Detection of contacts between triangle meshes. More...

#include <ContactStrategyDMS.hpp>

Public Types
enum	ContactFilter { NONE , MANIFOLD }
	Strategy used for condensing contacts. More...

typedef enum rwsim::contacts::ContactStrategyDMS::ContactFilter	ContactFilter
	Strategy used for condensing contacts.

Public Types inherited from ContactStrategy
typedef rw::core::Ptr< ContactStrategy >	Ptr
	smart pointer type to this class

Public Types inherited from ProximityStrategy
typedef rw::core::Ptr< ProximityStrategy >	Ptr
	smart pointer type to this class

Public Member Functions
	ContactStrategyDMS ()
	Create new strategy.

virtual	~ContactStrategyDMS ()
	Destructor.

virtual bool	match (rw::core::Ptr< const rw::geometry::GeometryData > geoA, rw::core::Ptr< const rw::geometry::GeometryData > geoB)
	Test is this strategy can be used for the given geometries. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data, ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const

virtual std::vector< Contact >	updateContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data, ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const
	Update known contacts between two contact models. More...

virtual std::string	getName ()
	Get the name of the strategy as a string. More...

virtual rw::proximity::ProximityModel::Ptr	createModel ()
	creates an empty ProximityModel More...

virtual void	destroyModel (rw::proximity::ProximityModel *model)
	deallocates the memory used for model More...

virtual bool	addGeometry (rw::proximity::ProximityModel *model, const rw::geometry::Geometry &geom)

virtual bool	addGeometry (rw::proximity::ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)

virtual bool	removeGeometry (rw::proximity::ProximityModel *model, const std::string &geomId)
	removes a geometry from a specific proximity model More...

virtual std::vector< std::string >	getGeometryIDs (rw::proximity::ProximityModel *model)
	the list of all geometry ids that are associated to the proximity model model is returned More...

virtual std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries (rw::proximity::ProximityModel *model)
	the list of all geometry that are associated to the proximity model model is returned More...

virtual void	clear ()
	Clears any stored model information. More...

virtual void	setMatchAll (bool matchAll=true)
	If strategy should convert all geometry to meshes, or only work on geometry that is already meshes. More...

virtual void	setContactFilter (ContactFilter filter=MANIFOLD)
	Set the method used to filter contacts (condenses many contacts into fewer contacts). More...

virtual double	getThreshold () const
	The current distance threshold used by the simulator. More...

virtual double	getUpdateThresholdAbsolute () const
	The current update threshold used for contact tracking. More...

virtual double	getUpdateThresholdLinear () const
	The current update threshold used for contact tracking. More...

virtual double	getUpdateThresholdAngular () const
	The current update threshold used for contact tracking. More...

Public Member Functions inherited from ContactStrategy
	ContactStrategy ()
	Create new contact strategy.

virtual	~ContactStrategy ()
	Destruct contact strategy.

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb) const
	Check if there is contact between two contact models. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data) const
	Check if there is contact between two contact models using additional data. More...

virtual rw::core::PropertyMap &	getPropertyMap ()
	Get the properties used by the contact strategy. More...

virtual const rw::core::PropertyMap &	getPropertyMap () const
	Get the properties used by the contact strategy. More...

virtual void	setPropertyMap (const rw::core::PropertyMap &map)
	Set which properties the contact strategy should use. More...

Public Member Functions inherited from ProximityStrategy
virtual	~ProximityStrategy ()
	Destructor.

virtual bool	addModel (rw::core::Ptr< rw::models::Object > object)
	Adds a Proximity model of a frame to this strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, const rw::geometry::Geometry &faces)
	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::geometry::Geometry > faces, bool forceCopy=false)
	Adds a Proximity model to a frame. More...

virtual bool	hasModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Tells whether the frame has a proximity model in the strategy. More...

virtual void	clearFrame (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Clear (remove all) model information for frame frame.

virtual void	clearFrames ()
	Clear (remove all) model information for all frames.

ProximityModel::Ptr	getModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...

	DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std

void	useThreads (int threads)
	setNumber of threads the strategy may use More...

Additional Inherited Members
Protected Member Functions inherited from ProximityStrategy
	ProximityStrategy ()
	Creates object.

Protected Attributes inherited from ContactStrategy
rw::core::PropertyMap	_propertyMap
	Properties for strategy.

Protected Attributes inherited from ProximityStrategy
size_t	_threads
	the number of threads the strategy may use

Detailed Description

template<class T>
class rwsim::contacts::ContactStrategyDMS< T >

Detection of contacts between triangle meshes.

Member Enumeration Documentation

◆ ContactFilter

enum ContactFilter

Strategy used for condensing contacts.

Enumerator
NONE	No filtering.
MANIFOLD	Filtering with manifold.

Member Function Documentation

◆ addGeometry() [1/2]

virtual bool addGeometry	(	rw::proximity::ProximityModel *	model,
		const rw::geometry::Geometry &	geom
	)

virtual

rwsim::contacts::ContactStrategy::addGeometry(rw::proximity::ProximityModel*,const rw::geometry::Geometry&)

Implements ContactStrategy.

◆ addGeometry() [2/2]

virtual bool addGeometry	(	rw::proximity::ProximityModel *	model,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		bool	forceCopy = `false`
	)

virtual

rwsim::contacts::ContactStrategy::addGeometry(rw::proximity::ProximityModel*,rw::core::Ptr<rw::geometry::Geometry>,bool)

Implements ContactStrategy.

◆ clear()

virtual void clear ( )

virtual

Clears any stored model information.

Implements ContactStrategy.

◆ createModel()

virtual rw::proximity::ProximityModel::Ptr createModel ( )

virtual

creates an empty ProximityModel

Implements ContactStrategy.

◆ destroyModel()

virtual void destroyModel ( rw::proximity::ProximityModel * model )

virtual

deallocates the memory used for model

Parameters

model

Implements ContactStrategy.

◆ findContacts()

virtual std::vector<Contact> findContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		ContactStrategyData &	data,
		ContactStrategyTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)		const

virtual

rwsim::contacts::ContactStrategy::findContacts(rw::proximity::ProximityModel::Ptr,const rw::math::Transform3D<>&,rw::proximity::ProximityModel::Ptr,const rw::math::Transform3D<>&,ContactStrategyData&,ContactStrategyTracking&,rwsim::log::SimulatorLogScope* log) const

Implements ContactStrategy.

◆ getGeometries()

virtual std::vector<rw::core::Ptr<rw::geometry::Geometry> > getGeometries ( rw::proximity::ProximityModel * model )

virtual

the list of all geometry that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry associated to the proximity model

Implements ProximityStrategy.

◆ getGeometryIDs()

virtual std::vector<std::string> getGeometryIDs ( rw::proximity::ProximityModel * model )

virtual

the list of all geometry ids that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry ids associated to the proximity model

Implements ContactStrategy.

◆ getName()

virtual std::string getName ( )

virtual

Get the name of the strategy as a string.

Returns: name of the strategy.

Implements ContactStrategy.

◆ getThreshold()

virtual double getThreshold ( ) const

virtual

The current distance threshold used by the simulator.

The default threshold is 0.5 mm. This can be changed by setting the ContactStrategyPQPThreshold property in the PropertyMap. If this is not set, the MaxSepDistance property can also be used.

Returns: the threshold (positive).

◆ getUpdateThresholdAbsolute()

virtual double getUpdateThresholdAbsolute ( ) const

virtual

The current update threshold used for contact tracking.

The threshold is a absolute threshold that is combined with the motion-relative thresholds getUpdateThresholdLinear() and getUpdateThresholdAngular().

Default value of this is 1 mm.

Returns: the threshold.

◆ getUpdateThresholdAngular()

virtual double getUpdateThresholdAngular ( ) const

virtual

The current update threshold used for contact tracking.

The threshold is a factor that is multiplied with the angular change of the relative rotation. If the distance between an old and updated contact is less than this threshold it will be classified as the same contact.

The default is 0.25 m/rad. The threshold can be changed by setting the ContactStrategyPQPUpdateThresholdAngular property in the PropertyMap.

Note that the getUpdateThresholdLinear is accumulated with this threshold.

Returns: the factor.

◆ getUpdateThresholdLinear()

virtual double getUpdateThresholdLinear ( ) const

virtual

The current update threshold used for contact tracking.

The threshold is a factor that is multiplied with the change in relative displacement of two frames. If the distance between an old and updated contact is less than this threshold it will be classified as the same contact.

The default is 2. The threshold be changed by setting the ContactStrategyPQPUpdateThresholdLinear property in the PropertyMap.

Note that the getUpdateThresholdAngular is accumulated with this threshold.

Returns: the factor.

◆ match()

virtual bool match	(	rw::core::Ptr< const rw::geometry::GeometryData >	geoA,
		rw::core::Ptr< const rw::geometry::GeometryData >	geoB
	)

virtual

Test is this strategy can be used for the given geometries.

Parameters

geoA	[in] geometry data for the first object.
geoB	[in] geometry data for the second object.

Returns: true if this strategy can be used for the given geometries.

Implements ContactStrategy.

◆ removeGeometry()

virtual bool removeGeometry	(	rw::proximity::ProximityModel *	model,
		const std::string &	geomId
	)

virtual

removes a geometry from a specific proximity model

Implements ContactStrategy.

◆ setContactFilter()

virtual void setContactFilter ( ContactFilter filter = MANIFOLD )

virtual

Set the method used to filter contacts (condenses many contacts into fewer contacts).

Parameters

filter [in] the strategy to use - default is the OBRManifold-strategy.

◆ setMatchAll()

virtual void setMatchAll ( bool matchAll = true )

virtual

If strategy should convert all geometry to meshes, or only work on geometry that is already meshes.

Parameters

matchAll [in] true if strategy should match all geometries (default), false otherwise.

◆ updateContacts()

virtual std::vector<Contact> updateContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		ContactStrategyData &	data,
		ContactStrategyTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)		const

virtual

Update known contacts between two contact models.

Parameters

a	[in] model a.
wTa	[in] current transform of model a.
b	[in] model b.
wTb	[in] current transform of model b.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] meta-data for previously found contacts.
log	[in/out] (optional) store detailed logging information.

Returns: a list of updated contacts.

Implements ContactStrategy.

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

ContactStrategyDMS.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class T> class rwsim::contacts::ContactStrategyDMS< T >

Member Enumeration Documentation

◆ ContactFilter

Member Function Documentation

◆ addGeometry() [1/2]

◆ addGeometry() [2/2]

◆ clear()

◆ createModel()

◆ destroyModel()

◆ findContacts()

◆ getGeometries()

◆ getGeometryIDs()

◆ getName()

◆ getThreshold()

◆ getUpdateThresholdAbsolute()

◆ getUpdateThresholdAngular()

◆ getUpdateThresholdLinear()

◆ match()

◆ removeGeometry()

◆ setContactFilter()

◆ setMatchAll()

◆ updateContacts()

template<class T>
class rwsim::contacts::ContactStrategyDMS< T >