Collisions

Collisions

class Collisions

Public Types

using value_type = Collision

The type of the collisions.

Public Functions

Collisions() = default
void build(const CollisionMesh& mesh,
    const
 Eigen::MatrixXd& vertices
, const double dhat,
    const
 double dmin = 0
,
    const
 BroadPhaseMethod broad_phase_method
    
= DEFAULT_BROAD_PHASE_METHOD
)

Initialize the set of collisions used to compute the barrier potential.

Parameters:
const CollisionMesh &mesh

The collision mesh.

const Eigen::MatrixXd &vertices

Vertices of the collision mesh.

const double dhat

The activation distance of the barrier.

const double dmin = 0

Minimum distance.

const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD

Broad-phase method to use.

void build(const Candidates& candidates, const CollisionMesh& mesh,
    const
 Eigen::MatrixXd& vertices
, const double dhat,
    const
 double dmin = 0
)

Initialize the set of collisions used to compute the barrier potential.

Parameters:
const Candidates &candidates

Distance candidates from which the collision set is built.

const CollisionMesh &mesh

The collision mesh.

const Eigen::MatrixXd &vertices

Vertices of the collision mesh.

const double dhat

The activation distance of the barrier.

const double dmin = 0

Minimum distance.

double compute_minimum_distance(const CollisionMesh& mesh,
    const
 Eigen::MatrixXd& vertices
)
 const

Computes the minimum distance between any non-adjacent elements.

Parameters:
const CollisionMesh &mesh

The collision mesh.

const Eigen::MatrixXd &vertices

Vertices of the collision mesh.

Returns:

The minimum distance between any non-adjacent elements.

size_t size() const

Get the number of collisions.

bool empty() const

Get if the collision set are empty.

void clear()

Clear the collision set.

Collision& operator[](size_t i)

Get a reference to collision at index i.

Parameters:
size_t i

The index of the collision.

Returns:

A reference to the collision.

const Collision& operator[](size_t i) const

Get a const reference to collision at index i.

Parameters:
size_t i

The index of the collision.

Returns:

A const reference to the collision.

bool is_vertex_vertex(size_t i) const

Get if the collision at i is a vertex-vertex collision.

Parameters:
size_t i

The index of the collision.

Returns:

If the collision at i is a vertex-vertex collision.

bool is_edge_vertex(size_t i) const

Get if the collision at i is an edge-vertex collision.

Parameters:
size_t i

The index of the collision.

Returns:

If the collision at i is an edge-vertex collision.

bool is_edge_edge(size_t i) const

Get if the collision at i is an edge-edge collision.

Parameters:
size_t i

The index of the collision.

Returns:

If the collision at i is an edge-edge collision.

bool is_face_vertex(size_t i) const

Get if the collision at i is an face-vertex collision.

Parameters:
size_t i

The index of the collision.

Returns:

If the collision at i is an face-vertex collision.

bool is_plane_vertex(size_t i) const

Get if the collision at i is an plane-vertex collision.

Parameters:
size_t i

The index of the collision.

Returns:

If the collision at i is an plane-vertex collision.

inline bool use_convergent_formulation() const

Get if the collision set should use the convergent formulation.

Note

If not empty, this is the current value not necessarily the value used to build the collisions.

Returns:

If the collision set should use the convergent formulation.

void set_use_convergent_formulation(
    const
 bool use_convergent_formulation
)

Set if the collision set should use the convergent formulation.

Warning

This must be set before the collisions are built.

Parameters:
const bool use_convergent_formulation

If the collision set should use the convergent formulation.

inline bool are_shape_derivatives_enabled() const

Get if the collision set are using the convergent formulation.

Note

If not empty, this is the current value not necessarily the value used to build the collisions.

Returns:

If the collision set are using the convergent formulation.

void set_are_shape_derivatives_enabled(
    const
 bool are_shape_derivatives_enabled
)

Set if the collision set should enable shape derivative computation.

Warning

This must be set before the collisions are built.

