#include <TetrahedronModel.h>

Inheritance diagram for sofa::component::collision::geometry::TetrahedronCollisionModel:

Classes
struct	TetrahedronInfo

Public Attributes
SingleLink< TetrahedronCollisionModel, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_topology
	Link to be set to the topology container in the component graph. More...

Public Attributes inherited from sofa::core::CollisionModel
CollisionElementActiver *	myCollElemActiver
	CollisionElementActiver that activate or deactivate collision element during execution. More...

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
sofa::type::vector< TetrahedronInfo >	elems

const sofa::core::topology::BaseMeshTopology::SeqTetrahedra *	tetra

core::behavior::MechanicalState< defaulttype::Vec3Types > *	mstate

sofa::core::topology::BaseMeshTopology *	m_topology

int	m_topologyRevision
	internal revision number to check if topology has changed. More...

Protected Attributes inherited from sofa::core::CollisionModel
Data< bool >	bActive

Data< bool >	bMoving
	flag indicating if this object is changing position between iterations More...

Data< bool >	bSimulated
	flag indicating if this object is controlled by a simulation More...

Data< bool >	bSelfCollision
	flag indication if the object can self collide More...

Data< SReal >	proximity
	Distance to the actual (visual) surface. More...

Data< SReal >	contactStiffness
	Default contact stiffness. More...

Data< SReal >	contactFriction
	Default contact friction (damping) coefficient. More...

Data< SReal >	contactRestitution
	Default contact coefficient of restitution. More...

Data< std::string >	contactResponse

Data< sofa::type::RGBAColor >	color
	color used to display the collision model if requested More...

Data< std::set< int > >	group

Size	size
	Number of collision elements. More...

Data< Size >	d_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_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...

Public Member Functions
	SOFA_CLASS (TetrahedronCollisionModel, core::CollisionModel)

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

void	resize (sofa::Size 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 *, sofa::Index 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< defaulttype::Vec3Types > *	getMechanicalState ()

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...

Size	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...

Size	getNumberOfContacts () const
	Get the number of contacts attached to the collision model. More...

void	setNumberOfContacts (Size 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...

CollisionModel *	getNext ()
	Return the next (finer / lower / child level) CollisionModel in the hierarchy. More...

CollisionModel *	getPrevious ()
	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 (SReal, int maxDepth=0)
	Create or update the bounding volume hierarchy, accounting for motions within the given timestep. More...

virtual std::pair< CollisionElementIterator, CollisionElementIterator >	getInternalChildren (Index) const
	Return the list (as a pair of iterators) of internal children of an element. More...

virtual std::pair< CollisionElementIterator, CollisionElementIterator >	getExternalChildren (Index) const
	Return the list (as a pair of iterators) of external children of an element. More...

virtual bool	isLeaf (Index) 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 (Index, CollisionModel *, Index)
	Test if two elements can collide with each other. More...

void	draw (const core::visual::VisualParams *) override
	Render the whole collision model. More...

CollisionModel *	getFirst ()
	Return the first (i.e. root) CollisionModel in the hierarchy. More...

CollisionModel *	getLast ()
	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::BaseMeshTopology *	getCollisionTopology ()
	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 float *	getColor4f ()
	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 () const
	Get distance to the actual (visual) surface. More...

SReal	getContactStiffness (Index) const
	Get contact stiffness. More...

void	setContactStiffness (SReal stiffness)
	Set contact stiffness. More...

bool	isContactStiffnessSet () const
	Get contact stiffness. More...

SReal	getContactFriction (Index) const
	Get contact friction (damping) coefficient. More...

void	setContactFriction (SReal friction)
	Set contact friction (damping) coefficient. More...

SReal	getContactRestitution (Index) const
	Get contact coefficient of restitution. More...

void	setContactRestitution (SReal restitution)
	Set contact coefficient of restitution. More...

std::string	getContactResponse () const
	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)

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...

