hrp::CollisionPairInserter Class Reference

#include <CollisionPairInserter.h>

Inheritance diagram for hrp::CollisionPairInserter:

Classes
class	col_tri
class	tri

Public Member Functions
virtual int	apply (const Opcode::AABBCollisionNode *b1, const Opcode::AABBCollisionNode *b2, int id1, int id2, int num_of_i_points, Vector3 i_points[4], Vector3 &n_vector, double depth, Vector3 &n1, Vector3 &m1, int ctype, Opcode::MeshInterface *mesh1, Opcode::MeshInterface *mesh2)
	refine collision information using neighboring triangls More...
	CollisionPairInserter ()
virtual int	detectTriTriOverlap (const Vector3 &P1, const Vector3 &P2, const Vector3 &P3, const Vector3 &Q1, const Vector3 &Q2, const Vector3 &Q3, collision_data *col_p)
	detect collsiion between triangles More...
virtual	~CollisionPairInserter ()
Public Member Functions inherited from hrp::CollisionPairInserterBase
void	clear ()
	clear collision information More...
	CollisionPairInserterBase ()
std::vector< collision_data > &	collisions ()
	get collision information More...
void	set (ColdetModelSharedDataSet *model0, ColdetModelSharedDataSet *model1)
virtual	~CollisionPairInserterBase ()

Private Member Functions
void	check_separability (int id1, int id2, int ctype)
void	examine_normal_vector (int id1, int id2, int ctype)
void	find_signed_distance (Vector3 &signed_distance, col_tri *trp, int nth, int ctype, int obj)
void	find_signed_distance (Vector3 &signed_distance, const Vector3 &vert, int nth, int ctype, int obj)
void	find_signed_distance (Vector3 &signed_distance1, ColdetModelSharedDataSet *model0, int id1, int contactIndex, int ctype, int obj)
int	get_triangles_in_convex_neighbor (ColdetModelSharedDataSet *model, int id, col_tri *tri_convex_neighbor, int max_num)
void	get_triangles_in_convex_neighbor (ColdetModelSharedDataSet *model, int id, col_tri *tri_convex_neighbor, std::vector< int > &map, int &count)
int	new_point_test (int k)
void	triangleIndexToPoint (ColdetModelSharedDataSet *model, int id, col_tri &tri)

Static Private Member Functions
static void	calc_normal_vector (col_tri *t)
static void	copy_tri (col_tri *t1, tri *t2)
static void	copy_tri (col_tri *t1, col_tri *t2)
static int	is_convex_neighbor (col_tri *t1, col_tri *t2)

Additional Inherited Members
Public Attributes inherited from hrp::CollisionPairInserterBase
Matrix33	CD_Rot1
	rotation of the first mesh More...
Matrix33	CD_Rot2
	rotation of the second mesh More...
double	CD_s1
	scale of the first mesh More...
double	CD_s2
	scale of the second mesh More...
Vector3	CD_Trans1
	translation of the first mesh More...
Vector3	CD_Trans2
	translation of the second mesh More...
std::vector< collision_data >	cdContact
	collision information More...
ColdetModelSharedDataSet *	models [2]
bool	normalVectorCorrection
	flag to enable/disable normal vector correction More...

Detailed Description

Definition at line 18 of file CollisionPairInserter.h.

Constructor & Destructor Documentation

CollisionPairInserter()

CollisionPairInserter::CollisionPairInserter

(

)

Definition at line 51 of file CollisionPairInserter.cpp.

~CollisionPairInserter()

CollisionPairInserter::~CollisionPairInserter ( )

virtual

Definition at line 57 of file CollisionPairInserter.cpp.

Member Function Documentation

apply()

int CollisionPairInserter::apply ( const Opcode::AABBCollisionNode *  b1, const Opcode::AABBCollisionNode *  b2, int  id1, int  id2, int  num_of_i_points, Vector3  i_points[4], Vector3 &  n_vector, double  depth, Vector3 &  n1, Vector3 &  m1, int  ctype, Opcode::MeshInterface *  mesh1, Opcode::MeshInterface *  mesh2  )

virtual

refine collision information using neighboring triangls

Parameters

b1	node of the first colliding triangle
b2	node of the second colliding triangle
id1	id of the first colliding triangle
id2	id of the second colliding triangle
num_of_i_points	the number of intersecting points
i_points	intersecting points
n_vector	normal vector of collision
depth	penetration depth
n1	normal vector of the first triangle
m1	normal vector of the second triangle
ctype	collision type
mesh1	mesh which includes the first triangle
mesh2	mesh which includes the second triangle

Returns

CD_OK if refined successfully

Note

collision information is expressed in the second mesh coordinates

Implements hrp::CollisionPairInserterBase.

Definition at line 390 of file CollisionPairInserter.cpp.

calc_normal_vector()

void CollisionPairInserter::calc_normal_vector ( col_tri *  t )

staticprivate

Definition at line 83 of file CollisionPairInserter.cpp.

check_separability()

void CollisionPairInserter::check_separability ( int  id1, int  id2, int  ctype  )

private

Definition at line 196 of file CollisionPairInserter.cpp.

copy_tri() [1/2]

void CollisionPairInserter::copy_tri ( col_tri *  t1, tri *  t2  )

staticprivate

Definition at line 63 of file CollisionPairInserter.cpp.

copy_tri() [2/2]

void CollisionPairInserter::copy_tri ( col_tri *  t1, col_tri *  t2  )

staticprivate

Definition at line 71 of file CollisionPairInserter.cpp.

detectTriTriOverlap()

int CollisionPairInserter::detectTriTriOverlap ( const Vector3 &  P1, const Vector3 &  P2, const Vector3 &  P3, const Vector3 &  Q1, const Vector3 &  Q2, const Vector3 &  Q3, collision_data *  col_p  )

virtual

detect collsiion between triangles

Parameters

P1	the first vertex of the first triangle
P2	the second vertex of the first triangle
P3	the third vertex of the first triangle
Q1	the first vertex of the second triangle
Q2	the second vertex of the second triangle
Q3	the third vertex of the second triangle
col_p	collision information

Returns

1 if collision is detected, 0 otherwise

Note

all vertices must be represented in the same coordinates

Implements hrp::CollisionPairInserterBase.

Definition at line 446 of file CollisionPairInserter.cpp.

examine_normal_vector()

void CollisionPairInserter::examine_normal_vector ( int  id1, int  id2, int  ctype  )

private

Definition at line 191 of file CollisionPairInserter.cpp.

find_signed_distance() [1/3]

void CollisionPairInserter::find_signed_distance ( Vector3 &  signed_distance, col_tri *  trp, int  nth, int  ctype, int  obj  )

private

Definition at line 271 of file CollisionPairInserter.cpp.

find_signed_distance() [2/3]

void CollisionPairInserter::find_signed_distance ( Vector3 &  signed_distance, const Vector3 &  vert, int  nth, int  ctype, int  obj  )

private

Definition at line 279 of file CollisionPairInserter.cpp.

find_signed_distance() [3/3]

void CollisionPairInserter::find_signed_distance ( Vector3 &  signed_distance1, ColdetModelSharedDataSet *  model0, int  id1, int  contactIndex, int  ctype, int  obj  )

private

Definition at line 351 of file CollisionPairInserter.cpp.

get_triangles_in_convex_neighbor() [1/2]

int CollisionPairInserter::get_triangles_in_convex_neighbor ( ColdetModelSharedDataSet *  model, int  id, col_tri *  tri_convex_neighbor, int  max_num  )

private

Definition at line 167 of file CollisionPairInserter.cpp.

get_triangles_in_convex_neighbor() [2/2]

void CollisionPairInserter::get_triangles_in_convex_neighbor ( ColdetModelSharedDataSet *  model, int  id, col_tri *  tri_convex_neighbor, std::vector< int > &  map, int &  count  )

private

Definition at line 126 of file CollisionPairInserter.cpp.

is_convex_neighbor()

int CollisionPairInserter::is_convex_neighbor ( col_tri *  t1, col_tri *  t2  )

staticprivate

Definition at line 94 of file CollisionPairInserter.cpp.

new_point_test()

int CollisionPairInserter::new_point_test ( int  k )

private

Definition at line 370 of file CollisionPairInserter.cpp.

triangleIndexToPoint()

void CollisionPairInserter::triangleIndexToPoint ( ColdetModelSharedDataSet *  model, int  id, col_tri &  tri  )

private

Definition at line 116 of file CollisionPairInserter.cpp.

---

The documentation for this class was generated from the following files:

• CollisionPairInserter.h
• CollisionPairInserter.cpp