Parameters:
const bool are_shape_derivatives_enabled

If the collision set should enable shape derivative computation.

std::string to_string(const CollisionMesh& mesh,
    const
 Eigen::MatrixXd& vertices
)
 const

Public Members

std::vector<VertexVertexCollision> vv_collisions
std::vector<EdgeVertexCollision> ev_collisions
std::vector<EdgeEdgeCollision> ee_collisions
std::vector<FaceVertexCollision> fv_collisions
std::vector<PlaneVertexCollision> pv_collisions

Protected Attributes

bool m_use_convergent_formulation = false
bool m_are_shape_derivatives_enabled = false

Collision

class Collision : public virtual ipc::CollisionStencil

Inheritence diagram for ipc::Collision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "7" [label="ipc::VertexVertexCollision" tooltip="ipc::VertexVertexCollision"] "1" [label="ipc::Collision" tooltip="ipc::Collision" fillcolor="#BFBFBF"] "2" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "4" [label="ipc::EdgeVertexCollision" tooltip="ipc::EdgeVertexCollision"] "3" [label="ipc::EdgeEdgeCollision" tooltip="ipc::EdgeEdgeCollision"] "5" [label="ipc::FaceVertexCollision" tooltip="ipc::FaceVertexCollision"] "6" [label="ipc::PlaneVertexCollision" tooltip="ipc::PlaneVertexCollision"] "7" -> "1" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "4" -> "1" [dir=forward tooltip="public-inheritance"] "3" -> "1" [dir=forward tooltip="public-inheritance"] "5" -> "1" [dir=forward tooltip="public-inheritance"] "6" -> "1" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for ipc::Collision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "1" [label="ipc::Collision" tooltip="ipc::Collision" fillcolor="#BFBFBF"] "2" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "1" -> "2" [dir=forward tooltip="public-inheritance"] }

Subclassed by ipc::EdgeEdgeCollision, ipc::EdgeVertexCollision, ipc::FaceVertexCollision, ipc::PlaneVertexCollision, ipc::VertexVertexCollision

Public Functions

Collision() = default
Collision(const double weight,
    const
 Eigen::SparseVector<double>& weight_gradient
)
virtual ~Collision() = default
inline virtual bool is_mollified() const

Does the distance potentially have to be mollified?

inline virtual double mollifier_threshold(
    const
 VectorMax12d& rest_positions
)
 const

Compute the mollifier threshold for the distance.

Parameters:
const VectorMax12d &rest_positions

The stencil’s rest vertex positions.

Returns:

The mollifier threshold.

virtual double mollifier(const VectorMax12d& positions) const

Compute the mollifier for the distance.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier value.

virtual double mollifier(
    const
 VectorMax12d& positions
, double eps_x)
 const

Compute the mollifier for the distance.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

double eps_x

The mollifier’s threshold.

Returns:

The mollifier value.

virtual VectorMax12d mollifier_gradient(
    const
 VectorMax12d& positions
)
 const

Compute the gradient of the mollifier for the distance wrt the positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier gradient.

virtual VectorMax12d mollifier_gradient(
    const
 VectorMax12d& positions
, double eps_x)
 const

Compute the gradient of the mollifier for the distance wrt the positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

double eps_x

The mollifier’s threshold.

Returns:

The mollifier gradient.

virtual MatrixMax12d mollifier_hessian(
    const
 VectorMax12d& positions
)
 const

Compute the Hessian of the mollifier for the distance wrt the positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier Hessian.

virtual MatrixMax12d mollifier_hessian(
    const
 VectorMax12d& positions
, double eps_x)
 const

Compute the Hessian of the mollifier for the distance wrt the positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

double eps_x

The mollifier’s threshold.

Returns:

The mollifier Hessian.

virtual Vector12d mollifier_gradient_wrt_x(
    const
 VectorMax12d& rest_positions
,
    const
 VectorMax12d& positions
)
 const

Compute the gradient of the mollifier for the distance w.r.t.

rest positions.

Parameters:
const VectorMax12d &rest_positions

The stencil’s rest vertex positions.

const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier gradient w.r.t. rest positions.

virtual Matrix12d mollifier_gradient_jacobian_wrt_x(
    const
 VectorMax12d& rest_positions
,
    const
 VectorMax12d& positions
)
 const

Compute the jacobian of the distance mollifier’s gradient w.r.t.

rest positions.

Parameters:
const VectorMax12d &rest_positions

The stencil’s rest vertex positions.

const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The jacobian of the mollifier’s gradient w.r.t. rest positions.

Public Members

double dmin = 0

The minimum separation distance.

double weight = 1

The term’s weight (e.g., collision area)

Eigen::SparseVector<double> weight_gradient

The gradient of the term’s weight wrt the rest positions.

Vertex-Vertex Collision

class VertexVertexCollision : public ipc::VertexVertexCandidate,
                              
public ipc::Collision

Inheritence diagram for ipc::VertexVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "1" [label="ipc::VertexVertexCollision" tooltip="ipc::VertexVertexCollision" fillcolor="#BFBFBF"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "2" [label="ipc::VertexVertexCandidate" tooltip="ipc::VertexVertexCandidate"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for ipc::VertexVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "1" [label="ipc::VertexVertexCollision" tooltip="ipc::VertexVertexCollision" fillcolor="#BFBFBF"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "2" [label="ipc::VertexVertexCandidate" tooltip="ipc::VertexVertexCandidate"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] }

Public Functions

inline VertexVertexCollision(
    const
 VertexVertexCandidate& candidate
)
inline VertexVertexCollision(const long _vertex0_id,
    const
 long _vertex1_id
, const double _weight,
    const
 Eigen::SparseVector<double>& _weight_gradient
)
VertexVertexCandidate(long vertex0_id, long vertex1_id)

Friends

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

Edge-Vertex Collision

class EdgeVertexCollision : public ipc::EdgeVertexCandidate,
                            
public ipc::Collision

Inheritence diagram for ipc::EdgeVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "2" [label="ipc::EdgeVertexCandidate" tooltip="ipc::EdgeVertexCandidate"] "1" [label="ipc::EdgeVertexCollision" tooltip="ipc::EdgeVertexCollision" fillcolor="#BFBFBF"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for ipc::EdgeVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "2" [label="ipc::EdgeVertexCandidate" tooltip="ipc::EdgeVertexCandidate"] "1" [label="ipc::EdgeVertexCollision" tooltip="ipc::EdgeVertexCollision" fillcolor="#BFBFBF"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] }

Public Functions

inline EdgeVertexCollision(const EdgeVertexCandidate& candidate)
inline EdgeVertexCollision(const long _edge_id,
    const
 long _vertex_id
, const double _weight,
    const
 Eigen::SparseVector<double>& _weight_gradient
)
inline virtual PointEdgeDistanceType known_dtype() const override
EdgeVertexCandidate(long edge_id, long vertex_id)

Friends

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

Edge-Edge Collision

class EdgeEdgeCollision : public ipc::EdgeEdgeCandidate,
                          
public ipc::Collision

Inheritence diagram for ipc::EdgeEdgeCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "1" [label="ipc::EdgeEdgeCollision" tooltip="ipc::EdgeEdgeCollision" fillcolor="#BFBFBF"] "2" [label="ipc::EdgeEdgeCandidate" tooltip="ipc::EdgeEdgeCandidate"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for ipc::EdgeEdgeCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "1" [label="ipc::EdgeEdgeCollision" tooltip="ipc::EdgeEdgeCollision" fillcolor="#BFBFBF"] "2" [label="ipc::EdgeEdgeCandidate" tooltip="ipc::EdgeEdgeCandidate"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] }

Public Functions

EdgeEdgeCollision(const long edge0_id, const long edge1_id,
    const
 double eps_x
,
    const
 EdgeEdgeDistanceType dtype = EdgeEdgeDistanceType::AUTO
)
EdgeEdgeCollision(const EdgeEdgeCandidate& candidate,
    const
 double eps_x
,
    const
 EdgeEdgeDistanceType dtype = EdgeEdgeDistanceType::AUTO
)
EdgeEdgeCollision(const long edge0_id, const long edge1_id,
    const
 double eps_x
, const double weight,
    const
 Eigen::SparseVector<double>& weight_gradient
,
    const
 EdgeEdgeDistanceType dtype = EdgeEdgeDistanceType::AUTO
)
inline virtual bool is_mollified() const override

Does the distance potentially have to be mollified?

virtual double mollifier_threshold(
    const
 VectorMax12d& rest_positions
)
 const override

Compute the mollifier threshold for the distance.

Parameters:
const VectorMax12d &rest_positions

The stencil’s rest vertex positions.

Returns:

The mollifier threshold.

virtual double mollifier(
    const
 VectorMax12d& positions
)
 const override

Compute the mollifier for the distance.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier value.

virtual double mollifier(
    const
 VectorMax12d& positions
, double eps_x)
 const override

Compute the mollifier for the distance.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

double eps_x

The mollifier’s tolerance.

Returns:

The mollifier value.

virtual VectorMax12d mollifier_gradient(
    const
 VectorMax12d& positions
)
 const override

Compute the gradient of the mollifier for the distance w.r.t.

positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier gradient.

virtual VectorMax12d mollifier_gradient(
    const
 VectorMax12d& positions
, double eps_x)
 const override

Compute the gradient of the mollifier for the distance wrt the positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

double eps_x

The mollifier’s tolerance.