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	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)
	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
	TetrahedronCollisionModel ()

virtual void	updateFromTopology ()

void	addTetraToDraw (const Tetrahedron &t, std::vector< sofa::type::Vec3 > &tetraVertices, std::vector< sofa::type::Vec3 > &normalVertices)

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, 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...

Friends
class	Tetrahedron

Additional Inherited Members
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)

Attribute details

◆ elems

sofa::type::vector<TetrahedronInfo> sofa::component::collision::geometry::TetrahedronCollisionModel::elems

protected

◆ l_topology

SingleLink<TetrahedronCollisionModel, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::collision::geometry::TetrahedronCollisionModel::l_topology

Link to be set to the topology container in the component graph.

◆ m_topology

sofa::core::topology::BaseMeshTopology* sofa::component::collision::geometry::TetrahedronCollisionModel::m_topology

protected

◆ m_topologyRevision

int sofa::component::collision::geometry::TetrahedronCollisionModel::m_topologyRevision

protected

internal revision number to check if topology has changed.

◆ mstate

core::behavior::MechanicalState<defaulttype::Vec3Types>* sofa::component::collision::geometry::TetrahedronCollisionModel::mstate

protected

◆ tetra

const sofa::core::topology::BaseMeshTopology::SeqTetrahedra* sofa::component::collision::geometry::TetrahedronCollisionModel::tetra

protected

Constructor details

◆ TetrahedronCollisionModel()

sofa::component::collision::geometry::TetrahedronCollisionModel::TetrahedronCollisionModel ( )

protected

Function details

◆ addTetraToDraw()

void sofa::component::collision::geometry::TetrahedronCollisionModel::addTetraToDraw	(	const Tetrahedron &	t,
		std::vector< sofa::type::Vec3 > &	tetraVertices,
		std::vector< sofa::type::Vec3 > &	normalVertices
	)

protected

◆ computeBoundingTree()

void sofa::component::collision::geometry::TetrahedronCollisionModel::computeBoundingTree ( int maxDepth = 0 )

overridevirtual

Create or update the bounding volume hierarchy.

Implements sofa::core::CollisionModel.

◆ draw() [1/2]

void sofa::component::collision::geometry::TetrahedronCollisionModel::draw	(	const core::visual::VisualParams *	,
		sofa::Index
	)

overridevirtual

Render an collision element.

Reimplemented from sofa::core::CollisionModel.

◆ draw() [2/2]

void sofa::component::collision::geometry::TetrahedronCollisionModel::draw ( const core::visual::VisualParams * )

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getMechanicalState()

core::behavior::MechanicalState<defaulttype::Vec3Types>* sofa::component::collision::geometry::TetrahedronCollisionModel::getMechanicalState ( )

inline

◆ init()

void sofa::component::collision::geometry::TetrahedronCollisionModel::init ( void )

overridevirtual

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

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

◆ resize()

void sofa::component::collision::geometry::TetrahedronCollisionModel::resize ( sofa::Size s )

overridevirtual

Set the number of elements.

Reimplemented from sofa::core::CollisionModel.

◆ SOFA_CLASS()

sofa::component::collision::geometry::TetrahedronCollisionModel::SOFA_CLASS	(	TetrahedronCollisionModel	,
		core::CollisionModel
	)

◆ updateFromTopology()

void sofa::component::collision::geometry::TetrahedronCollisionModel::updateFromTopology ( )

protectedvirtual

Related details

◆ Tetrahedron

friend class Tetrahedron

friend

Classes

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Attribute details

◆ elems

◆ l_topology

◆ m_topology

◆ m_topologyRevision

◆ mstate

◆ tetra

Constructor details

◆ TetrahedronCollisionModel()

Function details

◆ addTetraToDraw()

◆ computeBoundingTree()

◆ draw() [1/2]

◆ draw() [2/2]

◆ getMechanicalState()

◆ init()

◆ resize()

◆ SOFA_CLASS()

◆ updateFromTopology()

Related details

◆ Tetrahedron