SOFA API  8225a6f5
Open source framework for multi-physics simuation
sofa::component::collision::detection::intersection::BaseProximityIntersection Class Reference

#include <BaseProximityIntersection.h>

Inheritance diagram for sofa::component::collision::detection::intersection::BaseProximityIntersection:

Detailed Description

Base class for intersections methods using proximities. It introduces Datas for the alarm distance and contact distance. Cubes intersection is modified to use proximities.

Public Attributes

Data< SRealalarmDistance
 Proximity detection distance. More...
 
Data< SRealcontactDistance
 Distance below which a contact is created. More...
 
- Public Attributes inherited from sofa::component::collision::detection::intersection::DiscreteIntersection
core::collision::IntersectorMap intersectors
 
- 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::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate {}
 
DeprecatedAndRemoved d_componentstate {}
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Public Member Functions

 SOFA_ABSTRACT_CLASS (BaseProximityIntersection, DiscreteIntersection)
 
bool useProximity () const override
 Returns true if algorithm uses proximity. More...
 
SReal getAlarmDistance () const override
 Returns the alarm distance (must returns 0 if useProximity() is false) More...
 
SReal getContactDistance () const override
 Returns the contact distance (must returns 0 if useProximity() is false) More...
 
void setAlarmDistance (SReal v) override
 Sets the alarm distance (if useProximity() is false, the alarm distance is equal to 0) More...
 
void setContactDistance (SReal v) override
 Sets the contact distance (if useProximity() is false, the contact distance is equal to 0) More...
 
bool testIntersection (collision::geometry::Cube &cube1, collision::geometry::Cube &cube2) override
 Intersectors for cubes using proximities. More...
 
int computeIntersection (collision::geometry::Cube &cube1, collision::geometry::Cube &cube2, OutputVector *contacts) override
 
- Public Member Functions inherited from sofa::component::collision::detection::intersection::DiscreteIntersection
 SOFA_CLASS (DiscreteIntersection, sofa::core::collision::Intersection)
 
core::collision::ElementIntersectorfindIntersector (core::CollisionModel *object1, core::CollisionModel *object2, bool &swapModels) override
 Return the intersector class handling the given pair of collision models, or nullptr if not supported. More...
 
virtual bool testIntersection (collision::geometry::Sphere &sph1, collision::geometry::Sphere &sph2)
 
virtual int computeIntersection (collision::geometry::Sphere &sph1, collision::geometry::Sphere &sph2, OutputVector *contacts)
 
virtual bool testIntersection (collision::geometry::RigidSphere &sph1, collision::geometry::RigidSphere &sph2)
 
virtual int computeIntersection (collision::geometry::RigidSphere &sph1, collision::geometry::RigidSphere &sph2, OutputVector *contacts)
 
virtual bool testIntersection (collision::geometry::Sphere &sph1, collision::geometry::RigidSphere &sph2)
 
virtual int computeIntersection (collision::geometry::Sphere &sph1, collision::geometry::RigidSphere &sph2, OutputVector *contacts)
 
- Public Member Functions inherited from sofa::core::collision::Intersection
 SOFA_ABSTRACT_CLASS (Intersection, objectmodel::BaseObject)
 
virtual bool isSupported (core::CollisionElementIterator elem1, core::CollisionElementIterator elem2)
 
virtual bool useContinuous () const
 returns true if algorithm uses continous detection More...
 
virtual void beginBroadPhase ()
 Actions to accomplish when the broadPhase is started. By default do nothing. More...
 
virtual void endBroadPhase ()
 Actions to accomplish when the broadPhase is finished. By default do nothing. More...
 
virtual void beginNarrowPhase ()
 Actions to accomplish when the narrow Phase is started. By default do nothing. More...
 
virtual void endNarrowPhase ()
 Actions to accomplish when the narrow Phase is finished. By default do nothing. 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 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 BaseClassgetClass () const
 
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...
 
