Abstract base class to calculate intersections between an Octree and other shapes. More...

#include <SurgSim/Collision/OctreeContact.h>

Inheritance diagram for SurgSim::Collision::OctreeContact:

Classes
class	Vector3dHash
	Enable a Vector3d to be used as a key in an unordered map. More...

Protected Member Functions
virtual std::list< std::shared_ptr< Contact > >	boxContactCalculation (const SurgSim::Math::BoxShape &boxShape, const SurgSim::Math::RigidTransform3d &boxPose, const SurgSim::Math::Shape &otherShape, const SurgSim::Math::RigidTransform3d &otherPose)=0
	Do the calculation between an octree node (BoxShape) and the other shape. More...

Private Member Functions
std::list< std::shared_ptr< Contact > >	doCalculateDcdContact (const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape1, const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape2) override
	Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes. More...

void	calculateContactWithNode (std::shared_ptr< const SurgSim::Math::OctreeShape::NodeType > node, Math::RigidTransform3d octreePose, const std::shared_ptr< Math::Shape > &shape, const Math::RigidTransform3d &shapePose, SurgSim::DataStructures::OctreePath nodePath, std::list< std::shared_ptr< Contact >> result)
	Calculate the collision between a specific octree node and a shape This function will check for contact between the node and shape. More...

Private Attributes
std::unordered_map< SurgSim::Math::Vector3d, std::shared_ptr< SurgSim::Math::BoxShape >, Vector3dHash >	m_shapes
	The shapes used for the contact calculations are cached for performance. More...

Additional Inherited Members
Public Types inherited from SurgSim::Collision::ContactCalculation
typedef std::array< std::array< std::shared_ptr< ContactCalculation >, Math::SHAPE_TYPE_COUNT >, Math::SHAPE_TYPE_COUNT >	TableType

Public Member Functions inherited from SurgSim::Collision::ContactCalculation
	ContactCalculation ()
	Constructor. More...

virtual	~ContactCalculation ()
	Destructor. More...

void	calculateContact (std::shared_ptr< CollisionPair > pair)
	Calculate the contacts for a given pair. More...

std::list< std::shared_ptr< Contact > >	calculateDcdContact (const Math::PosedShape< std::shared_ptr< Math::Shape >> posedShape1, const Math::PosedShape< std::shared_ptr< Math::Shape >> posedShape2)
	Calculate the dcd contacts between two posed/transformed shapes. More...

std::list< std::shared_ptr< Contact > >	calculateCcdContact (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion2)
	Calculate the ccd contacts between two posed/transformed shapes. More...

virtual std::pair< int, int >	getShapeTypes ()=0
	Virtual function that returns the shapes that this ContactCalculation class handles. More...

Static Public Member Functions inherited from SurgSim::Collision::ContactCalculation
static void	registerDcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation)
	Register an instance of a contact calculation in the table. More...

static void	registerCcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation)
	Register an instance of a contact calculation in the table. More...

static const TableType &	getDcdContactTable ()

static const TableType &	getCcdContactTable ()

Detailed Description

Abstract base class to calculate intersections between an Octree and other shapes.

Derived classes handle the calculation for specific shape types (ie OctreeSphereContact).

Member Function Documentation

◆ boxContactCalculation()

virtual std::list<std::shared_ptr<Contact> > SurgSim::Collision::OctreeContact::boxContactCalculation	(	const SurgSim::Math::BoxShape &	boxShape,
		const SurgSim::Math::RigidTransform3d &	boxPose,
		const SurgSim::Math::Shape &	otherShape,
		const SurgSim::Math::RigidTransform3d &	otherPose
	)

protectedpure virtual

Do the calculation between an octree node (BoxShape) and the other shape.

Parameters

boxShape	the box shape
boxPose	the pose of the box
otherShape	the other shape
otherPose	the pose of the other shape

Returns: a list of contacts between the shapes, if any

Implemented in SurgSim::Collision::OctreeCapsuleContact, SurgSim::Collision::OctreeDoubleSidedPlaneContact, SurgSim::Collision::OctreePlaneContact, and SurgSim::Collision::OctreeSphereContact.

◆ calculateContactWithNode()

void SurgSim::Collision::OctreeContact::calculateContactWithNode	(	std::shared_ptr< const SurgSim::Math::OctreeShape::NodeType >	node,
		Math::RigidTransform3d	octreePose,
		const std::shared_ptr< Math::Shape > &	shape,
		const Math::RigidTransform3d &	shapePose,
		SurgSim::DataStructures::OctreePath *	nodePath,
		std::list< std::shared_ptr< Contact >> *	result
	)

private

Calculate the collision between a specific octree node and a shape This function will check for contact between the node and shape.

If contact is found, this function will be called on each of the node's children. Once a leaf node is reached, contacts are added to the CollisionPair.

Parameters

node	the octree node to collide with
octreePose	the pose of the octree shape
shape	the shape that the octree is colliding with
shapePose	the pose of the shape
nodePath	the NodePath of the current octree node
result	[in,out] all generated contacts are agreggated here
nodePath	[in,out] the path of the current node

◆ doCalculateDcdContact()

std::list< std::shared_ptr< Contact > > SurgSim::Collision::OctreeContact::doCalculateDcdContact	(	const Math::PosedShape< std::shared_ptr< Math::Shape >> &	posedShape1,
		const Math::PosedShape< std::shared_ptr< Math::Shape >> &	posedShape2
	)

overrideprivatevirtual

Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes.

Parameters

posedShape1,posedShape2 The two posed shapes to calculate dcd contact for

Returns: a list of dcd contacts between the two given posed shapes

Reimplemented from SurgSim::Collision::ContactCalculation.

Member Data Documentation

◆ m_shapes

std::unordered_map<SurgSim::Math::Vector3d, std::shared_ptr<SurgSim::Math::BoxShape>, Vector3dHash> SurgSim::Collision::OctreeContact::m_shapes

private

The shapes used for the contact calculations are cached for performance.

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

SurgSim/Collision/OctreeContact.h
SurgSim/Collision/OctreeContact.cpp

Classes

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ boxContactCalculation()

◆ calculateContactWithNode()

◆ doCalculateDcdContact()

Member Data Documentation

◆ m_shapes