Candidates¶

Candidates¶

class Candidates¶

Public Functions

Candidates() = default¶

void build(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices,
    const double inflation_radius = 0,
    const BroadPhaseMethod broad_phase_method
    = DEFAULT_BROAD_PHASE_METHOD)¶

Initialize the set of discrete collision detection candidates.

Parameters:¶

const CollisionMesh &mesh¶

The surface of the collision mesh.

const Eigen::MatrixXd &vertices¶

Surface vertex positions (rowwise).

const double inflation_radius = 0¶

Amount to inflate the bounding boxes.

const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD¶

Broad phase method to use.

void build(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const double inflation_radius = 0,
    const BroadPhaseMethod broad_phase_method
    = DEFAULT_BROAD_PHASE_METHOD)¶

Initialize the set of continuous collision detection candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The surface of the collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise).

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double inflation_radius = 0¶

Amount to inflate the bounding boxes.

const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD¶

Broad phase method to use.

size_t size() const¶

bool empty() const¶

void clear()¶

ContinuousCollisionCandidate& operator[](size_t i)¶

const ContinuousCollisionCandidate& operator[](size_t i) const¶

bool is_step_collision_free(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const double min_distance = 0.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const¶

Determine if the step is collision free from the set of candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise).

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double min_distance = 0.0¶

The minimum distance allowable between any two elements.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

The narrow phase CCD algorithm to use.

Returns:¶

True if any collisions occur.

double compute_collision_free_stepsize(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const double min_distance = 0.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const¶

Computes a maximal step size that is collision free using the set of collision candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise). Assumed to be intersection free.

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double min_distance = 0.0¶

The minimum distance allowable between any two elements.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

The narrow phase CCD algorithm to use.

Returns:¶

A step-size \(\in [0, 1]\) that is collision free. A value of 1.0 if a full step and 0.0 is no step.

double compute_noncandidate_conservative_stepsize(
    const CollisionMesh& mesh, const Eigen::MatrixXd& displacements,
    const double dhat) const¶

Computes a conservative bound on the largest-feasible step size for surface primitives not in collision.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &displacements¶

Surface vertex displacements (rowwise).

const double dhat¶

Barrier activation distance.

double compute_cfl_stepsize(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1, const double dhat,
    const BroadPhaseMethod broad_phase_method
    = DEFAULT_BROAD_PHASE_METHOD,
    const double min_distance = 0.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const¶

Computes a CFL-inspired CCD maximum step step size.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise).

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double dhat¶

Barrier activation distance.

const double min_distance = 0.0¶

The minimum distance allowable between any two elements.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

The narrow phase CCD algorithm to use.

bool save_obj(const std::string& filename,
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const¶

Public Members

std::vector<VertexVertexCandidate> vv_candidates¶

std::vector<EdgeVertexCandidate> ev_candidates¶

std::vector<EdgeEdgeCandidate> ee_candidates¶

std::vector<FaceVertexCandidate> fv_candidates¶

Collision Stencil¶

class CollisionStencil¶

Inheritence diagram for ipc::CollisionStencil:

A stencil representing a collision between at most four vertices.

Subclassed by ipc::ContinuousCollisionCandidate, ipc::NormalCollision, ipc::TangentialCollision

Public Functions

virtual ~CollisionStencil() = default¶

virtual int num_vertices() const = 0¶

Get the number of vertices in the collision stencil.

inline int dim(const int ndof) const¶

Get the dimension of the collision stencil.

Parameters:¶

const int ndof¶

Number of degrees of freedom in the stencil.

Returns:¶

The dimension of the collision stencil.

virtual std::array<long, 4> vertex_ids(const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const = 0¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

template <typename T>
inline std::array<VectorMax3<T>, 4> vertices(
    const MatrixX<T>& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const¶

Get the vertex attributes of the collision stencil.

Template Parameters:¶

typename T¶

Type of the attributes

Parameters:¶

const MatrixX<T> &vertices¶

Vertex attributes

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex positions of the collision stencil. Size is always 4, but elements i > num_vertices() are NaN.

template <typename T>
inline VectorMax12<T> dof(const MatrixX<T>& X,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const¶

Select this stencil’s DOF from the full matrix of DOF.

Template Parameters:¶

typename T¶

Type of the DOF

Parameters:¶

const MatrixX<T> &X¶

Full matrix of DOF (rowwise).

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

This stencil’s DOF.

virtual double compute_distance(
    const VectorMax12d& positions) const = 0¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const = 0¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const = 0¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Continuous Collision Candidate¶

class ContinuousCollisionCandidate
    : public virtual ipc::CollisionStencil¶

Inheritence diagram for ipc::ContinuousCollisionCandidate:

Collaboration diagram for ipc::ContinuousCollisionCandidate:

Virtual class for candidates that support CCD.

Subclassed by ipc::EdgeEdgeCandidate, ipc::EdgeVertexCandidate, ipc::FaceVertexCandidate, ipc::VertexVertexCandidate

Public Functions

virtual ~ContinuousCollisionCandidate() = default¶

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, double& toi,
    const double min_distance = 0.0, const double tmax = 1.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const = 0¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶

[in] Stencil vertices at the start of the time step.

const VectorMax12d &vertices_t1¶

[in] Stencil vertices at the end of the time step.

double &toi¶

[out] Computed time of impact (normalized).

const double min_distance = 0.0¶

[in] Minimum separation distance between primitives.

const double tmax = 1.0¶

[in] Maximum time (normalized) to look for collisions.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

[in] The narrow phase CCD algorithm to use.

Returns:¶

If the candidate had a collision over the time interval.

std::ostream& write_ccd_query(std::ostream& out,
    const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1) const¶

Write the CCD query to a stream.

Parameters:¶

std::ostream &out¶

Stream to write to.

const VectorMax12d &vertices_t0¶

Stencil vertices at the start of the time step.

const VectorMax12d &vertices_t1¶

Stencil vertices at the end of the time step.

Returns:¶

The stream.

Vertex-Vertex Candidate¶

class VertexVertexCandidate
    : public ipc::ContinuousCollisionCandidate¶

Inheritence diagram for ipc::VertexVertexCandidate:

Collaboration diagram for ipc::VertexVertexCandidate:

Subclassed by ipc::VertexVertexNormalCollision, ipc::VertexVertexTangentialCollision

Public Functions

VertexVertexCandidate(long vertex0_id, long vertex1_id)¶

inline virtual int num_vertices() const override¶

Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids(
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override¶

Get the indices of the vertices.

Parameters:¶

const Eigen::MatrixXi &edges¶

edge matrix of mesh

const Eigen::MatrixXi &faces¶

face matrix of mesh

Returns:¶

List of vertex indices

virtual double compute_distance(
    const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, double& toi,
    const double min_distance = 0.0, const double tmax = 1.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const override¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶

[in] Stencil vertices at the start of the time step.

const VectorMax12d &vertices_t1¶

[in] Stencil vertices at the end of the time step.

double &toi¶

[out] Computed time of impact (normalized).

const double min_distance = 0.0¶

[in] Minimum separation distance between primitives.

const double tmax = 1.0¶

[in] Maximum time (normalized) to look for collisions.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

[in] The narrow phase CCD algorithm to use.

Returns:¶

If the candidate had a collision over the time interval.

bool operator==(const VertexVertexCandidate& other) const¶

bool operator!=(const VertexVertexCandidate& other) const¶

bool operator<(const VertexVertexCandidate& other) const¶

Compare EdgeVertexCandidates for sorting.

Public Members

long vertex0_id¶

ID of the first vertex.

long vertex1_id¶

ID of the second vertex.

Friends

template <typename H>
inline friend H AbslHashValue(H h, const VertexVertexCandidate& vv)¶

Edge-Vertex Candidate¶

class EdgeVertexCandidate
    : public ipc::ContinuousCollisionCandidate¶

Inheritence diagram for ipc::EdgeVertexCandidate:

Collaboration diagram for ipc::EdgeVertexCandidate:

Subclassed by ipc::EdgeVertexNormalCollision, ipc::EdgeVertexTangentialCollision

Public Functions

EdgeVertexCandidate(long edge_id, long vertex_id)¶

inline virtual int num_vertices() const override¶

Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids(
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual double compute_distance(
    const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, double& toi,
    const double min_distance = 0.0, const double tmax = 1.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const override¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶

[in] Stencil vertices at the start of the time step.

const VectorMax12d &vertices_t1¶

[in] Stencil vertices at the end of the time step.

double &toi¶

[out] Computed time of impact (normalized).

const double min_distance = 0.0¶

[in] Minimum separation distance between primitives.

const double tmax = 1.0¶

[in] Maximum time (normalized) to look for collisions.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

[in] The narrow phase CCD algorithm to use.

Returns:¶

If the candidate had a collision over the time interval.

inline virtual PointEdgeDistanceType known_dtype() const¶

bool operator==(const EdgeVertexCandidate& other) const¶

bool operator!=(const EdgeVertexCandidate& other) const¶

bool operator<(const EdgeVertexCandidate& other) const¶

Compare EdgeVertexCandidates for sorting.

Public Members

long edge_id¶

ID of the edge.

long vertex_id¶

ID of the vertex.

Friends

template <typename H>
inline friend H AbslHashValue(H h, const EdgeVertexCandidate& ev)¶

Edge-Edge Candidate¶

class EdgeEdgeCandidate : public ipc::ContinuousCollisionCandidate¶

Inheritence diagram for ipc::EdgeEdgeCandidate:

Collaboration diagram for ipc::EdgeEdgeCandidate:

Subclassed by ipc::EdgeEdgeNormalCollision, ipc::EdgeEdgeTangentialCollision

Public Functions

EdgeEdgeCandidate(long edge0_id, long edge1_id)¶

inline virtual int num_vertices() const override¶

Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids(
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual double compute_distance(
    const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, double& toi,
    const double min_distance = 0.0, const double tmax = 1.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const override¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶

[in] Stencil vertices at the start of the time step.

const VectorMax12d &vertices_t1¶

[in] Stencil vertices at the end of the time step.

double &toi¶

[out] Computed time of impact (normalized).

const double min_distance = 0.0¶

[in] Minimum separation distance between primitives.

const double tmax = 1.0¶

[in] Maximum time (normalized) to look for collisions.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

[in] The narrow phase CCD algorithm to use.

Returns:¶

If the candidate had a collision over the time interval.

inline virtual EdgeEdgeDistanceType known_dtype() const¶

bool operator==(const EdgeEdgeCandidate& other) const¶

bool operator!=(const EdgeEdgeCandidate& other) const¶

bool operator<(const EdgeEdgeCandidate& other) const¶

Compare EdgeEdgeCandidates for sorting.

Public Members

long edge0_id¶

ID of the first edge.

long edge1_id¶

ID of the second edge.

Friends

template <typename H>
inline friend H AbslHashValue(H h, const EdgeEdgeCandidate& ee)¶

Edge-Face Candidate¶

class EdgeFaceCandidate¶

Candidate for intersection between edge and face.

Not included in Candidates because it is not a collision candidate.

Public Functions

EdgeFaceCandidate(long edge_id, long face_id)¶

bool operator==(const EdgeFaceCandidate& other) const¶

bool operator!=(const EdgeFaceCandidate& other) const¶

bool operator<(const EdgeFaceCandidate& other) const¶

Compare EdgeFaceCandidate for sorting.

Public Members

long edge_id¶

ID of the edge.

long face_id¶

ID of the face.

Friends

template <typename H>
inline friend H AbslHashValue(H h, const EdgeFaceCandidate& fv)¶

Face-Vertex Candidate¶

class FaceVertexCandidate
    : public ipc::ContinuousCollisionCandidate¶

Inheritence diagram for ipc::FaceVertexCandidate:

Collaboration diagram for ipc::FaceVertexCandidate:

Subclassed by ipc::FaceVertexNormalCollision, ipc::FaceVertexTangentialCollision

Public Functions

FaceVertexCandidate(long face_id, long vertex_id)¶

inline virtual int num_vertices() const override¶

Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids(
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual double compute_distance(
    const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, double& toi,
    const double min_distance = 0.0, const double tmax = 1.0,
    const NarrowPhaseCCD& narrow_phase_ccd
    = DEFAULT_NARROW_PHASE_CCD) const override¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶

[in] Stencil vertices at the start of the time step.

const VectorMax12d &vertices_t1¶

[in] Stencil vertices at the end of the time step.

double &toi¶

[out] Computed time of impact (normalized).

const double min_distance = 0.0¶

[in] Minimum separation distance between primitives.

const double tmax = 1.0¶

[in] Maximum time (normalized) to look for collisions.

const NarrowPhaseCCD &narrow_phase_ccd = DEFAULT_NARROW_PHASE_CCD¶

[in] The narrow phase CCD algorithm to use.

Returns:¶

If the candidate had a collision over the time interval.

inline virtual PointTriangleDistanceType known_dtype() const¶

bool operator==(const FaceVertexCandidate& other) const¶

bool operator!=(const FaceVertexCandidate& other) const¶

bool operator<(const FaceVertexCandidate& other) const¶

Compare FaceVertexCandidate for sorting.

Public Members

long face_id¶

ID of the face.

long vertex_id¶

ID of the vertex.

Friends

template <typename H>
inline friend H AbslHashValue(H h, const FaceVertexCandidate& fv)¶