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collision_checking::Intersect Class Reference

CCD intersect kernel among primitives. More...

#include <intersect.h>

List of all members.

Static Public Member Functions

static bool intersect_EE (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &d1, BVH_REAL *collision_time, Vec3f *p_i, bool useNewton=true)
 CCD intersect between two edges [a0, b0] and [a1, b1] are points for one edge in time t0 and t1 [c0, d0] and [c1, d1] are points for the other edge in time t0 and t1 p_i returns the coordinate of the collision point.
static bool intersect_EE_filtered (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &d1, BVH_REAL *collision_time, Vec3f *p_i, bool useNewton=true)
 CCD intersect between two edges, using additional filter.
static bool intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Vec3f R[3], const Vec3f &T, Vec3f *contact_points=NULL, unsigned int *num_contact_points=NULL, BVH_REAL *penetration_depth=NULL, Vec3f *normal=NULL)
static bool intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, Vec3f *contact_points=NULL, unsigned int *num_contact_points=NULL, BVH_REAL *penetration_depth=NULL, Vec3f *normal=NULL)
 CD intersect between two triangles [P1, P2, P3] and [Q1, Q2, Q3].
static bool intersect_VE (const Vec3f &a0, const Vec3f &b0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &p1, const Vec3f &L)
 CCD intersect between one vertex and and one edge.
static bool intersect_VF (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &p1, BVH_REAL *collision_time, Vec3f *p_i, bool useNewton=true)
 CCD intersect between one vertex and one face [a0, b0, c0] and [a1, b1, c1] are points for the triangle face in time t0 and t1 p0 and p1 are points for vertex in time t0 and t1 p_i returns the coordinate of the collision point.
static bool intersect_VF_filtered (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &p1, BVH_REAL *collision_time, Vec3f *p_i, bool useNewton=true)
 CCD intersect between one vertex and one face, using additional filter.

Static Private Member Functions

static bool buildEdgePlane (const Vec3f &v1, const Vec3f &v2, const Vec3f &tn, Vec3f *n, BVH_REAL *t)
static bool buildTrianglePlane (const Vec3f &v1, const Vec3f &v2, const Vec3f &v3, Vec3f *n, BVH_REAL *t)
static bool checkRootValidity_EE (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &va, const Vec3f &vb, const Vec3f &vc, const Vec3f &vd, BVH_REAL t, Vec3f *q_i=NULL)
 Check whether a root for EE intersection is valid (i.e. within the two edges intersected at the given time.
static bool checkRootValidity_VE (const Vec3f &a0, const Vec3f &b0, const Vec3f &p0, const Vec3f &va, const Vec3f &vb, const Vec3f &vp, BVH_REAL t)
 Check whether a root for VE intersection is valid.
static bool checkRootValidity_VF (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &va, const Vec3f &vb, const Vec3f &vc, const Vec3f &vp, BVH_REAL t)
 Check whether a root for VF intersection is valid (i.e. within the triangle at intersection t.
static void clipPolygonByPlane (Vec3f *polygon_points, unsigned int num_polygon_points, const Vec3f &n, BVH_REAL t, Vec3f clipped_points[], unsigned int *num_clipped_points)
static void clipSegmentByPlane (const Vec3f &v1, const Vec3f &v2, const Vec3f &n, BVH_REAL t, Vec3f *clipped_point)
static void clipTriangleByTriangleAndEdgePlanes (const Vec3f &v1, const Vec3f &v2, const Vec3f &v3, const Vec3f &t1, const Vec3f &t2, const Vec3f &t3, const Vec3f &tn, BVH_REAL to, Vec3f clipped_points[], unsigned int *num_clipped_points, bool clip_triangle=false)
static void computeCubicCoeff_EE (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &va, const Vec3f &vb, const Vec3f &vc, const Vec3f &vd, BVH_REAL *a, BVH_REAL *b, BVH_REAL *c, BVH_REAL *d)
 Compute the cubic coefficients for EE intersection.
static void computeCubicCoeff_VE (const Vec3f &a0, const Vec3f &b0, const Vec3f &p0, const Vec3f &va, const Vec3f &vb, const Vec3f &vp, const Vec3f &L, BVH_REAL *a, BVH_REAL *b, BVH_REAL *c)
 Compute the cubic coefficients for VE intersection.
static void computeCubicCoeff_VF (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &va, const Vec3f &vb, const Vec3f &vc, const Vec3f &vp, BVH_REAL *a, BVH_REAL *b, BVH_REAL *c, BVH_REAL *d)
 Compute the cubic coefficients for VF intersection See Paper "Interactive Continuous Collision Detection between Deformable Models using Connectivity-Based Culling", Equation 1.
static void computeDeepestPoints (Vec3f *clipped_points, unsigned int num_clipped_points, const Vec3f &n, BVH_REAL t, BVH_REAL *penetration_depth, Vec3f *deepest_points, unsigned int *num_deepest_points)
static BVH_REAL distanceToPlane (const Vec3f &n, BVH_REAL t, const Vec3f &v)
static bool insideLineSegment (const Vec3f &a, const Vec3f &b, const Vec3f &p)
 Check whether one point p is within a line segment [a, b].
static bool insideTriangle (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &p)
 Check whether one point p is within triangle [a, b, c].
static bool intersectPreFiltering (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &d1)
 filter for intersection, works for both VF and EE
static bool isZero (BVH_REAL v)
 Check whether one value is zero.
static bool linelineIntersect (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3, const Vec3f &p4, Vec3f *pa, Vec3f *pb, BVH_REAL *mua, BVH_REAL *mub)
 Calculate the line segment papb that is the shortest route between two lines p1p2 and p3p4. Calculate also the values of mua and mub where pa = p1 + mua (p2 - p1) pb = p3 + mub (p4 - p3) return FALSE if no solution exists.
static int project6 (const Vec3f &ax, const Vec3f &p1, const Vec3f &p2, const Vec3f &p3, const Vec3f &q1, const Vec3f &q2, const Vec3f &q3)
 Project function used in intersect_Triangle().
static bool sameSideOfPlane (const Vec3f &v1, const Vec3f &v2, const Vec3f &v3, const Vec3f &n, BVH_REAL t)
static bool solveCubicWithIntervalNewton (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &va, const Vec3f &vb, const Vec3f &vc, const Vec3f &vd, BVH_REAL &l, BVH_REAL &r, bool bVF, BVH_REAL coeffs[], Vec3f *data=NULL)
 Solve the cubic function using Newton method, also satisfies the interval restriction.
static bool solveSquare (BVH_REAL a, BVH_REAL b, BVH_REAL c, const Vec3f &a0, const Vec3f &b0, const Vec3f &p0, const Vec3f &va, const Vec3f &vb, const Vec3f &vp)
 Solve a square function for VE intersection (with interval restriction).
static bool solveSquare (BVH_REAL a, BVH_REAL b, BVH_REAL c, const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &va, const Vec3f &vb, const Vec3f &vc, const Vec3f &vd, bool bVF, BVH_REAL *ret)
 Solve a square function for EE intersection (with interval restriction).

Static Private Attributes

static const BVH_REAL CCD_RESOLUTION = 1e-7
static const BVH_REAL EPSILON = 1e-5
static const unsigned int MAX_TRIANGLE_CLIPS = 8
static const BVH_REAL NEAR_ZERO_THRESHOLD = 1e-7

Detailed Description

CCD intersect kernel among primitives.

Definition at line 73 of file intersect.h.

