#include <CollisionPairInserterBase.h>
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)=0 |
| refine collision information using neighboring triangls More... | |
| void | clear () |
| clear collision information More... | |
| CollisionPairInserterBase () | |
| std::vector< collision_data > & | collisions () |
| get collision information More... | |
| 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)=0 |
| detect collsiion between triangles More... | |
| void | set (ColdetModelSharedDataSet *model0, ColdetModelSharedDataSet *model1) |
| virtual | ~CollisionPairInserterBase () |
Public Attributes | |
| 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 27 of file CollisionPairInserterBase.h.
Constructor & Destructor Documentation
◆ CollisionPairInserterBase()
|
inline |
Definition at line 30 of file CollisionPairInserterBase.h.
◆ ~CollisionPairInserterBase()
|
inlinevirtual |
Definition at line 31 of file CollisionPairInserterBase.h.
Member Function Documentation
◆ apply()
|
pure 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
Implemented in hrp::CollisionPairInserter.
◆ clear()
clear collision information
Definition at line 35 of file CollisionPairInserterBase.h.
◆ collisions()
|
inline |
get collision information
- Returns
- collision information
Definition at line 95 of file CollisionPairInserterBase.h.
◆ detectTriTriOverlap()
|
pure 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
Implemented in hrp::CollisionPairInserter.
◆ set()
|
inline |
Definition at line 99 of file CollisionPairInserterBase.h.
Member Data Documentation
◆ CD_Rot1
| Matrix33 hrp::CollisionPairInserterBase::CD_Rot1 |
rotation of the first mesh
Definition at line 105 of file CollisionPairInserterBase.h.
◆ CD_Rot2
| Matrix33 hrp::CollisionPairInserterBase::CD_Rot2 |
rotation of the second mesh
Definition at line 109 of file CollisionPairInserterBase.h.
◆ CD_s1
| double hrp::CollisionPairInserterBase::CD_s1 |
scale of the first mesh
Definition at line 107 of file CollisionPairInserterBase.h.
◆ CD_s2
| double hrp::CollisionPairInserterBase::CD_s2 |
scale of the second mesh
Definition at line 111 of file CollisionPairInserterBase.h.
◆ CD_Trans1
| Vector3 hrp::CollisionPairInserterBase::CD_Trans1 |
translation of the first mesh
Definition at line 106 of file CollisionPairInserterBase.h.
◆ CD_Trans2
| Vector3 hrp::CollisionPairInserterBase::CD_Trans2 |
translation of the second mesh
Definition at line 110 of file CollisionPairInserterBase.h.
◆ cdContact
| std::vector<collision_data> hrp::CollisionPairInserterBase::cdContact |
collision information
Definition at line 113 of file CollisionPairInserterBase.h.
◆ models
| ColdetModelSharedDataSet* hrp::CollisionPairInserterBase::models[2] |
Definition at line 115 of file CollisionPairInserterBase.h.
◆ normalVectorCorrection
| bool hrp::CollisionPairInserterBase::normalVectorCorrection |
flag to enable/disable normal vector correction
Definition at line 118 of file CollisionPairInserterBase.h.
The documentation for this class was generated from the following file: