Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes | List of all members
SurgSim::Collision::Representation Class Referenceabstract

The type of collision detection. More...

#include <SurgSim/Collision/Representation.h>

Inheritance diagram for SurgSim::Collision::Representation:
SurgSim::Framework::Representation SurgSim::Framework::Component SurgSim::Framework::Accessible SurgSim::Framework::FactoryBase1< Component, std::string > SurgSim::Collision::ShapeCollisionRepresentation SurgSim::Particles::ParticlesCollisionRepresentation SurgSim::Physics::DeformableCollisionRepresentation SurgSim::Physics::RigidCollisionRepresentation

Public Member Functions

 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
virtual int getShapeType () const =0
 Get the shape type id. More...
 
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...
 
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 const std::shared_ptr< SurgSim::Math::ShapegetShape () const =0
 Get the shape. More...
 
virtual std::shared_ptr< SurgSim::Math::ShapegetPosedShape ()
 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. More...
 
virtual void updateDcdData ()
 Update the data (the shape) in preparation for a DCD contact calculation. More...
 
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...
 
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. More...
 
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. More...
 
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< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const SceneElementgetSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () 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< ComponentgetSharedPtr ()
 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. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class 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...
 
template<>
boost::any getValue (const std::string &name) const
 

Protected Member Functions

void invalidatePosedShapeMotion ()
 Invalidate the cached posed shape motion. More...
 
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. More...
 
void setPosedShapeMotion (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &posedShape)
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponentgetPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const PoseComponentgetPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 

Protected Attributes

std::shared_ptr< Framework::Loggerm_logger
 

Private Attributes

CollisionDetectionType m_collisionDetectionType
 The type of collision detection. More...
 
CollisionDetectionType m_selfCollisionDetectionType
 The type of self collision detection. More...
 
SurgSim::DataStructures::BufferedValue< ContactMapTypem_collisions
 A map which associates a list of contacts with each collision representation. More...
 
boost::mutex m_collisionsMutex
 Mutex to lock write access to m_collisions. More...
 
Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > m_posedShapeMotion
 The shape transformed in space and defined through time, i.e. with 2 differents configurations. More...
 
boost::shared_mutex m_posedShapeMotionMutex
 Mutex to lock write access to m_posedShapeMotion. More...
 
std::unordered_set< std::string > m_ignoring
 Ignored collision representations. More...
 
std::unordered_set< std::string > m_allowing
 Allowed collision representations. More...
 

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 FactoryTypegetFactory ()
 

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
nameName of this collision representation

◆ ~Representation()

SurgSim::Collision::Representation::~Representation ( )
virtual

Destructor.

Reimplemented from SurgSim::Framework::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
otherThe other collision representation
contactThe 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
fullNameThe 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
representationThe 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
otherother collision representation to check against
Returns
true if there were contacts recorded, false otherwise

◆ doRetire()

void SurgSim::Collision::Representation::doRetire ( )
overrideprotectedvirtual

Interface to be implemented by derived classes Has a default implementation, does nothing.

Reimplemented from SurgSim::Framework::Component.

◆ 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
Returns
the Bounding box for this object

◆ 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()

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

Get the shape, posed.

Returns
The shape transformed by the pose of this representation

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

◆ 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::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
fullNameThe 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
representationThe collision representation to ignore

◆ invalidatePosedShapeMotion()

void SurgSim::Collision::Representation::invalidatePosedShapeMotion ( )
protected

Invalidate the cached posed shape motion.

◆ isAllowing() [1/2]

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

Is the collision representation being allowed.

Parameters
fullNameThe 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
representationThe 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
fullNameThe 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
representationThe 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
fullNamesThe collision representations (given by full name) to allow

◆ setCollisionDetectionType()

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

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

Parameters
typeThe 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
fullNamesThe 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
posedShapethe posed shape motion to be set

◆ setSelfCollisionDetectionType()

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

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

Parameters
typeThe collision detection type

◆ update()

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

Update the representation.

Parameters
dtthe time passed from the last update.

◆ updateCcdData()

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

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

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

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

◆ updateDcdData()

void SurgSim::Collision::Representation::updateDcdData ( )
virtual

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

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

◆ updateShapeData()

void SurgSim::Collision::Representation::updateShapeData ( )
virtual

Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined.

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

Member Data Documentation

◆ m_allowing

std::unordered_set<std::string> SurgSim::Collision::Representation::m_allowing
private

Allowed collision representations.

◆ m_collisionDetectionType

CollisionDetectionType SurgSim::Collision::Representation::m_collisionDetectionType
private

The type of collision detection.

◆ m_collisions

SurgSim::DataStructures::BufferedValue<ContactMapType> SurgSim::Collision::Representation::m_collisions
private

A map which associates a list of contacts with each collision representation.

Every contact added to this map follows the convention of pointing the contact normal toward this representation. And the first penetration point is on this representation.

◆ m_collisionsMutex

boost::mutex SurgSim::Collision::Representation::m_collisionsMutex
private

Mutex to lock write access to m_collisions.

◆ m_ignoring

std::unordered_set<std::string> SurgSim::Collision::Representation::m_ignoring
private

Ignored collision representations.

◆ m_logger

std::shared_ptr<Framework::Logger> SurgSim::Collision::Representation::m_logger
protected

◆ m_posedShapeMotion

Math::PosedShapeMotion<std::shared_ptr<Math::Shape> > SurgSim::Collision::Representation::m_posedShapeMotion
private

The shape transformed in space and defined through time, i.e. with 2 differents configurations.

◆ m_posedShapeMotionMutex

boost::shared_mutex SurgSim::Collision::Representation::m_posedShapeMotionMutex
mutableprivate

Mutex to lock write access to m_posedShapeMotion.

◆ m_selfCollisionDetectionType

CollisionDetectionType SurgSim::Collision::Representation::m_selfCollisionDetectionType
private

The type of self collision detection.


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