class dynoCollisionDetector

This class performs collision detection and, optionally, intersection calculation for cdBodies and their derived classes.

Inheritance:

Public Fields

int currentTriId

the ID that will be assigned to the next triangle added to the system

int numCollisions

the number of collisions detected in the most recent call to checkCollisions().

dynoSelfCollisionLevel checkSelfCollisions

the desired level of intra-mechanism collision detection

int checkMultiLink

indicates whether any links should be checked for collisions with any other links.

int countContactCollisions

indicates whether the collisions detect as part of contact computations should be counted (added to numCollisions).

int createITris

indicates whether iTris should be created for each object, enabling polyhedra intersections to be computed.

ptrList* links

objects that are part of mechanisms

ptrList* obstacles

all other objects

ptrList* objects

combined list of objects (union of links and obstacles)

ptrList* contactPairs

the list of pairs of objects for which contacts should be computed by computeIntersections()

ptrList* checkPairs

the list of pairs of objects that should be checked for collisions by checkCollisions()

Public Methods

dynoCollisionDetector(void)

constructor

~dynoCollisionDetector(void)

destructor

int cleanup(void)

deallocates memory

int checkCollisions(int onlyFirst = 0)

computes the number of colliding polyhedra.

ptrList* computeIntersections(void)

returns a list of cdObjectIntersections for each pair of intersectin objects, or NULL if no intersections were found

cdBody* addLinkModel(link* l, int flags, ptrList* whichParts = NULL, void* userData = NULL)

adds a cdBody for the specified link.

inline int addObstacle(cdPolyhedronObstacle* o)

adds 'o' to the list of obstacles

int removeObject(cdObject* o)

removes 'o' from the list of objects

int createLinkObstaclePairs(void)

creates the cdPairs for checking links against obstacles.

int createPairs(void)

creates the cdPairs for checking links against obstacles and other links.

inline cdPolyhedronObstacle* getObstacle(int i)

returns the i'th obstacle

inline cdObject* getObject(int i)

returns the i'th object

void freeIntersectionList(ptrList* oiList)

convenience function for freeing the oiList returned by computeIntersections.

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

This class performs collision detection and, optionally, intersection calculation for cdBodies and their derived classes. The main use of of this class within Dyno is to detect contacts between objects so that contact forces can be computed by a dynoContactor. Users can also use it for more general collision detection needs.

int currentTriId

the ID that will be assigned to the next triangle added to the system

int numCollisions

the number of collisions detected in the most recent call to checkCollisions().

dynoSelfCollisionLevel checkSelfCollisions

the desired level of intra-mechanism collision detection

int checkMultiLink

indicates whether any links should be checked for collisions with any other links. When 0, only link-obstacle collisions are checked for.

int countContactCollisions

indicates whether the collisions detect as part of contact computations should be counted (added to numCollisions).

int createITris

indicates whether iTris should be created for each object, enabling polyhedra intersections to be computed.

ptrList* links

objects that are part of mechanisms

ptrList* obstacles

all other objects

ptrList* objects

combined list of objects (union of links and obstacles)

ptrList* contactPairs

the list of pairs of objects for which contacts should be computed by computeIntersections()

ptrList* checkPairs

the list of pairs of objects that should be checked for collisions by checkCollisions()

dynoCollisionDetector(void)

constructor

~dynoCollisionDetector(void)

destructor

int cleanup(void)

deallocates memory

int checkCollisions(int onlyFirst = 0)

computes the number of colliding polyhedra. Returns it and stores it in numCollisions. Returns -1 on error.

ptrList* computeIntersections(void)

returns a list of cdObjectIntersections for each pair of intersectin objects, or NULL if no intersections were found

cdBody* addLinkModel(link* l, int flags, ptrList* whichParts = NULL, void* userData = NULL)

adds a cdBody for the specified link. The cdBody is returned for the caller's reference, but will be freed by the dynoCollisionDetector when it is deleted. If whichParts is non-NULL, then any of l's mpolys that are do not belong to a part in whichParts will be ignored when creating collision detection models. This is useful when, for example, wheel-terrain contacts are being computed and parts of the wheel link that are not on the rim of the wheel should be ignored. 'flags' indicates what collision/contact operations are desired; see dynoCollisionOperation for definitions of the values that can be bitwise or'd for 'flags'.

inline int addObstacle(cdPolyhedronObstacle* o)

adds 'o' to the list of obstacles

int removeObject(cdObject* o)

removes 'o' from the list of objects

int createLinkObstaclePairs(void)

creates the cdPairs for checking links against obstacles. This method does not normally need to be called by users.

int createPairs(void)

creates the cdPairs for checking links against obstacles and other links. This method does not normally need to be called by users.

inline cdPolyhedronObstacle* getObstacle(int i)

returns the i'th obstacle

inline cdObject* getObject(int i)

returns the i'th object

void freeIntersectionList(ptrList* oiList)

convenience function for freeing the oiList returned by computeIntersections.

This class has no child classes.

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