member Functions
	ISAPBox ()
	ISAPBox (collision::geometry::Cube c)
bool	endPointsOverlap (const ISAPBox &other, int axis) const
bool	overlaps (const ISAPBox &other, double alarmDist) const
double	squaredDistance (const ISAPBox &other) const
void	show () const
void	showEndPoints () const
bool	moving (int axis, double alarmDist) const
bool	moving (double alarmDist) const
void	init (int boxID, EndPointID **endPts)
void	update (double alarmDist)
void	updatedMin (int dim, EndPointID &end_point, double alarmDist) const
void	updatedMax (int dim, EndPointID &end_point, double alarmDist) const
void	updateMin (int dim, double alarmDist)
void	updateMax (int dim, double alarmDist)
bool	minMoving (int axis, double alarmDist) const
bool	maxMoving (int axis, double alarmDist) const
const core::CollisionElementIterator	finalElement () const
EndPointID &	min (int dim)
const EndPointID &	min (int dim) const
EndPointID &	max (int dim)
const EndPointID &	max (int dim) const
double	curMin (int dim) const
double	curMax (int dim) const
bool	endPointsAreAlright (int ID)

Attribute details

_max

EndPointID* sofa::component::collision::detection::algorithm::ISAPBox::_max[3]

_min

EndPointID* sofa::component::collision::detection::algorithm::ISAPBox::_min[3]

cube

collision::geometry::Cube sofa::component::collision::detection::algorithm::ISAPBox::cube

tolerance

double sofa::component::collision::detection::algorithm::ISAPBox::tolerance = (double)(1e-7)

static

Constructor details

ISAPBox() [1/2]

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

inline

ISAPBox() [2/2]

sofa::component::collision::detection::algorithm::ISAPBox::ISAPBox ( collision::geometry::Cube  c )

inline

Function details

curMax()

double sofa::component::collision::detection::algorithm::ISAPBox::curMax ( int  dim ) const

inline

curMin()

double sofa::component::collision::detection::algorithm::ISAPBox::curMin ( int  dim ) const

inline

endPointsAreAlright()

bool sofa::component::collision::detection::algorithm::ISAPBox::endPointsAreAlright ( int  ID )

inline

Returns true if the endpoints have id ID and if min end points are min and max are max. It checks only the field data.

endPointsOverlap()

bool sofa::component::collision::detection::algorithm::ISAPBox::endPointsOverlap ( const ISAPBox &  other, int  axis  ) const

inline

Returns true if this overlaps other along the dimension axis. For the two following methods, end points are not used but real positions of end points of the field cube.

finalElement()

const core::CollisionElementIterator sofa::component::collision::detection::algorithm::ISAPBox::finalElement ( ) const

inline

init()

void sofa::component::collision::detection::algorithm::ISAPBox::init ( int  boxID, EndPointID **  endPts  )

inline

Inits _min and _max fiels with endPts. endPts is an one dimension array of EndPointID pointers. After this method, the first three end points are the mins in the dimension 0, 1, 2. The last three end points are the maxs in the dimension 0, 1, 2. Values and IDs of endPts are updated after this method.

max() [1/2]

EndPointID & sofa::component::collision::detection::algorithm::ISAPBox::max ( int  dim )

inline

max() [2/2]

const EndPointID & sofa::component::collision::detection::algorithm::ISAPBox::max ( int  dim ) const

inline

maxMoving()

bool sofa::component::collision::detection::algorithm::ISAPBox::maxMoving ( int  axis, double  alarmDist  ) const

inline

min() [1/2]

EndPointID & sofa::component::collision::detection::algorithm::ISAPBox::min ( int  dim )

inline

min() [2/2]

const EndPointID & sofa::component::collision::detection::algorithm::ISAPBox::min ( int  dim ) const

inline

minMoving()

bool sofa::component::collision::detection::algorithm::ISAPBox::minMoving ( int  axis, double  alarmDist  ) const

inline

moving() [1/2]

bool sofa::component::collision::detection::algorithm::ISAPBox::moving ( double  alarmDist ) const

inline

The same than the previous one except that this one checks the three dimensions, i.e. it returns true if the ISAPBox is moving at least along one dimension.

moving() [2/2]

bool sofa::component::collision::detection::algorithm::ISAPBox::moving ( int  axis, double  alarmDist  ) const

inline

Returns true if the ISAPBox is moving along the dimension axis. i.e., returns true if the value of the end point of dimension axis is different from the end point of the field cube (which is the real position of the ISAPBox).

overlaps()

bool sofa::component::collision::detection::algorithm::ISAPBox::overlaps	(	const ISAPBox &	other,
		double	alarmDist
	)		const

Returns true if this overlaps other along the three dimensions.

show()

void sofa::component::collision::detection::algorithm::ISAPBox::show ( ) const

inline

showEndPoints()

void sofa::component::collision::detection::algorithm::ISAPBox::showEndPoints ( ) const

inline

squaredDistance()

double sofa::component::collision::detection::algorithm::ISAPBox::squaredDistance

(

const ISAPBox &

other

)

const

update()

void sofa::component::collision::detection::algorithm::ISAPBox::update ( double  alarmDist )

inline

updatedMax()

void sofa::component::collision::detection::algorithm::ISAPBox::updatedMax ( int  dim, EndPointID &  end_point, double  alarmDist  ) const

inline

updatedMin()

void sofa::component::collision::detection::algorithm::ISAPBox::updatedMin ( int  dim, EndPointID &  end_point, double  alarmDist  ) const

inline

updateMax()

void sofa::component::collision::detection::algorithm::ISAPBox::updateMax ( int  dim, double  alarmDist  )

inline

updateMin()

void sofa::component::collision::detection::algorithm::ISAPBox::updateMin ( int  dim, double  alarmDist  )

inline