A CollisionDetectionAlgorithm implements an algorithm for detecting overlaps between pairs of ContactGeometry objects, and creating Contact objects based on them. More...
Inheritance diagram for SimTK::CollisionDetectionAlgorithm:
Classes | |
| class | ConvexConvex |
| This algorithm detects contacts between two ContactGeometry::Convex objects. More... | |
| class | HalfSpaceEllipsoid |
| This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Ellipsoid. More... | |
| class | HalfSpaceSphere |
| This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Sphere. More... | |
| class | HalfSpaceTriangleMesh |
| This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::TriangleMesh. More... | |
| class | SphereSphere |
| This algorithm detects contacts between two ContactGeometry::Sphere objects. More... | |
| class | SphereTriangleMesh |
| This algorithm detects contacts between a ContactGeometry::Sphere and a ContactGeometry::TriangleMesh. More... | |
| class | TriangleMeshTriangleMesh |
| This algorithm detects contacts between two ContactGeometry::TriangleMesh objects. More... | |
Public Member Functions | |
| virtual | ~CollisionDetectionAlgorithm () |
| virtual void | processObjects (ContactSurfaceIndex index1, const ContactGeometry &object1, const Transform &transform1, ContactSurfaceIndex index2, const ContactGeometry &object2, const Transform &transform2, Array_< Contact > &contacts) const =0 |
| Identify contacts between a pair of bodies. More... | |
Static Public Member Functions | |
| static void | registerAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2, CollisionDetectionAlgorithm *algorithm) |
| Register a CollisionDetectionAlgorithm to be used for identifying contacts between bodies of two specific types. More... | |
| static CollisionDetectionAlgorithm * | getAlgorithm (ContactGeometryTypeId type1, ContactGeometryTypeId type2) |
| Get the CollisionDetectionAlgorithm to use for identifying contacts between bodies of two specific types. More... | |
Detailed Description
A CollisionDetectionAlgorithm implements an algorithm for detecting overlaps between pairs of ContactGeometry objects, and creating Contact objects based on them.
This class is used internally by GeneralContactSubsystem, and there usually is no reason to access it directly. The exception is if you are defining a new ContactGeometry subclass. In that case, you will also need to define one or more CollisionDetectionAlgorithms to detect collisions with your new geometry type, then register it calling registerAlgorithm().
Constructor & Destructor Documentation
◆ ~CollisionDetectionAlgorithm()
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inlinevirtual |
Member Function Documentation
◆ processObjects()
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pure virtual |
Identify contacts between a pair of bodies.
- Parameters
-
index1 the index of the first body within its contact set object1 the ContactGeometry for the first body transform1 the location and orientation of the first body in the ground frame index2 the index of the second body within its contact set object2 the ContactGeometry for the second body transform2 the location and orientation of the second body in the ground frame contacts if the bodies overlap, a Contact should be added to this for each distinct contact between them. (Multiple contacts may exist if one of the bodies is concave.)
Implemented in SimTK::CollisionDetectionAlgorithm::ConvexConvex, SimTK::CollisionDetectionAlgorithm::TriangleMeshTriangleMesh, SimTK::CollisionDetectionAlgorithm::SphereTriangleMesh, SimTK::CollisionDetectionAlgorithm::HalfSpaceTriangleMesh, SimTK::CollisionDetectionAlgorithm::SphereSphere, SimTK::CollisionDetectionAlgorithm::HalfSpaceEllipsoid, and SimTK::CollisionDetectionAlgorithm::HalfSpaceSphere.
◆ registerAlgorithm()
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static |
Register a CollisionDetectionAlgorithm to be used for identifying contacts between bodies of two specific types.
- Parameters
-
type1 the type identifier for the ContactGeometry subclass the algorithm expects as the first body type2 the type identifier for the ContactGeometry subclass the algorithm expects as the second body algorithm the algorithm to use for bodies of the specified types
◆ getAlgorithm()
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static |
Get the CollisionDetectionAlgorithm to use for identifying contacts between bodies of two specific types.
- Parameters
-
type1 the type id of the first body's ContactGeometry type2 the type id of the second body's ContactGeometry
- Returns
- the CollisionDetectionAlgorithm to use, or NULL if no suitable algorithm has been registered
The documentation for this class was generated from the following file:
