This ContactGeometry subclass represents a smooth surface fit through a set of sampled points using bicubic patches to provide C2 continuity. More...

Inheritance diagram for SimTK::ContactGeometry::SmoothHeightMap:

Public Member Functions
	SmoothHeightMap (const BicubicSurface &surface)
	Create a SmoothHeightMap surface using an already-existing BicubicSurface. More...

const BicubicSurface &	getBicubicSurface () const
	Return a reference to the BicubicSurface object being used by this SmoothHeightMap. More...

const OBBTree &	getOBBTree () const
	(Advanced) Return a reference to the oriented bounding box tree for this surface. More...

const Impl &	getImpl () const
	Internal use only. More...

Impl &	updImpl ()
	Internal use only. More...

Public Member Functions inherited from SimTK::ContactGeometry
	ContactGeometry ()
	Base class default constructor creates an empty handle. More...

	ContactGeometry (const ContactGeometry &src)
	Copy constructor makes a deep copy. More...

ContactGeometry &	operator= (const ContactGeometry &src)
	Copy assignment makes a deep copy. More...

	~ContactGeometry ()
	Base class destructor deletes the implementation object. Note that this is not virtual; handles should consist of just a pointer to the implementation. More...

DecorativeGeometry	createDecorativeGeometry () const
	Generate a DecorativeGeometry that matches the shape of this ContactGeometry. More...

Vec3	findNearestPoint (const Vec3 &position, bool &inside, UnitVec3 &normal) const
	Given a point, find the nearest point on the surface of this object. More...

Vec3	projectDownhillToNearestPoint (const Vec3 &pointQ) const
	Given a query point Q, find the nearest point P on the surface of this object, looking only down the local gradient. More...

bool	trackSeparationFromLine (const Vec3 &pointOnLine, const UnitVec3 &directionOfLine, const Vec3 &startingGuessForClosestPoint, Vec3 &newClosestPointOnSurface, Vec3 &closestPointOnLine, Real &height) const
	Track the closest point between this implicit surface and a given line, or the point of deepest penetration if the line intersects the surface. More...

bool	intersectsRay (const Vec3 &origin, const UnitVec3 &direction, Real &distance, UnitVec3 &normal) const
	Determine whether this object intersects a ray, and if so, find the intersection point. More...

void	getBoundingSphere (Vec3 &center, Real &radius) const
	Get a bounding sphere which completely encloses this object. More...

bool	isSmooth () const
	Returns `true` if this is a smooth surface, meaning that it can provide meaningful curvature information and continuous derivatives with respect to its parameterization. More...

void	calcCurvature (const Vec3 &point, Vec2 &curvature, Rotation &orientation) const
	Compute the principal curvatures and their directions, and the surface normal, at a given point on a smooth surface. More...

const Function &	getImplicitFunction () const
	Our smooth surfaces define a function f(P)=0 that provides an implicit representation of the surface. More...

Real	calcSurfaceValue (const Vec3 &point) const
	Calculate the value of the implicit surface function, at a given point. More...

UnitVec3	calcSurfaceUnitNormal (const Vec3 &point) const
	Calculate the implicit surface outward facing unit normal at the given point. More...

Vec3	calcSurfaceGradient (const Vec3 &point) const
	Calculate the gradient of the implicit surface function, at a given point. More...

Mat33	calcSurfaceHessian (const Vec3 &point) const
	Calculate the hessian of the implicit surface function, at a given point. More...

Real	calcGaussianCurvature (const Vec3 &gradient, const Mat33 &Hessian) const
	For an implicit surface, return the Gaussian curvature at the point p whose implicit surface function gradient g(p) and Hessian H(p) are supplied. More...

Real	calcGaussianCurvature (const Vec3 &point) const
	This signature is for convenience; use the other one to save time if you already have the gradient and Hessian available for this point. More...

Real	calcSurfaceCurvatureInDirection (const Vec3 &point, const UnitVec3 &direction) const
	For an implicit surface, return the curvature k of the surface at a given point p in a given direction tp. More...

void	calcSurfacePrincipalCurvatures (const Vec3 &point, Vec2 &curvature, Rotation &R_SP) const
	For an implicit surface at a given point p, return the principal curvatures and principal curvature directions, using only the implicit function and its derivatives. More...

bool	isConvex () const
	Returns `true` if this surface is known to be convex. More...

Vec3	calcSupportPoint (UnitVec3 direction) const
	Given a direction expressed in the surface's frame S, return the point P on the surface that is the furthest in that direction (or one of those points if there is more than one). More...

ContactGeometryTypeId	getTypeId () const
	ContactTrackerSubsystem uses this id for fast identification of specific surface shapes. More...

	ContactGeometry (ContactGeometryImpl *impl)
	Internal use only. More...

bool	isOwnerHandle () const
	Internal use only. More...

bool	isEmptyHandle () const
	Internal use only. More...

bool	hasImpl () const
	Internal use only. More...

const ContactGeometryImpl &	getImpl () const
	Internal use only. More...

ContactGeometryImpl &	updImpl ()
	Internal use only. More...

void	initGeodesic (const Vec3 &xP, const Vec3 &xQ, const Vec3 &xSP, const GeodesicOptions &options, Geodesic &geod) const
	Given two points, find a geodesic curve connecting them. More...

void	continueGeodesic (const Vec3 &xP, const Vec3 &xQ, const Geodesic &prevGeod, const GeodesicOptions &options, Geodesic &geod) const
	Given the current positions of two points P and Q moving on this surface, and the previous geodesic curve G' connecting prior locations P' and Q' of those same two points, return the geodesic G between P and Q that is closest in length to the previous one. More...

void	makeStraightLineGeodesic (const Vec3 &xP, const Vec3 &xQ, const UnitVec3 &defaultDirectionIfNeeded, const GeodesicOptions &options, Geodesic &geod) const
	Produce a straight-line approximation to the (presumably short) geodesic between two points on this implicit surface. More...

void	shootGeodesicInDirectionUntilLengthReached (const Vec3 &xP, const UnitVec3 &tP, const Real &terminatingLength, const GeodesicOptions &options, Geodesic &geod) const
	Compute a geodesic curve starting at the given point, starting in the given direction, and terminating at the given length. More...

void	calcGeodesicReverseSensitivity (Geodesic &geodesic, const Vec2 &initSensitivity=Vec2(0, 1)) const
	Given an already-calculated geodesic on this surface connecting points P and Q, fill in the sensitivity of point P with respect to a change of tangent direction at Q. More...

void	shootGeodesicInDirectionUntilPlaneHit (const Vec3 &xP, const UnitVec3 &tP, const Plane &terminatingPlane, const GeodesicOptions &options, Geodesic &geod) const
	Compute a geodesic curve starting at the given point, starting in the given direction, and terminating when it hits the given plane. More...

void	calcGeodesic (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, const Vec3 &tQhint, Geodesic &geod) const
	Utility method to find geodesic between P and Q using split geodesic method with initial shooting directions tPhint and -tQhint. More...

void	calcGeodesicUsingOrthogonalMethod (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, Real lengthHint, Geodesic &geod) const
	Utility method to find geodesic between P and Q using the orthogonal method, with initial direction tPhint and initial length lengthHint. More...

void	calcGeodesicUsingOrthogonalMethod (const Vec3 &xP, const Vec3 &xQ, Geodesic &geod) const
	This signature makes a guess at the initial direction and length and then calls the other signature. More...

Vec2	calcSplitGeodError (const Vec3 &P, const Vec3 &Q, const UnitVec3 &tP, const UnitVec3 &tQ, Geodesic *geod=0) const
	Utility method to calculate the "geodesic error" between one geodesic shot from P in the direction tP and another geodesic shot from Q in the direction tQ. More...

void	shootGeodesicInDirectionUntilLengthReachedAnalytical (const Vec3 &xP, const UnitVec3 &tP, const Real &terminatingLength, const GeodesicOptions &options, Geodesic &geod) const
	Analytically compute a geodesic curve starting at the given point, starting in the given direction, and terminating at the given length. More...

void	shootGeodesicInDirectionUntilPlaneHitAnalytical (const Vec3 &xP, const UnitVec3 &tP, const Plane &terminatingPlane, const GeodesicOptions &options, Geodesic &geod) const
	Analytically compute a geodesic curve starting at the given point, starting in the given direction, and terminating when it hits the given plane. More...

void	calcGeodesicAnalytical (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, const Vec3 &tQhint, Geodesic &geod) const
	Utility method to analytically find geodesic between P and Q with initial shooting directions tPhint and tQhint. More...

Vec2	calcSplitGeodErrorAnalytical (const Vec3 &P, const Vec3 &Q, const UnitVec3 &tP, const UnitVec3 &tQ, Geodesic *geod=0) const
	Utility method to analytically calculate the "geodesic error" between one geodesic shot from P in the direction tP and another geodesic shot from Q in the direction tQ. More...

const Plane &	getPlane () const
	Get the plane associated with the geodesic hit plane event handler. More...

void	setPlane (const Plane &plane) const
	Set the plane associated with the geodesic hit plane event handler. More...

const Geodesic &	getGeodP () const
	Get the geodesic for access by visualizer. More...

const Geodesic &	getGeodQ () const
	Get the geodesic for access by visualizer. More...

const int	getNumGeodesicsShot () const
	Get the plane associated with the geodesic hit plane event handler. More...

void	addVizReporter (ScheduledEventReporter *reporter) const
	Get the plane associated with the geodesic hit plane event handler. More...

Static Public Member Functions
static bool	isInstance (const ContactGeometry &geo)
	Return true if the supplied ContactGeometry object is a SmoothHeightMap. More...

static const SmoothHeightMap &	getAs (const ContactGeometry &geo)
	Cast the supplied ContactGeometry object to a const SmoothHeightMap. More...

static SmoothHeightMap &	updAs (ContactGeometry &geo)
	Cast the supplied ContactGeometry object to a writable SmoothHeightMap. More...

static ContactGeometryTypeId	classTypeId ()
	Obtain the unique id for SmoothHeightMap contact geometry. More...

Static Public Member Functions inherited from SimTK::ContactGeometry
static Vec2	evalParametricCurvature (const Vec3 &P, const UnitVec3 &nn, const Vec3 &dPdu, const Vec3 &dPdv, const Vec3 &d2Pdu2, const Vec3 &d2Pdv2, const Vec3 &d2Pdudv, Transform &X_EP)
	Calculate surface curvature at a point using differential geometry as suggested by Harris 2006, "Curvature of ellipsoids and other surfaces" Ophthal. More...

static void	combineParaboloids (const Rotation &R_SP1, const Vec2 &k1, const UnitVec3 &x2, const Vec2 &k2, Rotation &R_SP, Vec2 &k)
	This utility method is useful for characterizing the relative geometry of two locally-smooth surfaces in contact, in a way that is useful for later application of Hertz compliant contact theory for generating forces. More...

static void	combineParaboloids (const Rotation &R_SP1, const Vec2 &k1, const UnitVec3 &x2, const Vec2 &k2, Vec2 &k)
	This is a much faster version of combineParaboloids() for when you just need the curvatures of the difference paraboloid, but not the directions of those curvatures. More...

Additional Inherited Members
Protected Attributes inherited from SimTK::ContactGeometry
ContactGeometryImpl *	impl
	Internal use only. More...

Detailed Description

This ContactGeometry subclass represents a smooth surface fit through a set of sampled points using bicubic patches to provide C2 continuity.

It is particularly useful as a bounded terrain. The boundary is an axis-aligned rectangle in the local x-y plane. Within the boundary, every (x,y) location has a unique height z, so caves and overhangs cannot be represented.

The surface is parameterized as z=f(x,y) where x,y,z are measured in the surface's local coordinate frame. This can also be described as the implicit function F(x,y,z)=f(x,y)-z=0, as though this were an infinitely thick slab in the -z direction below the surface.

Constructor & Destructor Documentation

SimTK::ContactGeometry::SmoothHeightMap::SmoothHeightMap ( const BicubicSurface & surface )

explicit

Create a SmoothHeightMap surface using an already-existing BicubicSurface.

The BicubicSurface object is referenced, not copied, so it may be shared with other users.

Member Function Documentation

const BicubicSurface& SimTK::ContactGeometry::SmoothHeightMap::getBicubicSurface ( ) const

Return a reference to the BicubicSurface object being used by this SmoothHeightMap.

const OBBTree& SimTK::ContactGeometry::SmoothHeightMap::getOBBTree ( ) const

(Advanced) Return a reference to the oriented bounding box tree for this surface.

static bool SimTK::ContactGeometry::SmoothHeightMap::isInstance ( const ContactGeometry & geo )

inlinestatic

Return true if the supplied ContactGeometry object is a SmoothHeightMap.

static const SmoothHeightMap& SimTK::ContactGeometry::SmoothHeightMap::getAs ( const ContactGeometry & geo )

inlinestatic

Cast the supplied ContactGeometry object to a const SmoothHeightMap.

static SmoothHeightMap& SimTK::ContactGeometry::SmoothHeightMap::updAs ( ContactGeometry & geo )

inlinestatic

Cast the supplied ContactGeometry object to a writable SmoothHeightMap.

static ContactGeometryTypeId SimTK::ContactGeometry::SmoothHeightMap::classTypeId ( )

static

Obtain the unique id for SmoothHeightMap contact geometry.

const Impl& SimTK::ContactGeometry::SmoothHeightMap::getImpl ( ) const

Internal use only.

Impl& SimTK::ContactGeometry::SmoothHeightMap::updImpl ( )

Internal use only.

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

ContactGeometry.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation