Opcode::CollisionPairInserter Class Reference

#include <CollisionPairInserter.h>

Inheritance diagram for Opcode::CollisionPairInserter:

Public Member Functions
virtual	~CollisionPairInserter ()
void	clear ()
	clear collision information More...
virtual int	detectTriTriOverlap (const cnoid::Vector3 &P1, const cnoid::Vector3 &P2, const cnoid::Vector3 &P3, const cnoid::Vector3 &Q1, const cnoid::Vector3 &Q2, const cnoid::Vector3 &Q3, cnoid::collision_data *col_p)=0
	detect collsiion between triangles More...
virtual int	apply (const Opcode::AABBCollisionNode *b1, const Opcode::AABBCollisionNode *b2, int id1, int id2, int num_of_i_points, cnoid::Vector3 i_points[4], cnoid::Vector3 &n_vector, double depth, cnoid::Vector3 &n1, cnoid::Vector3 &m1, int ctype, Opcode::MeshInterface *mesh1, Opcode::MeshInterface *mesh2)=0
	refine collision information using neighboring triangls More...
std::vector< cnoid::collision_data > &	collisions ()
	get collision information More...
void	set (cnoid::ColdetModelInternalModel *model0, cnoid::ColdetModelInternalModel *model1)

Public Attributes
cnoid::Matrix3	CD_Rot1
	rotation of the first mesh More...
cnoid::Vector3	CD_Trans1
	translation of the first mesh More...
double	CD_s1
	scale of the first mesh More...
cnoid::Matrix3	CD_Rot2
	rotation of the second mesh More...
cnoid::Vector3	CD_Trans2
	translation of the second mesh More...
double	CD_s2
	scale of the second mesh More...
std::vector< cnoid::collision_data >	cdContact
	collision information More...
cnoid::ColdetModelInternalModel *	models [2]

Constructor & Destructor Documentation

~CollisionPairInserter()

virtual Opcode::CollisionPairInserter::~CollisionPairInserter ( )

inlinevirtual

Member Function Documentation

apply()

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

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 Opcode::StdCollisionPairInserter.

clear()

void Opcode::CollisionPairInserter::clear ( )

inline

clear collision information

collisions()

std::vector<cnoid::collision_data>& Opcode::CollisionPairInserter::collisions ( )

inline

get collision information

Returns

collision information

detectTriTriOverlap()

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

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 Opcode::StdCollisionPairInserter.

set()

void Opcode::CollisionPairInserter::set ( cnoid::ColdetModelInternalModel *  model0, cnoid::ColdetModelInternalModel *  model1  )

inline

Member Data Documentation

CD_Rot1

cnoid::Matrix3 Opcode::CollisionPairInserter::CD_Rot1

rotation of the first mesh

CD_Rot2

cnoid::Matrix3 Opcode::CollisionPairInserter::CD_Rot2

rotation of the second mesh

CD_s1

double Opcode::CollisionPairInserter::CD_s1

scale of the first mesh

CD_s2

double Opcode::CollisionPairInserter::CD_s2

scale of the second mesh

CD_Trans1

cnoid::Vector3 Opcode::CollisionPairInserter::CD_Trans1

translation of the first mesh

CD_Trans2

cnoid::Vector3 Opcode::CollisionPairInserter::CD_Trans2

translation of the second mesh

cdContact

std::vector<cnoid::collision_data> Opcode::CollisionPairInserter::cdContact

collision information

models

cnoid::ColdetModelInternalModel* Opcode::CollisionPairInserter::models[2]

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

• CollisionPairInserter.h