The type of collision detection. More...

#include <Representation.h>

Inheritance diagram for SurgSim::Collision::Representation:

Public Member Functions
	Representation (const std::string &name)
	Constructor. More...

virtual	~Representation ()
	Destructor.

virtual int	getShapeType () const =0
	Get the shape type id. More...

virtual void	setCollisionDetectionType (CollisionDetectionType type)
	Set the type of collision detection to use between this representation and other representations. More...

CollisionDetectionType	getCollisionDetectionType () const
	Get the type of collision detection used between this representation and other representations. More...

virtual void	setSelfCollisionDetectionType (CollisionDetectionType type)
	Set the type of collision detection to use between this representation and itself. More...

CollisionDetectionType	getSelfCollisionDetectionType () const
	Get the type of collision detection used between this representation and itself. More...

virtual std::shared_ptr< SurgSim::Math::Shape >	getShape () const =0
	Get the shape. More...

virtual const Math::PosedShape< std::shared_ptr< Math::Shape > > &	getPosedShape ()
	Get the shape, posed. More...

const Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > &	getPosedShapeMotion () const

SurgSim::DataStructures::BufferedValue< ContactMapType > &	getCollisions ()
	A map between collision representations and contacts. More...

void	addContact (const std::shared_ptr< Representation > &other, const std::shared_ptr< SurgSim::Collision::Contact > &contact)
	Add a contact with another representation. More...

bool	collidedWith (const std::shared_ptr< Representation > &other)
	Check whether this collision representation collided with another during the last update. More...

virtual void	update (const double &dt)
	Update the representation. More...

virtual void	updateShapeData ()
	Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined.

virtual void	updateDcdData ()
	Update the data (the shape) in preparation for a DCD contact calculation.

virtual void	updateCcdData (double timeOfImpact)
	Update the data (the motionShape) in preparation for a CCD contact calcul ation. More...

bool	ignore (const std::string &fullName)
	Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...

bool	ignore (const std::shared_ptr< Representation > &representation)
	Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...

void	setIgnoring (const std::vector< std::string > &fullNames)
	Set the collision representations to ignore Collisions with these collision representation will not be detected. More...

bool	isIgnoring (const std::string &fullName) const
	Is the collision representation being ignored. More...

bool	isIgnoring (const std::shared_ptr< Representation > &representation) const
	Is the collision representation being ignored. More...

bool	allow (const std::string &fullName)
	Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...

bool	allow (const std::shared_ptr< Representation > &representation)
	Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...

void	setAllowing (const std::vector< std::string > &fullNames)
	Set the only collision representations to allow collisions with Only Collisions with these collision representation will be detected. More...

bool	isAllowing (const std::string &fullName) const
	Is the collision representation being allowed. More...

bool	isAllowing (const std::shared_ptr< Representation > &representation) const
	Is the collision representation being allowed. More...

virtual Math::Aabbd	getBoundingBox () const

Public Member Functions inherited from SurgSim::Framework::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual void	setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
	Set the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getLocalPose () const
	Get the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getPose () const
	Get the pose of the representation in world coordinates. More...

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Protected Member Functions
void	invalidatePosedShapeMotion ()
	Invalidate the cached posed shape motion.

std::vector< std::string >	getIgnoring () const
	Get the ignored collision representations. More...

std::vector< std::string >	getAllowing () const
	Get the only collision representations that this representation is allowed to collide with. More...

void	doRetire () override
	Interface to be implemented by derived classes Has a default implementation, does nothing.

void	setPosedShapeMotion (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &posedShape)

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Protected Attributes
std::shared_ptr< Framework::Logger >	m_logger


double	m_oldVolume

double	m_aabbThreshold

Math::RigidTransform3d	m_previousDcdPose

Math::RigidTransform3d	m_previousCcdCurrentPose

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Detailed Description

The type of collision detection.

Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to global coordinate system transform, if the physics representation is a nullptr or a has gone out of scope ASSERT's will be triggered. Collision with other representations will be updated by CollisionPair::addContact() and be cleared every time DcdCollision::updatePair() makes a new CollisionPair.

Constructor & Destructor Documentation

§ Representation()

SurgSim::Collision::Representation::Representation ( const std::string & name )

explicit

Constructor.

Parameters

name	Name of this collision representation

Member Function Documentation

§ addContact()

void SurgSim::Collision::Representation::addContact	(	const std::shared_ptr< Representation > &	other,
		const std::shared_ptr< SurgSim::Collision::Contact > &	contact
	)

Add a contact with another representation.

