$search

collision_checking Namespace Reference

Main namespace. More...

Classes

class  AABB
 A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
class  BVFitter
 A class for fitting a bounding volume to a set of points. More...
class  BVFitter< OBB >
 Specification of BVFitter for OBB bounding volume. More...
class  BVFitter< RSS >
 Specification of BVFitter for RSS bounding volume. More...
struct  BVH_CAResult
struct  BVH_CollideResult
 A class describing the collision result. More...
struct  BVH_DistanceResult
struct  BVHCollisionPair
 The indices of in-collision primitives of objects. More...
struct  BVHFrontNode
 A class describing the node for BVH front. More...
class  BVHModel
 A class describing the bounding hierarchy of a mesh model. More...
struct  BVNode
 A class describing a bounding volume node. More...
class  BVSplitRule
 A class describing the split rule that splits each BV node. More...
class  BVSplitRule< OBB >
 BVHSplitRule specialization for OBB. More...
struct  BVT
 Bounding volume test structure. More...
struct  BVT_Comparer
 Comparer between two BVT. More...
struct  CollisionGeom
struct  CollisionMesh
struct  CollisionMesh< OBB >
 Specialization for OBB. More...
struct  Edge2f
 Simple edge with two indices for its endpoints. More...
class  InterpMotion
 Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity. More...
class  Intersect
 CCD intersect kernel among primitives. More...
class  KDOP
 KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17. More...
class  OBB
 OBB class. More...
class  PolySolver
 A class solves polynomial degree (1,2,3) equations. More...
class  RSS
struct  Triangle3e
 Simple triangle with 3 indices for points. More...
struct  Triangle3f
 Simple triangle with three indices for 3 neighboring triangles. More...
class  TriangleDistance
class  Vec3f
 A class describing a three-dimensional vector. More...

Typedefs

typedef double BVH_REAL
typedef std::list< BVHFrontNode > BVHFrontList
 A class describing the BVH front list.
typedef std::priority_queue
< BVT, std::vector< BVT >
, BVT_Comparer > 		BVTQ
typedef Triangle3e Triangle

Enumerations

enum  BVHBuildState {
  BVH_BUILD_STATE_EMPTY, BVH_BUILD_STATE_BEGUN, BVH_BUILD_STATE_PROCESSED, BVH_BUILD_STATE_UPDATE_BEGUN,
  BVH_BUILD_STATE_UPDATED, BVH_BUILD_STATE_REPLACE_BEGUN
}
 

States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... | |-> update_begun -> updated -> .....

More...
enum  BVHModelType { BVH_MODEL_UNKNOWN, BVH_MODEL_TRIANGLES, BVH_MODEL_POINTCLOUD }
 

BVH model type.

More...
enum  BVHReturnCode {
  BVH_OK = 0, BVH_ERR_MODEL_OUT_OF_MEMORY = -1, BVH_ERR_OUT_OF_MEMORY = -2, BVH_ERR_UNPROCESSED_MODEL = -3,
  BVH_ERR_BUILD_OUT_OF_SEQUENCE = -4, BVH_ERR_BUILD_EMPTY_MODEL = -5, BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -6, BVH_ERR_UNSUPPORTED_FUNCTION = -7,
  BVH_ERR_UNUPDATED_MODEL = -8, BVH_ERR_INCORRECT_DATA = -9, BVH_ERR_UNKNOWN = -10
}
 

Error code for BVH.

More...
enum  SplitMethodType { SPLIT_METHOD_MEAN, SPLIT_METHOD_MEDIAN, SPLIT_METHOD_BV_CENTER }

Functions

Vec3f abs (const Vec3f &v)
int collide (const BVHModel< RSS > &model1, const Vec3f R1[3], const Vec3f &T1, const BVHModel< RSS > &model2, const Vec3f R2[3], const Vec3f &T2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Collision between two RSS models, only support mesh-mesh For RSS, we provide a specification that need not update the mesh vertices.
int collide (const BVHModel< OBB > &model1, const Vec3f R1[3], const Vec3f &T1, const BVHModel< OBB > &model2, const Vec3f R2[3], const Vec3f &T2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Collision between two OBB models, only support mesh-mesh For OBB, we provide a specification that need not update the mesh vertices.
template<typename BV >
int collide (const BVHModel< BV > &model1, const BVHModel< BV > &model2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Collision between two BVH models, only support mesh-mesh.
void collideRecurse (BVNode< RSS > *tree1, BVNode< RSS > *tree2, const Vec3f R[3], const Vec3f &T, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Recursive collision kernel between two RSS trees: for rigid motion.
void collideRecurse (BVNode< OBB > *tree1, BVNode< OBB > *tree2, const Vec3f R[3], const Vec3f &T, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Recursive collision kernel between two OBB trees: for rigid motion.
template<typename BV >
void collideRecurse (BVNode< BV > *tree1, BVNode< BV > *tree2, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Recursive collision kernel between between two BV trees.
void conservativeAdvancementRecurse (BVNode< RSS > *tree1, BVNode< RSS > *tree2, const Vec3f R[3], const Vec3f &T, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CAResult *res, BVHFrontList *front_list=NULL)
 Recursive conservative advancement kernel between two RSS trees.
template<typename BV >
int continuousCollide (BVHModel< BV > &model1, BVHModel< BV > &model2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Continuous collision between two BVH models, support mesh-mesh or mesh-point clouds.
void continuousCollide_CA (const BVHModel< RSS > &model1, const Vec3f R1_1[3], const Vec3f &T1_1, const Vec3f R1_2[3], const Vec3f &T1_2, const BVHModel< RSS > &model2, const Vec3f R2_1[3], const Vec3f &T2_1, const Vec3f R2_2[3], const Vec3f &T2_2, BVH_CAResult *res, BVHFrontList *front_list=NULL)
 Continuous collision detection query between two RSS models based on conservative advancement.
template<typename BV >
void continuousCollideRecurse (BVNode< BV > *tree1, BVNode< BV > *tree2, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Vec3f *prev_vertices1, Vec3f *prev_vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Recursive continuous collision kernel between between two BV trees.
template<typename BV >
void continuousPropagateBVHFrontList (BVNode< BV > *tree1, BVNode< BV > *tree2, Vec3f *vertices1, Vec3f *vertices2, Vec3f *prev_vertices1, Vec3f *prev_vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list)
 BVH front list propagation for continuous collision.
template<typename BV >
int continuousSelfCollide (BVHModel< BV > &model, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Continuous self collision for one BVH model, only support mesh.
template<typename BV >
void continuousSelfCollideRecurse (BVNode< BV > *tree, int b, Vec3f *vertices, Vec3f *prev_vertices, Triangle *tri_indices, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Recursive continuous self collision kernel between between two BV trees.
BVH_REAL distance (const Vec3f R0[3], const Vec3f &T0, const RSS &b1, const RSS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
 distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)
int distance (const BVHModel< RSS > &model1, const Vec3f R1[3], const Vec3f &T1, const BVHModel< RSS > &model2, const Vec3f R2[3], const Vec3f &T2, BVH_DistanceResult *res, BVHFrontList *front_list=NULL)
 Proximity query between two RSS models, only support mesh-mesh For RSS, we provide a specification that need not update the mesh vertices.
template<typename BV >
int distance (const BVHModel< BV > &model1, const BVHModel< BV > &model2, BVH_DistanceResult *res, BVHFrontList *front_list=NULL)
 Proximity query between two BVH models, only support mesh-mesh now.
void distanceQueueRecurse (BVNode< RSS > *tree1, BVNode< RSS > *tree2, const Vec3f R[3], const Vec3f &T, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_DistanceResult *res, BVHFrontList *front_list=NULL)
 Recursive proximity kernel between two RSS trees, using BVT queue acceleration.
void distanceRecurse (BVNode< RSS > *tree1, BVNode< RSS > *tree2, const Vec3f R[3], const Vec3f &T, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_DistanceResult *res, BVHFrontList *front_list=NULL)
 Recursive proximity kernel between two RSS trees.
template<typename BV >
void distanceRecurse (BVNode< BV > *tree1, BVNode< BV > *tree2, int b1, int b2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_DistanceResult *res, BVHFrontList *front_list=NULL)
 Recursive proximity kernel between two BV trees.
void getCovariance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Vec3f M[3])
 Compute the covariance matrix for a set or subset of triangles.
void getCovariance (Vec3f *ps, Vec3f *ps2, unsigned int *indices, int n, Vec3f M[3])
 Compute the covariance matrix for a set or subset of points.
template<size_t N>
void getDistances (const Vec3f &p, BVH_REAL d[])
 Compute the distances to planes with normals from KDOP vectors except those of AABB face planes.
template<>
void getDistances< 5 > (const Vec3f &p, BVH_REAL d[])
 Specification of getDistances.
template<>
void getDistances< 6 > (const Vec3f &p, BVH_REAL d[])
template<>
void getDistances< 9 > (const Vec3f &p, BVH_REAL d[])
void getExtentAndCenter (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Vec3f axis[3], Vec3f &center, Vec3f &extent)
 Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.
void getExtentAndCenter (Vec3f *ps, Vec3f *ps2, unsigned int *indices, int n, Vec3f axis[3], Vec3f &center, Vec3f &extent)
 Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.
void getRadiusAndOriginAndRectangleSize (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Vec3f axis[3], Vec3f &origin, BVH_REAL l[2], BVH_REAL &r)
 Compute the RSS bounding volume parameters: radius, rectangle size and the origin. The bounding volume axes are known.
void getRadiusAndOriginAndRectangleSize (Vec3f *ps, Vec3f *ps2, unsigned int *indices, int n, Vec3f axis[3], Vec3f &origin, BVH_REAL l[2], BVH_REAL &r)
 Compute the RSS bounding volume parameters: radius, rectangle size and the origin. The bounding volume axes are known.
template<typename FPT >
bool isSmall (FPT v, FPT tolerance)
 Check whether one float value is close to zero.
template<typename BV >
CollisionMesh< BV > * makeBox (double a, double b, double c)
template<typename BV >
CollisionMesh< BV > * makeCylinder (double r, double h, unsigned int tot=16)
template<typename BV >
CollisionMesh< BV > * makeMesh (const std::vector< Vec3f > &points, const std::vector< Triangle > &tri_indices)
template<typename BV >
CollisionMesh< BV > * makeSphere (double r, unsigned int seg=16, unsigned int ring=16)
Vec3f max (const Vec3f &a, const Vec3f &b)
 the maximum of two vectors
void Meigen (Vec3f a[3], BVH_REAL dout[3], Vec3f vout[3])
 Compute the eigen value and vector for a given matrix a.
Vec3f min (const Vec3f &a, const Vec3f &b)
 The minimum of two vectors.
void minmax (BVH_REAL p, BVH_REAL &minv, BVH_REAL &maxv)
 Merge the interval [minv, maxv] and value p.
void minmax (BVH_REAL a, BVH_REAL b, BVH_REAL &minv, BVH_REAL &maxv)
 Find the smaller and larger one of two values.
Vec3f MTxV (const Vec3f M[3], const Vec3f &v)
Vec3f MxV (const Vec3f M[3], const Vec3f &v)
bool overlap (const Vec3f R0[3], const Vec3f &T0, const RSS &b1, const RSS &b2)
bool overlap (const Vec3f R0[3], const Vec3f &T0, const OBB &b1, const OBB &b2)
void propagateBVHFrontList (BVNode< RSS > *tree1, BVNode< RSS > *tree2, Vec3f R[3], const Vec3f &T, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list)
 RSS front list propagation for collision of RSS trees.
void propagateBVHFrontList (BVNode< OBB > *tree1, BVNode< OBB > *tree2, Vec3f R[3], const Vec3f &T, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list)
 BVH front list propagation for collision of OBB trees.
template<typename BV >
void propagateBVHFrontList (BVNode< BV > *tree1, BVNode< BV > *tree2, Vec3f *vertices1, Vec3f *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, BVH_CollideResult *res, BVHFrontList *front_list)
 BVH front list propagation for collision.
template<typename FPT >
bool roughlyEqual (FPT left, FPT right, FPT tolerance)
 Compare whether two float values are close enough.
void saveOBjFile (const std::string &name, const std::vector< Vec3f > &points, const std::vector< Triangle > &tri_indices)
template<typename BV >
int selfCollide (const BVHModel< BV > &model, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Self collision for one BVH model, only support mesh.
template<typename BV >
void selfCollideRecurse (BVNode< BV > *tree, int b, Vec3f *vertices, Triangle *tri_indices, BVH_CollideResult *res, BVHFrontList *front_list=NULL)
 Recursive self collision kernel on one BV tree.

Detailed Description

Main namespace.

Author:
Jia Pan

Typedef Documentation

typedef double collision_checking::BVH_REAL

Definition at line 43 of file BVH_defs.h.

typedef std::list<BVHFrontNode> collision_checking::BVHFrontList

A class describing the BVH front list.

Definition at line 63 of file BVH_front.h.

typedef std::priority_queue<BVT, std::vector<BVT>, BVT_Comparer> collision_checking::BVTQ

Definition at line 66 of file distance_primitive.cpp.

typedef Triangle3e collision_checking::Triangle

Definition at line 75 of file primitive.h.

Enumeration Type Documentation

enum collision_checking::BVHBuildState

States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... | |-> update_begun -> updated -> .....

Enumerator:
BVH_BUILD_STATE_EMPTY 
BVH_BUILD_STATE_BEGUN 
BVH_BUILD_STATE_PROCESSED 
BVH_BUILD_STATE_UPDATE_BEGUN 
BVH_BUILD_STATE_UPDATED 
BVH_BUILD_STATE_REPLACE_BEGUN 

Definition at line 50 of file BVH_defs.h.

enum collision_checking::BVHModelType

BVH model type.

Enumerator:
BVH_MODEL_UNKNOWN 
BVH_MODEL_TRIANGLES 
BVH_MODEL_POINTCLOUD 

Definition at line 77 of file BVH_defs.h.

enum collision_checking::BVHReturnCode

Error code for BVH.

Enumerator:
BVH_OK 
BVH_ERR_MODEL_OUT_OF_MEMORY 
BVH_ERR_OUT_OF_MEMORY 
BVH_ERR_UNPROCESSED_MODEL 
BVH_ERR_BUILD_OUT_OF_SEQUENCE 
BVH_ERR_BUILD_EMPTY_MODEL 
BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME 
BVH_ERR_UNSUPPORTED_FUNCTION 
BVH_ERR_UNUPDATED_MODEL 
BVH_ERR_INCORRECT_DATA 
BVH_ERR_UNKNOWN 

Definition at line 61 of file BVH_defs.h.

enum collision_checking::SplitMethodType
Enumerator:
SPLIT_METHOD_MEAN 
SPLIT_METHOD_MEDIAN 
SPLIT_METHOD_BV_CENTER 

Definition at line 52 of file BVH_split_rule.h.

Function Documentation

Vec3f collision_checking::abs ( const Vec3f &  v  )  [inline]

Definition at line 433 of file vec_3f.h.

int collision_checking::collide ( const BVHModel< RSS > &  model1,
const Vec3f  R1[3],
const Vec3f &  T1,
const BVHModel< RSS > &  model2,
const Vec3f  R2[3],
const Vec3f &  T2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
)

Collision between two RSS models, only support mesh-mesh For RSS, we provide a specification that need not update the mesh vertices.

Definition at line 109 of file collision.cpp.

int collision_checking::collide ( const BVHModel< OBB > &  model1,
const Vec3f  R1[3],
const Vec3f &  T1,
const BVHModel< OBB > &  model2,
const Vec3f  R2[3],
const Vec3f &  T2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
)

Collision between two OBB models, only support mesh-mesh For OBB, we provide a specification that need not update the mesh vertices.

Definition at line 43 of file collision.cpp.

template<typename BV >
int collision_checking::collide ( const BVHModel< BV > &  model1,
const BVHModel< BV > &  model2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Collision between two BVH models, only support mesh-mesh.

Definition at line 51 of file collision.h.

void collision_checking::collideRecurse ( BVNode< RSS > *  tree1,
BVNode< RSS > *  tree2,
const Vec3f  R[3],
const Vec3f &  T,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
)

Recursive collision kernel between two RSS trees: for rigid motion.

Definition at line 206 of file collision_primitive.cpp.

void collision_checking::collideRecurse ( BVNode< OBB > *  tree1,
BVNode< OBB > *  tree2,
const Vec3f  R[3],
const Vec3f &  T,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
)

Recursive collision kernel between two OBB trees: for rigid motion.

Definition at line 103 of file collision_primitive.cpp.

template<typename BV >
void collision_checking::collideRecurse ( BVNode< BV > *  tree1,
BVNode< BV > *  tree2,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Recursive collision kernel between between two BV trees.

Definition at line 153 of file collision_primitive.h.

void collision_checking::conservativeAdvancementRecurse ( BVNode< RSS > *  tree1,
BVNode< RSS > *  tree2,
const Vec3f  R[3],
const Vec3f &  T,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CAResult *  res,
BVHFrontList *  front_list = NULL 
)

Recursive conservative advancement kernel between two RSS trees.

n is the local frame of object 1

turn n into the global frame

n is in local frame of RSS c1

turn n into the global frame

n is in the local frame of RSS a1

turn n into the global frame

n is in the local frame of RSS a1

turn n into the global frame

n is the local frame of RSS c1

turn n into the global frame

n is the local frame of object 1

turn n into the global frame

n is in local frame of RSS c1

turn n into the global frame

n is in the local frame of RSS a1

turn n into the global frame

n is in the local frame of RSS a1

turn n into the global frame

n is the local frame of RSS c1

turn n into the global frame

Definition at line 236 of file conservative_advancement.cpp.

template<typename BV >
int collision_checking::continuousCollide ( BVHModel< BV > &  model1,
BVHModel< BV > &  model2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Continuous collision between two BVH models, support mesh-mesh or mesh-point clouds.

Definition at line 51 of file continuous_collision.h.

void collision_checking::continuousCollide_CA ( const BVHModel< RSS > &  model1,
const Vec3f  R1_1[3],
const Vec3f &  T1_1,
const Vec3f  R1_2[3],
const Vec3f &  T1_2,
const BVHModel< RSS > &  model2,
const Vec3f  R2_1[3],
const Vec3f &  T2_1,
const Vec3f  R2_2[3],
const Vec3f &  T2_2,
BVH_CAResult *  res,
BVHFrontList *  front_list = NULL 
)

Continuous collision detection query between two RSS models based on conservative advancement.

Definition at line 424 of file conservative_advancement.cpp.

template<typename BV >
void collision_checking::continuousCollideRecurse ( BVNode< BV > *  tree1,
BVNode< BV > *  tree2,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Vec3f *  prev_vertices1,
Vec3f *  prev_vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Recursive continuous collision kernel between between two BV trees.

Definition at line 287 of file collision_primitive.h.

template<typename BV >
void collision_checking::continuousPropagateBVHFrontList ( BVNode< BV > *  tree1,
BVNode< BV > *  tree2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Vec3f *  prev_vertices1,
Vec3f *  prev_vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list 
) [inline]

BVH front list propagation for continuous collision.

Definition at line 609 of file collision_primitive.h.

template<typename BV >
int collision_checking::continuousSelfCollide ( BVHModel< BV > &  model,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Continuous self collision for one BVH model, only support mesh.

Definition at line 107 of file continuous_collision.h.

template<typename BV >
void collision_checking::continuousSelfCollideRecurse ( BVNode< BV > *  tree,
int  b,
Vec3f *  vertices,
Vec3f *  prev_vertices,
Triangle *  tri_indices,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Recursive continuous self collision kernel between between two BV trees.

Definition at line 498 of file collision_primitive.h.

BVH_REAL collision_checking::distance ( const Vec3f  R0[3],
const Vec3f &  T0,
const RSS &  b1,
const RSS &  b2,
Vec3f *  P = NULL,
Vec3f *  Q = NULL 
)

distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)

Definition at line 310 of file rss.cpp.

int collision_checking::distance ( const BVHModel< RSS > &  model1,
const Vec3f  R1[3],
const Vec3f &  T1,
const BVHModel< RSS > &  model2,
const Vec3f  R2[3],
const Vec3f &  T2,
BVH_DistanceResult *  res,
BVHFrontList *  front_list = NULL 
)

Proximity query between two RSS models, only support mesh-mesh For RSS, we provide a specification that need not update the mesh vertices.

Definition at line 44 of file proximity.cpp.

template<typename BV >
int collision_checking::distance ( const BVHModel< BV > &  model1,
const BVHModel< BV > &  model2,
BVH_DistanceResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Proximity query between two BVH models, only support mesh-mesh now.

Definition at line 49 of file proximity.h.

void collision_checking::distanceQueueRecurse ( BVNode< RSS > *  tree1,
BVNode< RSS > *  tree2,
const Vec3f  R[3],
const Vec3f &  T,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_DistanceResult *  res,
BVHFrontList *  front_list = NULL 
)

Recursive proximity kernel between two RSS trees, using BVT queue acceleration.

Compute the distance between two RSS modes.

Definition at line 97 of file distance_primitive.cpp.

void collision_checking::distanceRecurse ( BVNode< RSS > *  tree1,
BVNode< RSS > *  tree2,
const Vec3f  R[3],
const Vec3f &  T,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_DistanceResult *  res,
BVHFrontList *  front_list = NULL 
)

Recursive proximity kernel between two RSS trees.

Definition at line 222 of file distance_primitive.cpp.

template<typename BV >
void collision_checking::distanceRecurse ( BVNode< BV > *  tree1,
BVNode< BV > *  tree2,
int  b1,
int  b2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_DistanceResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Recursive proximity kernel between two BV trees.

Definition at line 96 of file distance_primitive.h.

void collision_checking::getCovariance ( Vec3f *  ps,
Vec3f *  ps2,
Triangle *  ts,
unsigned int *  indices,
int  n,
Vec3f  M[3] 
)

Compute the covariance matrix for a set or subset of triangles.

Definition at line 90 of file BV_fitter.cpp.

void collision_checking::getCovariance ( Vec3f *  ps,
Vec3f *  ps2,
unsigned int *  indices,
int  n,
Vec3f  M[3] 
)

Compute the covariance matrix for a set or subset of points.

Definition at line 44 of file BV_fitter.cpp.

template<size_t N>
void collision_checking::getDistances ( const Vec3f &  p,
BVH_REAL  d[] 
) [inline]

Compute the distances to planes with normals from KDOP vectors except those of AABB face planes.

Definition at line 74 of file kDOP.h.

template<>
void collision_checking::getDistances< 5 > ( const Vec3f &  p,
BVH_REAL  d[] 
) [inline]

Specification of getDistances.

template<>
void collision_checking::getDistances< 6 > ( const Vec3f &  p,
BVH_REAL  d[] 
) [inline]
template<>
void collision_checking::getDistances< 9 > ( const Vec3f &  p,
BVH_REAL  d[] 
) [inline]
void collision_checking::getExtentAndCenter ( Vec3f *  ps,
Vec3f *  ps2,
Triangle *  ts,
unsigned int *  indices,
int  n,
Vec3f  axis[3],
Vec3f &  center,
Vec3f &  extent 
)

Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.

Definition at line 816 of file BV_fitter.cpp.

void collision_checking::getExtentAndCenter ( Vec3f *  ps,
Vec3f *  ps2,
unsigned int *  indices,
int  n,
Vec3f  axis[3],
Vec3f &  center,
Vec3f &  extent 
)

Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.

Definition at line 758 of file BV_fitter.cpp.

void collision_checking::getRadiusAndOriginAndRectangleSize ( Vec3f *  ps,
Vec3f *  ps2,
Triangle *  ts,
unsigned int *  indices,
int  n,
Vec3f  axis[3],
Vec3f &  origin,
BVH_REAL  l[2],
BVH_REAL &  r 
)

Compute the RSS bounding volume parameters: radius, rectangle size and the origin. The bounding volume axes are known.

Definition at line 508 of file BV_fitter.cpp.

void collision_checking::getRadiusAndOriginAndRectangleSize ( Vec3f *  ps,
Vec3f *  ps2,
unsigned int *  indices,
int  n,
Vec3f  axis[3],
Vec3f &  origin,
BVH_REAL  l[2],
BVH_REAL &  r 
)

Compute the RSS bounding volume parameters: radius, rectangle size and the origin. The bounding volume axes are known.

Definition at line 266 of file BV_fitter.cpp.

template<typename FPT >
bool collision_checking::isSmall ( FPT  v,
FPT  tolerance 
) [inline]

Check whether one float value is close to zero.

Definition at line 55 of file roughly_comp.h.

template<typename BV >
CollisionMesh< BV > * collision_checking::makeBox ( double  a,
double  b,
double  c 
) [inline]

Definition at line 418 of file collision_geom.h.

template<typename BV >
CollisionMesh< BV > * collision_checking::makeCylinder ( double  r,
double  h,
unsigned int  tot = 16 
) [inline]

Definition at line 455 of file collision_geom.h.

template<typename BV >
CollisionMesh< BV > * collision_checking::makeMesh ( const std::vector< Vec3f > &  points,
const std::vector< Triangle > &  tri_indices 
) [inline]

Definition at line 406 of file collision_geom.h.

template<typename BV >
CollisionMesh< BV > * collision_checking::makeSphere ( double  r,
unsigned int  seg = 16,
unsigned int  ring = 16 
) [inline]

Definition at line 525 of file collision_geom.h.

Vec3f collision_checking::max ( const Vec3f &  a,
const Vec3f &  b 
) [inline]

the maximum of two vectors

Definition at line 427 of file vec_3f.h.

void collision_checking::Meigen ( Vec3f  a[3],
BVH_REAL  dout[3],
Vec3f  vout[3] 
)

Compute the eigen value and vector for a given matrix a.

Definition at line 175 of file BV_fitter.cpp.

Vec3f collision_checking::min ( const Vec3f &  a,
const Vec3f &  b 
) [inline]

The minimum of two vectors.

Definition at line 420 of file vec_3f.h.

void collision_checking::minmax ( BVH_REAL  p,
BVH_REAL &  minv,
BVH_REAL &  maxv 
) [inline]

Merge the interval [minv, maxv] and value p.

Definition at line 65 of file kDOP.h.

void collision_checking::minmax ( BVH_REAL  a,
BVH_REAL  b,
BVH_REAL &  minv,
BVH_REAL &  maxv 
) [inline]

Find the smaller and larger one of two values.

Definition at line 51 of file kDOP.h.

Vec3f collision_checking::MTxV ( const Vec3f  M[3],
const Vec3f &  v 
)

Definition at line 52 of file vec_3f.cpp.

Vec3f collision_checking::MxV ( const Vec3f  M[3],
const Vec3f &  v 
)

Definition at line 47 of file vec_3f.cpp.

bool collision_checking::overlap ( const Vec3f  R0[3],
const Vec3f &  T0,
const RSS &  b1,
const RSS &  b2 
)

Definition at line 59 of file rss.cpp.

bool collision_checking::overlap ( const Vec3f  R0[3],
const Vec3f &  T0,
const OBB &  b1,
const OBB &  b2 
)

Definition at line 749 of file obb.cpp.

void collision_checking::propagateBVHFrontList ( BVNode< RSS > *  tree1,
BVNode< RSS > *  tree2,
Vec3f  R[3],
const Vec3f &  T,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list 
)

RSS front list propagation for collision of RSS trees.

Definition at line 382 of file collision_primitive.cpp.

void collision_checking::propagateBVHFrontList ( BVNode< OBB > *  tree1,
BVNode< OBB > *  tree2,
Vec3f  R[3],
const Vec3f &  T,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list 
)

BVH front list propagation for collision of OBB trees.

Definition at line 308 of file collision_primitive.cpp.

template<typename BV >
void collision_checking::propagateBVHFrontList ( BVNode< BV > *  tree1,
BVNode< BV > *  tree2,
Vec3f *  vertices1,
Vec3f *  vertices2,
Triangle *  tri_indices1,
Triangle *  tri_indices2,
BVH_CollideResult *  res,
BVHFrontList *  front_list 
) [inline]

BVH front list propagation for collision.

Definition at line 519 of file collision_primitive.h.

template<typename FPT >
bool collision_checking::roughlyEqual ( FPT  left,
FPT  right,
FPT  tolerance 
) [inline]

Compare whether two float values are close enough.

Definition at line 47 of file roughly_comp.h.

void collision_checking::saveOBjFile ( const std::string &  name,
const std::vector< Vec3f > &  points,
const std::vector< Triangle > &  tri_indices 
) [inline]

Definition at line 49 of file collision_geom.h.

template<typename BV >
int collision_checking::selfCollide ( const BVHModel< BV > &  model,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Self collision for one BVH model, only support mesh.

Definition at line 86 of file collision.h.

template<typename BV >
void collision_checking::selfCollideRecurse ( BVNode< BV > *  tree,
int  b,
Vec3f *  vertices,
Triangle *  tri_indices,
BVH_CollideResult *  res,
BVHFrontList *  front_list = NULL 
) [inline]

Recursive self collision kernel on one BV tree.

Definition at line 268 of file collision_primitive.h.

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends

collision_checking
Author(s): Jia Pan, Dinesh Manocha (UNC, Chapel Hill)
autogenerated on Fri Mar 1 14:57:00 2013