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...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
virtual 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 processStream (std::ostream &out)
 
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
 
bool IsInheritingFromBase ()
 
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 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)
 
- Public Member Functions inherited from sofa::core::collision::BaseIntersector
 BaseIntersector ()
 
 ~BaseIntersector ()
 
template<class Model1 , class Model2 >
sofa::core::collision::TDetectionOutputVector< Model1, Model2 > * createOutputVector (Model1 *, Model2 *)
 
template<class Model1 , class Model2 >
sofa::core::collision::TDetectionOutputVector< Model1, Model2 > * getOutputVector (Model1 *, Model2 *, sofa::core::collision::DetectionOutputVector *contacts)
 
int beginIntersection (sofa::core::CollisionModel *, sofa::core::CollisionModel *, OutputVector *)
 
int endIntersection (sofa::core::CollisionModel *, sofa::core::CollisionModel *, OutputVector *)
 

Protected Member Functions

 BaseProximityIntersection ()
 
 ~BaseProximityIntersection () override
 
- Protected Member Functions inherited from sofa::component::collision::detection::intersection::DiscreteIntersection
 DiscreteIntersection ()
 
 ~DiscreteIntersection () override
 
template<class SphereType1 , class SphereType2 >
bool testIntersectionSphere (SphereType1 &sph1, SphereType2 &sph2, const SReal alarmDist)
 
template<class SphereType1 , class SphereType2 >
int computeIntersectionSphere (SphereType1 &sph1, SphereType2 &sph2, DiscreteIntersection::OutputVector *contacts, const SReal alarmDist, const SReal contactDist)
 
- Protected Member Functions inherited from sofa::core::collision::Intersection
 Intersection ()
 
 ~Intersection () override
 
- 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

- 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...
 
- 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 typeName (const T *ptr=nullptr)=delete
 
template<class T >
static std::string className (const T *ptr=nullptr)=delete
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)=delete
 
template<class T >
static std::string templateName (const T *ptr=nullptr)=delete
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ alarmDistance

Data<SReal> sofa::component::collision::detection::intersection::BaseProximityIntersection::alarmDistance

Proximity detection distance.

◆ contactDistance

Data<SReal> sofa::component::collision::detection::intersection::BaseProximityIntersection::contactDistance

Distance below which a contact is created.

Constructor details

◆ BaseProximityIntersection()

sofa::component::collision::detection::intersection::BaseProximityIntersection::BaseProximityIntersection ( )
protected

◆ ~BaseProximityIntersection()

sofa::component::collision::detection::intersection::BaseProximityIntersection::~BaseProximityIntersection ( )
inlineoverrideprotected

Function details

◆ computeIntersection()

◆ getAlarmDistance()

SReal sofa::component::collision::detection::intersection::BaseProximityIntersection::getAlarmDistance ( ) const
inlineoverridevirtual

Returns the alarm distance (must returns 0 if useProximity() is false)

Reimplemented from sofa::core::collision::Intersection.

◆ getContactDistance()

SReal sofa::component::collision::detection::intersection::BaseProximityIntersection::getContactDistance ( ) const
inlineoverridevirtual

Returns the contact distance (must returns 0 if useProximity() is false)

Reimplemented from sofa::core::collision::Intersection.

◆ setAlarmDistance()

void sofa::component::collision::detection::intersection::BaseProximityIntersection::setAlarmDistance ( SReal  v)
inlineoverridevirtual

Sets the alarm distance (if useProximity() is false, the alarm distance is equal to 0)

Reimplemented from sofa::core::collision::Intersection.

◆ setContactDistance()

void sofa::component::collision::detection::intersection::BaseProximityIntersection::setContactDistance ( SReal  v)
inlineoverridevirtual

Sets the contact distance (if useProximity() is false, the contact distance is equal to 0)

Reimplemented from sofa::core::collision::Intersection.

◆ SOFA_ABSTRACT_CLASS()

sofa::component::collision::detection::intersection::BaseProximityIntersection::SOFA_ABSTRACT_CLASS ( BaseProximityIntersection  ,
DiscreteIntersection   
)

◆ testIntersection()

bool sofa::component::collision::detection::intersection::BaseProximityIntersection::testIntersection ( collision::geometry::Cube cube1,
collision::geometry::Cube cube2 
)
overridevirtual

◆ useProximity()

bool sofa::component::collision::detection::intersection::BaseProximityIntersection::useProximity ( ) const
inlineoverridevirtual

Returns true if algorithm uses proximity.

Reimplemented from sofa::core::collision::Intersection.