#include <ImFusion/Vision/MeshGroupCollisionDetection.h>

Test for collision between two groups of meshes. More...

Detailed Description

Test for collision between two groups of meshes.

This class allows to define groups of Mesh objects, and to check if any Mesh from a group collides with any 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.

For optimal performance, it is advised to specify a new position for each mesh if the respective object has moved, without resetting the mesh itself.

It is also possible to check for collision between a single mesh and a whole group, or between a single mesh and another mesh. Each particular case is optimized. To avoid false positives, the mesh should not belong to the other group, or to the group of the other mesh.

Note: Performance: using a minimum distance makes early exits on the first colliding triangle impossible and might significantly increase processing times. If feasible, consider using actually enlarged geometry to repeatedly perform these checks.

Public Types
using	GroupID = int
using	MeshID = int
using	ConstMeshRef = std::reference_wrapper<const Mesh>

Public Member Functions
	MeshGroupCollisionDetection (const std::vector< std::vector< ConstMeshRef > > &meshGroups)
	Set the mesh objects (the pose will be extracted from the object's matrix).
MeshID	addMeshToGroup (const Mesh &m, GroupID groupID)
	Add a Mesh to the group identified by the ID (if the group doesn't exist yet, it will be created).
bool	removeMeshFromGroup (MeshID id, GroupID groupID)
	Remove a Mesh given its ID from a group identified by the groupID (if the group or mesh doesn't exist, it will do nothing).
bool	isMeshInGroup (MeshID id, GroupID groupID) const
	Checks if the provided mesh id is assigned to the group identified by the groupID.
void	newMeshPose (MeshID meshID, const mat4 &newPose)
	Update the pose of the object with the specified ID.
bool	doMeshGroupsCollide (GroupID group1ID, GroupID group2ID) const
	Check for compenetration between the two mesh groups.
bool	doMeshAndGroupCollide (MeshID meshID, GroupID groupID) const
	Check for compenetration between the a mesh and a whole group.
bool	doMeshesCollide (MeshID mesh1ID, MeshID mesh2ID) const
	Check for compenetration between two single meshes.
bool	doMeshesCollide (MeshID mesh1ID, MeshID mesh2ID, float safetyDistance) const
	Check if the minimum distance between two meshes is above a given value.
bool	doMeshGroupsCollide (GroupID group1ID, GroupID group2ID, float safetyDistance) const
	Check if the minimum distance between each mesh of two mesh groups is above a given value.
float	meshMinDistance (GroupID group1ID, GroupID group2ID) const

Member Function Documentation

◆ addMeshToGroup()

MeshID ImFusion::MeshGroupCollisionDetection::addMeshToGroup	(	const Mesh &	m,
		GroupID	groupID )

Add a Mesh to the group identified by the ID (if the group doesn't exist yet, it will be created).

Returns: The ID of the Mesh, to be used to update its pose

◆ removeMeshFromGroup()

bool ImFusion::MeshGroupCollisionDetection::removeMeshFromGroup	(	MeshID	id,
		GroupID	groupID )

Remove a Mesh given its ID from a group identified by the groupID (if the group or mesh doesn't exist, it will do nothing).

Returns: true if successfull, else false

◆ isMeshInGroup()

bool ImFusion::MeshGroupCollisionDetection::isMeshInGroup	(	MeshID	id,
		GroupID	groupID ) const

Checks if the provided mesh id is assigned to the group identified by the groupID.

Returns: true if the mesh is part of the given group, else false

◆ doMeshGroupsCollide() [1/2]

bool ImFusion::MeshGroupCollisionDetection::doMeshGroupsCollide	(	GroupID	group1ID,
		GroupID	group2ID ) const

Check for compenetration between the two mesh groups.

Returns: true if the meshes collide, else false

◆ doMeshAndGroupCollide()

bool ImFusion::MeshGroupCollisionDetection::doMeshAndGroupCollide	(	MeshID	meshID,
		GroupID	groupID ) const

Check for compenetration between the a mesh and a whole group.

Returns: true if the meshes collide

◆ doMeshesCollide() [1/2]

bool ImFusion::MeshGroupCollisionDetection::doMeshesCollide	(	MeshID	mesh1ID,
		MeshID	mesh2ID ) const

Check for compenetration between two single meshes.

Returns: true if the meshes collide, else false

◆ doMeshesCollide() [2/2]

bool ImFusion::MeshGroupCollisionDetection::doMeshesCollide	(	MeshID	mesh1ID,
		MeshID	mesh2ID,
		float	safetyDistance ) const

Check if the minimum distance between two meshes is above a given value.

Warning: See performance warning in class documentation

Parameters

safetyDistance Minimum distance between two points belonging to each mesh

Returns: true if the objects are within the safety distance, else false

◆ doMeshGroupsCollide() [2/2]

bool ImFusion::MeshGroupCollisionDetection::doMeshGroupsCollide	(	GroupID	group1ID,
		GroupID	group2ID,
		float	safetyDistance ) const

Check if the minimum distance between each mesh of two mesh groups is above a given value.

Warning: See performance warning in class documentation