Parameters

other	The other collision representation
contact	The contact to be added

Note: This method is thread-safe

§ allow() [1/2]

bool SurgSim::Collision::Representation::allow ( const std::string & fullName )

Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again.

Note: When both the allow and ignore lists are empty calling allow may cause a change of behavior that might not be wanted (i.e. the representation will go from colliding with all others to just colliding with one other representation). This might be caused by trying to revert an "ignore" that has already been reversed.

Parameters

fullName The full name of the collision representation to allow

§ allow() [2/2]

bool SurgSim::Collision::Representation::allow ( const std::shared_ptr< Representation > & representation )

Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again.

Note: When both the allow and ignore lists are empty calling allow may cause a change of behavior that might not be wanted (i.e. the representation will go from colliding with all others to just colliding with one other representation). This might be caused by trying to revert an "ignore" that has already been reversed.

Parameters

representation The collision representation to allow

§ collidedWith()

bool SurgSim::Collision::Representation::collidedWith ( const std::shared_ptr< Representation > & other )

Check whether this collision representation collided with another during the last update.

Parameters

other other collision representation to check against

Returns: true if there were contacts recorded, false otherwise

§ getAllowing()

std::vector< std::string > SurgSim::Collision::Representation::getAllowing ( ) const

protected

Get the only collision representations that this representation is allowed to collide with.

Returns: The full names of all the collision representations to allow

§ getBoundingBox()

Math::Aabbd SurgSim::Collision::Representation::getBoundingBox ( ) const

virtual

Returns: the Bounding box for this object

Reimplemented in SurgSim::Physics::DeformableCollisionRepresentation, and SurgSim::Physics::RigidCollisionRepresentation.

§ getCollisionDetectionType()

CollisionDetectionType SurgSim::Collision::Representation::getCollisionDetectionType ( ) const

Get the type of collision detection used between this representation and other representations.

Returns: The collision detection type

§ getCollisions()

SurgSim::DataStructures::BufferedValue< ContactMapType > & SurgSim::Collision::Representation::getCollisions ( )

A map between collision representations and contacts.

For each collision representation, it gives the list of contacts registered against this instance.

Returns: A map with collision representations as keys and lists of contacts as the associated value.

§ getIgnoring()

std::vector< std::string > SurgSim::Collision::Representation::getIgnoring ( ) const

protected

Get the ignored collision representations.

Returns: The full names of all the ignored collision representations

§ getPosedShape()

const Math::PosedShape< std::shared_ptr< Math::Shape > > & SurgSim::Collision::Representation::getPosedShape ( )

virtual

Get the shape, posed.

Returns: The shape transformed by the pose of this representation, and the pose.

§ getPosedShapeMotion()

const Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > & SurgSim::Collision::Representation::getPosedShapeMotion ( ) const

Returns: the posed shape motion

§ getSelfCollisionDetectionType()

CollisionDetectionType SurgSim::Collision::Representation::getSelfCollisionDetectionType ( ) const

Get the type of collision detection used between this representation and itself.

Returns: The collision detection type

§ getShape()

virtual std::shared_ptr<SurgSim::Math::Shape> SurgSim::Collision::Representation::getShape ( ) const

pure virtual

Get the shape.

Returns: The actual shape used for collision.

Implemented in SurgSim::Physics::MockCollisionRepresentation, SurgSim::Physics::DeformableCollisionRepresentation, SurgSim::Physics::RigidCollisionRepresentation, SurgSim::Collision::ShapeCollisionRepresentation, and SurgSim::Particles::ParticlesCollisionRepresentation.

§ getShapeType()

virtual int SurgSim::Collision::Representation::getShapeType ( ) const

pure virtual

Get the shape type id.

Returns: The unique type of the shape, used to determine which calculation to use.

Implemented in SurgSim::Physics::MockCollisionRepresentation, SurgSim::Physics::DeformableCollisionRepresentation, SurgSim::Particles::ParticlesCollisionRepresentation, SurgSim::Physics::RigidCollisionRepresentation, and SurgSim::Collision::ShapeCollisionRepresentation.