Member Function Documentation

bool collision_checking::Intersect::buildEdgePlane ( const Vec3f &  v1,
const Vec3f &  v2,
const Vec3f &  tn,
Vec3f *  n,
BVH_REAL *  t 
) [static, private]

Definition at line 1100 of file intersect.cpp.

bool collision_checking::Intersect::buildTrianglePlane ( const Vec3f &  v1,
const Vec3f &  v2,
const Vec3f &  v3,
Vec3f *  n,
BVH_REAL *  t 
) [static, private]

Definition at line 1087 of file intersect.cpp.

bool collision_checking::Intersect::checkRootValidity_EE ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  d0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vc,
const Vec3f &  vd,
BVH_REAL  t,
Vec3f *  q_i = NULL 
) [static, private]

Check whether a root for EE intersection is valid (i.e. within the two edges intersected at the given time.

Definition at line 336 of file intersect.cpp.

bool collision_checking::Intersect::checkRootValidity_VE ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  p0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vp,
BVH_REAL  t 
) [static, private]

Check whether a root for VE intersection is valid.

Definition at line 355 of file intersect.cpp.

bool collision_checking::Intersect::checkRootValidity_VF ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  p0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vc,
const Vec3f &  vp,
BVH_REAL  t 
) [static, private]

Check whether a root for VF intersection is valid (i.e. within the triangle at intersection t.

Definition at line 329 of file intersect.cpp.

void collision_checking::Intersect::clipPolygonByPlane ( Vec3f *  polygon_points,
unsigned int  num_polygon_points,
const Vec3f &  n,
BVH_REAL  t,
Vec3f  clipped_points[],
unsigned int *  num_clipped_points 
) [static, private]

Definition at line 992 of file intersect.cpp.

void collision_checking::Intersect::clipSegmentByPlane ( const Vec3f &  v1,
const Vec3f &  v2,
const Vec3f &  n,
BVH_REAL  t,
Vec3f *  clipped_point 
) [static, private]

Definition at line 1074 of file intersect.cpp.

void collision_checking::Intersect::clipTriangleByTriangleAndEdgePlanes ( const Vec3f &  v1,
const Vec3f &  v2,
const Vec3f &  v3,
const Vec3f &  t1,
const Vec3f &  t2,
const Vec3f &  t3,
const Vec3f &  tn,
BVH_REAL  to,
Vec3f  clipped_points[],
unsigned int *  num_clipped_points,
bool  clip_triangle = false 
) [static, private]

Definition at line 944 of file intersect.cpp.

void collision_checking::Intersect::computeCubicCoeff_EE ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  d0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vc,
const Vec3f &  vd,
BVH_REAL *  a,
BVH_REAL *  b,
BVH_REAL *  c,
BVH_REAL *  d 
) [static, private]

Compute the cubic coefficients for EE intersection.

Definition at line 450 of file intersect.cpp.

void collision_checking::Intersect::computeCubicCoeff_VE ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  p0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vp,
const Vec3f &  L,
BVH_REAL *  a,
BVH_REAL *  b,
BVH_REAL *  c 
) [static, private]

Compute the cubic coefficients for VE intersection.

Definition at line 471 of file intersect.cpp.

void collision_checking::Intersect::computeCubicCoeff_VF ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  p0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vc,
const Vec3f &  vp,
BVH_REAL *  a,
BVH_REAL *  b,
BVH_REAL *  c,
BVH_REAL *  d 
) [static, private]

Compute the cubic coefficients for VF intersection See Paper "Interactive Continuous Collision Detection between Deformable Models using Connectivity-Based Culling", Equation 1.

Compute the cubic coefficients for VF case See Paper "Interactive Continuous Collision Detection between Deformable Models using Connectivity-Based Culling", Equation 1.

Definition at line 428 of file intersect.cpp.

void collision_checking::Intersect::computeDeepestPoints ( Vec3f *  clipped_points,
unsigned int  num_clipped_points,
const Vec3f &  n,
BVH_REAL  t,
BVH_REAL *  penetration_depth,
Vec3f *  deepest_points,
unsigned int *  num_deepest_points 
) [static, private]

Definition at line 906 of file intersect.cpp.

BVH_REAL collision_checking::Intersect::distanceToPlane ( const Vec3f &  n,
BVH_REAL  t,
const Vec3f &  v 
) [static, private]

Definition at line 1082 of file intersect.cpp.

bool collision_checking::Intersect::insideLineSegment ( const Vec3f &  a,
const Vec3f &  b,
const Vec3f &  p 
) [static, private]

Check whether one point p is within a line segment [a, b].

Definition at line 282 of file intersect.cpp.

bool collision_checking::Intersect::insideTriangle ( const Vec3f &  a,
const Vec3f &  b,
const Vec3f &  c,
const Vec3f &  p 
) [static, private]

Check whether one point p is within triangle [a, b, c].

Definition at line 265 of file intersect.cpp.

bool collision_checking::Intersect::intersect_EE ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  d0,
const Vec3f &  a1,
const Vec3f &  b1,
const Vec3f &  c1,
const Vec3f &  d1,
BVH_REAL *  collision_time,
Vec3f *  p_i,
bool  useNewton = true 
) [static]

CCD intersect between two edges [a0, b0] and [a1, b1] are points for one edge in time t0 and t1 [c0, d0] and [c1, d1] are points for the other edge in time t0 and t1 p_i returns the coordinate of the collision point.

Definition at line 556 of file intersect.cpp.

bool collision_checking::Intersect::intersect_EE_filtered ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  d0,
const Vec3f &  a1,
const Vec3f &  b1,
const Vec3f &  c1,
const Vec3f &  d1,
BVH_REAL *  collision_time,
Vec3f *  p_i,
bool  useNewton = true 
) [static]

CCD intersect between two edges, using additional filter.

Definition at line 683 of file intersect.cpp.

bool collision_checking::Intersect::intersect_Triangle ( const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Vec3f &  Q1,
const Vec3f &  Q2,
const Vec3f &  Q3,
const Vec3f  R[3],
const Vec3f &  T,
Vec3f *  contact_points = NULL,
unsigned int *  num_contact_points = NULL,
BVH_REAL *  penetration_depth = NULL,
Vec3f *  normal = NULL 
) [static]

Definition at line 695 of file intersect.cpp.

bool collision_checking::Intersect::intersect_Triangle ( const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Vec3f &  Q1,
const Vec3f &  Q2,
const Vec3f &  Q3,
Vec3f *  contact_points = NULL,
unsigned int *  num_contact_points = NULL,
BVH_REAL *  penetration_depth = NULL,
Vec3f *  normal = NULL 
) [static]

CD intersect between two triangles [P1, P2, P3] and [Q1, Q2, Q3].

Definition at line 795 of file intersect.cpp.

bool collision_checking::Intersect::intersect_VE ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  p0,
const Vec3f &  a1,
const Vec3f &  b1,
const Vec3f &  p1,
const Vec3f &  L 
) [static]

CCD intersect between one vertex and and one edge.

Definition at line 621 of file intersect.cpp.

bool collision_checking::Intersect::intersect_VF ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  p0,
const Vec3f &  a1,
const Vec3f &  b1,
const Vec3f &  c1,
const Vec3f &  p1,
BVH_REAL *  collision_time,
Vec3f *  p_i,
bool  useNewton = true 
) [static]

CCD intersect between one vertex and one face [a0, b0, c0] and [a1, b1, c1] are points for the triangle face in time t0 and t1 p0 and p1 are points for vertex in time t0 and t1 p_i returns the coordinate of the collision point.

Definition at line 490 of file intersect.cpp.

bool collision_checking::Intersect::intersect_VF_filtered ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  p0,
const Vec3f &  a1,
const Vec3f &  b1,
const Vec3f &  c1,
const Vec3f &  p1,
BVH_REAL *  collision_time,
Vec3f *  p_i,
bool  useNewton = true 
) [static]

CCD intersect between one vertex and one face, using additional filter.

Definition at line 671 of file intersect.cpp.

bool collision_checking::Intersect::intersectPreFiltering ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  d0,
const Vec3f &  a1,
const Vec3f &  b1,
const Vec3f &  c1,
const Vec3f &  d1 
) [static, private]

filter for intersection, works for both VF and EE

Prefilter for intersection, works for both VF and EE.

Definition at line 642 of file intersect.cpp.

bool collision_checking::Intersect::isZero ( BVH_REAL  v  )  [inline, static, private]

Check whether one value is zero.

Definition at line 177 of file intersect.cpp.

bool collision_checking::Intersect::linelineIntersect ( const Vec3f &  p1,
const Vec3f &  p2,
const Vec3f &  p3,
const Vec3f &  p4,
Vec3f *  pa,
Vec3f *  pb,
BVH_REAL *  mua,
BVH_REAL *  mub 
) [static, private]

Calculate the line segment papb that is the shortest route between two lines p1p2 and p3p4. Calculate also the values of mua and mub where pa = p1 + mua (p2 - p1) pb = p3 + mub (p4 - p3) return FALSE if no solution exists.

Definition at line 293 of file intersect.cpp.

int collision_checking::Intersect::project6 ( const Vec3f &  ax,
const Vec3f &  p1,
const Vec3f &  p2,
const Vec3f &  p3,
const Vec3f &  q1,
const Vec3f &  q2,
const Vec3f &  q3 
) [static, private]

Project function used in intersect_Triangle().

Definition at line 1123 of file intersect.cpp.

bool collision_checking::Intersect::sameSideOfPlane ( const Vec3f &  v1,
const Vec3f &  v2,
const Vec3f &  v3,
const Vec3f &  n,
BVH_REAL  t 
) [static, private]

Definition at line 1113 of file intersect.cpp.

bool collision_checking::Intersect::solveCubicWithIntervalNewton ( const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  d0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vc,
const Vec3f &  vd,
BVH_REAL &  l,
BVH_REAL &  r,
bool  bVF,
BVH_REAL  coeffs[],
Vec3f *  data = NULL 
) [static, private]

Solve the cubic function using Newton method, also satisfies the interval restriction.

data: only used for EE, return the intersect point

Definition at line 185 of file intersect.cpp.

bool collision_checking::Intersect::solveSquare ( BVH_REAL  a,
BVH_REAL  b,
BVH_REAL  c,
const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  p0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vp 
) [static, private]

Solve a square function for VE intersection (with interval restriction).

Definition at line 398 of file intersect.cpp.

bool collision_checking::Intersect::solveSquare ( BVH_REAL  a,
BVH_REAL  b,
BVH_REAL  c,
const Vec3f &  a0,
const Vec3f &  b0,
const Vec3f &  c0,
const Vec3f &  d0,
const Vec3f &  va,
const Vec3f &  vb,
const Vec3f &  vc,
const Vec3f &  vd,
bool  bVF,
BVH_REAL *  ret 
) [static, private]

Solve a square function for EE intersection (with interval restriction).

Definition at line 362 of file intersect.cpp.

Member Data Documentation

const BVH_REAL collision_checking::Intersect::CCD_RESOLUTION = 1e-7 [static, private]

Definition at line 229 of file intersect.h.

const BVH_REAL collision_checking::Intersect::EPSILON = 1e-5 [static, private]

Definition at line 227 of file intersect.h.

const unsigned int collision_checking::Intersect::MAX_TRIANGLE_CLIPS = 8 [static, private]

Definition at line 230 of file intersect.h.

const BVH_REAL collision_checking::Intersect::NEAR_ZERO_THRESHOLD = 1e-7 [static, private]

Definition at line 228 of file intersect.h.

The documentation for this class was generated from the following files:
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collision_checking
Author(s): Jia Pan, Dinesh Manocha (UNC, Chapel Hill)
autogenerated on Fri Mar 1 14:57:00 2013