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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <ImFusion/Vision/MeshCollisionDetectionAlgorithm.h>
Algorithm that checks for collision between groups of meshes. More...
Inheritance diagram for MeshCollisionDetectionAlgorithm:Algorithm that checks for collision between groups of meshes.
This class takes groups of Mesh objects as input, and is able to verify if any mesh from a group is in contact with any mesh from another group. It is also possible to specify a minimum safety distance that must be kept between the two models to avoid a collision.
When the meshes are passed to the algorithm, their format is converted (this is an expensive operation). Subsequent calls to the algorithm make use of this optimized format.
If any of the Meshes have moved, the new value of its matrix will be automatically used as its pose. The value is extracted within the compute() method.
The algorithm makes use of a simultaneous OBB-RSS representation (Oriented Bounding Box and Rectangular Swept sphere). The former is expensive to compute, but cheap to update when the pose of the object in space moves. The latter is optimized for distance queries.
To avoid squared complexity with respect to the number of objects, a Dynamic AABB tree is used to create a shortlist of objects that are candidates for a collision.
Public Types | |
| enum class | AlgorithmMode { Pair , Group } |
| using | MeshID = MeshGroupCollisionDetection::MeshID |
| using | GroupID = MeshGroupCollisionDetection::GroupID |
| Public Types inherited from Algorithm | |
| enum | Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 } |
| Status codes. More... | |
Public Member Functions | |
| MeshCollisionDetectionAlgorithm () | |
| Constructor for using the algorithm in "Group" mode. | |
| MeshCollisionDetectionAlgorithm (const Mesh &m1, const Mesh &m2) | |
| Constructor for using the algorithm in "Pair" mode. | |
| bool | addMeshToGroup (const Mesh &mesh, GroupID groupID) |
| Adds a Mesh to a group. | |
| void | compute () override |
| This algorithm does not make use of the compute() interface. | |
| std::optional< bool > | doMeshGroupsCollide (GroupID group1, GroupID group2) |
| Returns true if the meshes are within the safety distance. | |
| std::optional< bool > | doMeshesCollide () |
| Returns true if the meshes are within the safety distance. | |
| AlgorithmMode | mode () const |
| Public Member Functions inherited from Algorithm | |
| Algorithm () | |
| Default constructor will registers a single "compute" action that calls compute() and returns status(). | |
| virtual OwningDataList | takeOutput () |
| Return any new Data that was created by the Algorithm during the last call to compute(). | |
| virtual void | setProgress (Progress *progress) |
| Sets a Progress interface the algorithm can use to notify observers about its computing progress. | |
| Progress * | progress () const |
| Returns the progress interface if set. | |
| virtual int | status () const |
| Indicates the status of the last call to compute(). | |
| virtual bool | survivesDataDeletion (const Data *) const |
| Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list. | |
| const FactoryInfo & | factoryInfo () const |
| Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| void | setFactoryInfo (const FactoryInfo &value) |
| Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| Status | runAction (const std::string &id) |
Run the action with name id if it exists. | |
| const std::vector< Action > & | actions () |
| Get a mapping from Action id to Action as registered in this algorithm. | |
| Public Member Functions inherited from Configurable | |
| virtual void | configure (const Properties *p) |
| Configure this object instance by de-serializing the given Properties. | |
| virtual void | configuration (Properties *p) const |
| Serialize the current object configuration into the given Properties object. | |
| virtual void | configureDefaults () |
| Retrieve the properties of this object, replaces values with their defaults and sets it again. | |
| void | registerParameter (ParameterBase *param) |
| Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration(). | |
| void | unregisterParameter (const ParameterBase *param) |
| Remove the given Parameter or SubProperty from the list of registered parameters. | |
| Configurable (const Configurable &rhs) | |
| Configurable (Configurable &&rhs) noexcept | |
| Configurable & | operator= (const Configurable &) |
| Configurable & | operator= (Configurable &&) noexcept |
Static Public Member Functions | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Static Public Member Functions inherited from Algorithm | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Factory function to check algorithm compatibility with input data and optionally instantiate it. | |
Public Attributes | |
| Parameter< double > | p_safetyDistance = Parameter<double>("safetyDistance", 0) |
| Minimum distance between each point of the two Mesh objects to avoid a collision state. | |
| Public Attributes inherited from Algorithm | |
| Signal | signalOutputChanged |
| Signal should be emitted by Algorithms when their output/result has changed. | |
| Signal | signalParametersChanged |
| Signal should be emitted by Algorithms when their parameter configuration has changed. | |
| Public Attributes inherited from Configurable | |
| Signal | signalParametersChanged |
Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
Protected Member Functions | |
| void | updatePosesOfMeshesInGroup (GroupID groupID) |
| Protected Member Functions inherited from Algorithm | |
| void | loadDefaults () |
| void | registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action) |
| Register an action to be run via runAction. | |
| template<typename D> | |
| void | registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void)) |
| Template version of runAction that can be used with a pointer to a member function. | |
| void | registerAction (const Action &action) |
| Register an action. | |
Protected Attributes | |
| std::unique_ptr< MeshGroupCollisionDetection > | m_mcd |
| Underlying algorithm. | |
| std::unordered_map< MeshID, const Mesh * > | m_mapMeshIDsToMeshes |
| Mapping of mesh IDs to the referenced Mesh. | |
| std::unordered_map< const Mesh *, MeshID > | m_mapMeshToMeshIDs |
| Mapping of referencd Mesh to IDs. | |
| std::multimap< GroupID, MeshID > | m_mapGroupToMeshes |
| Mapping of groups to the contained meshes. | |
| std::vector< const Mesh * > | m_addedMeshes |
| list of already added meshes | |
| std::optional< bool > | m_result |
| true if the meshes are within the safety distance; null if the input has not been set correctly or the algorithm has not run | |
| AlgorithmMode | m_mode |
| std::mutex | m_mutex |
| Protected Attributes inherited from Algorithm | |
| std::string | m_name |
| Algorithm name. | |
| Progress * | m_progress = nullptr |
| Non-owing pointer to a progress interface. May be a nullptr. | |
| FactoryInfo | m_factoryInfo = {} |
| Record describing how this algorithm was instantiated by the AlgorithmFactory. | |
| int | m_status = Status::Unknown |
| Algorithm status after last call to compute() | |
| std::vector< Action > | m_actions |
| Map of key given by the id of the action, of the available actions of this algorithm. | |
| Protected Attributes inherited from Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
| bool addMeshToGroup | ( | const Mesh & | mesh, |
| GroupID | groupID ) |
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inlineoverridevirtual |
| std::optional< bool > doMeshGroupsCollide | ( | GroupID | group1, |
| GroupID | group2 ) |
Returns true if the meshes are within the safety distance.
| std::optional< bool > doMeshesCollide | ( | ) |
Returns true if the meshes are within the safety distance.