§ ignore() [1/2]

bool SurgSim::Collision::Representation::ignore ( const std::string & fullName )

Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow()

Parameters

fullName The full name of the collision representation to ignore

§ ignore() [2/2]

bool SurgSim::Collision::Representation::ignore ( const std::shared_ptr< Representation > & representation )

Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow()

Parameters

representation The collision representation to ignore

§ isAllowing() [1/2]

bool SurgSim::Collision::Representation::isAllowing ( const std::string & fullName ) const

Is the collision representation being allowed.

Parameters

fullName The full name of the collision representation to check return True if the collision representation is being allowed

§ isAllowing() [2/2]

bool SurgSim::Collision::Representation::isAllowing ( const std::shared_ptr< Representation > & representation ) const

Is the collision representation being allowed.

Parameters

representation The collision representation to check return True if the collision representation is being allowed

§ isIgnoring() [1/2]

bool SurgSim::Collision::Representation::isIgnoring ( const std::string & fullName ) const

Is the collision representation being ignored.

Parameters

fullName The full name of the collision representation to check return True if the collision representation is being ignored

§ isIgnoring() [2/2]

bool SurgSim::Collision::Representation::isIgnoring ( const std::shared_ptr< Representation > & representation ) const

Is the collision representation being ignored.

Parameters

representation The collision representation to check return True if the collision representation is being ignored

§ setAllowing()

void SurgSim::Collision::Representation::setAllowing ( const std::vector< std::string > & fullNames )

Set the only collision representations to allow collisions with Only Collisions with these collision representation will be detected.

Note: This method conflicts with ignore and setIgnoring. You can only set what representations to ignore or allow collisions with, not both.

Parameters

fullNames The collision representations (given by full name) to allow

§ setCollisionDetectionType()

void SurgSim::Collision::Representation::setCollisionDetectionType ( CollisionDetectionType type )

virtual

Set the type of collision detection to use between this representation and other representations.

Parameters

type	The collision detection type

§ setIgnoring()

void SurgSim::Collision::Representation::setIgnoring ( const std::vector< std::string > & fullNames )

Set the collision representations to ignore Collisions with these collision representation will not be detected.

Note: This method conflicts with setAllowing. You can only set what representations to ignore or allow collisions with, not both.

Parameters

fullNames The collision representations (given by full name) to ignore

§ setPosedShapeMotion()

void SurgSim::Collision::Representation::setPosedShapeMotion ( const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> & posedShape )

protected

Parameters

posedShape the posed shape motion to be set

§ setSelfCollisionDetectionType()

void SurgSim::Collision::Representation::setSelfCollisionDetectionType ( CollisionDetectionType type )

virtual

Set the type of collision detection to use between this representation and itself.

Parameters

type	The collision detection type

§ update()

void SurgSim::Collision::Representation::update ( const double & dt )

virtual

Update the representation.

Parameters

dt	the time passed from the last update.

Reimplemented in SurgSim::Physics::MockCollisionRepresentation.

§ updateCcdData()

void SurgSim::Collision::Representation::updateCcdData ( double timeOfImpact )

virtual

Update the data (the motionShape) in preparation for a CCD contact calcul ation.

Parameters

timeOfImpact the last time of impact, the representation is responsible for managing the time correctly

Reimplemented in SurgSim::Physics::DeformableCollisionRepresentation, SurgSim::Physics::RigidCollisionRepresentation, and SurgSim::Collision::ShapeCollisionRepresentation.

Member Data Documentation

§ m_oldVolume

double SurgSim::Collision::Representation::m_oldVolume

protected

Used to optimize aabb tree updates.

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

SurgSim/Collision/Representation.h
SurgSim/Collision/Representation.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ Representation()

Member Function Documentation

§ addContact()

§ allow() [1/2]

§ allow() [2/2]

§ collidedWith()

§ getAllowing()

§ getBoundingBox()

§ getCollisionDetectionType()

§ getCollisions()

§ getIgnoring()

§ getPosedShape()

§ getPosedShapeMotion()

§ getSelfCollisionDetectionType()

§ getShape()

§ getShapeType()

§ ignore() [1/2]

§ ignore() [2/2]

§ isAllowing() [1/2]

§ isAllowing() [2/2]

§ isIgnoring() [1/2]

§ isIgnoring() [2/2]

§ setAllowing()

§ setCollisionDetectionType()

§ setIgnoring()

§ setPosedShapeMotion()

§ setSelfCollisionDetectionType()

§ update()

§ updateCcdData()

Member Data Documentation

§ m_oldVolume