Collisions Detection: Brute force
The BruteForceDetection component belongs to the category of Collision Detection. This method is based on the comparison of the overall bounding volumes of objects to determine if they are in collision or not. This test is very exhaustive because of its pairwise checks. In SOFA, the proposed bounding volumes are commonly Axis-Aligned-Bounding-Box (AABB).
In order to reduce the number of tests to perform, these bounding volumes are arranged as a Bounding Volume Hierarchy (BVH), in our case a hierarchy of AABB. This common strategy highly improves performances. Deformable objects can be challenging for BVH because hierarchy structures must be updated when an object deforms itself.
Before starting the broad phase, two steps are therefore required before the brute force detection starts:
- all present collision models in the scene must be listed. This is done in the function
- the BVH must be created, where used_depth is the needed depth level for the hierarchy. This is done by each CollisionModel in the scene in the function:
Once the BVH is created, the broad phase is ready to go. The hierarchy is browsed and the intersection between pairs of AABB is tested (using the intersection method in the scene). In case the bounding volumes are detected as in collision, the algorithms either goes deeper in the hierarchy or adds the pair of collision models (AABB) in the
cmPair vector if the bounding box is the last in the hierarchy, containing potentially colliding pairs. This is done in the
addCollisionModel() function. The detection betweem bounding volumes (CubeModel) is performed using intersection method defined in the scene.
Then, the narrow phase starts by clearing the DetectionOutputMap containing the CollisionModels in collision and getting the
cmPair vector resulting from the broad phase. From this vector containing the pairs of CollisionModels, the method looks for the finnest CollisionModel (which is not a CubeModel). An intersection check will then be done between these pairs. This check also depends on the intersection method used. This last phase returns the DetectionOutput vector containing elements of CollisionModels in collision and the contact points on the surface of each model.
Last modified: 4 December 2020