Returns:

The mollifier gradient.

virtual MatrixMax12d mollifier_hessian(
    const
 VectorMax12d& positions
)
 const override

Compute the Hessian of the mollifier for the distance w.r.t.

positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier Hessian.

virtual MatrixMax12d mollifier_hessian(
    const
 VectorMax12d& positions
, double eps_x)
 const override

Compute the Hessian of the mollifier for the distance wrt the positions.

Parameters:
const VectorMax12d &positions

The stencil’s vertex positions.

double eps_x

The mollifier’s tolerance.

Returns:

The mollifier Hessian.

virtual Vector12d mollifier_gradient_wrt_x(
    const
 VectorMax12d& rest_positions
,
    const
 VectorMax12d& positions
)
 const override

Compute the gradient of the mollifier for the distance w.r.t.

rest positions.

Parameters:
const VectorMax12d &rest_positions

The stencil’s rest vertex positions.

const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The mollifier gradient w.r.t. rest positions.

virtual Matrix12d mollifier_gradient_jacobian_wrt_x(
    const
 VectorMax12d& rest_positions
,
    const
 VectorMax12d& positions
)
 const override

Compute the jacobian of the distance mollifier’s gradient w.r.t.

rest positions.

Parameters:
const VectorMax12d &rest_positions

The stencil’s rest vertex positions.

const VectorMax12d &positions

The stencil’s vertex positions.

Returns:

The jacobian of the mollifier’s gradient w.r.t. rest positions.

inline virtual EdgeEdgeDistanceType known_dtype() const override
bool operator==(const EdgeEdgeCollision& other) const
bool operator!=(const EdgeEdgeCollision& other) const
bool operator<(const EdgeEdgeCollision& other) const

Public Members

double eps_x

Mollifier activation threshold.

EdgeEdgeDistanceType dtype

Cached distance type.

Some EE collisions are mollified EV or VV collisions.

Friends

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

Face-Vertex Collision

class FaceVertexCollision : public ipc::FaceVertexCandidate,
                            
public ipc::Collision

Inheritence diagram for ipc::FaceVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "2" [label="ipc::FaceVertexCandidate" tooltip="ipc::FaceVertexCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "1" [label="ipc::FaceVertexCollision" tooltip="ipc::FaceVertexCollision" fillcolor="#BFBFBF"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for ipc::FaceVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "5" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::ContinuousCollisionCandidate" tooltip="ipc::ContinuousCollisionCandidate"] "2" [label="ipc::FaceVertexCandidate" tooltip="ipc::FaceVertexCandidate"] "4" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "1" [label="ipc::FaceVertexCollision" tooltip="ipc::FaceVertexCollision" fillcolor="#BFBFBF"] "5" -> "4" [dir=forward tooltip="public-inheritance"] "3" -> "4" [dir=forward tooltip="public-inheritance"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] "1" -> "5" [dir=forward tooltip="public-inheritance"] }

Public Functions

inline FaceVertexCollision(const FaceVertexCandidate& candidate)
inline FaceVertexCollision(const long _face_id,
    const
 long _vertex_id
, const double _weight,
    const
 Eigen::SparseVector<double>& _weight_gradient
)
inline virtual PointTriangleDistanceType
known_dtype() const override
FaceVertexCandidate(long face_id, long vertex_id)

Friends

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

Plane-Vertex Collision

class PlaneVertexCollision : public ipc::Collision

Inheritence diagram for ipc::PlaneVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "2" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "1" [label="ipc::PlaneVertexCollision" tooltip="ipc::PlaneVertexCollision" fillcolor="#BFBFBF"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] }

Collaboration diagram for ipc::PlaneVertexCollision:

digraph { graph [bgcolor="#00000000"] node [shape=rectangle style=filled fillcolor="#FFFFFF" font=Helvetica padding=2] edge [color="#1414CE"] "2" [label="ipc::Collision" tooltip="ipc::Collision"] "3" [label="ipc::CollisionStencil" tooltip="ipc::CollisionStencil"] "1" [label="ipc::PlaneVertexCollision" tooltip="ipc::PlaneVertexCollision" fillcolor="#BFBFBF"] "2" -> "3" [dir=forward tooltip="public-inheritance"] "1" -> "2" [dir=forward tooltip="public-inheritance"] }

Public Functions

PlaneVertexCollision(const VectorMax3d& plane_origin,
    const
 VectorMax3d& plane_normal
, const 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& point
)
 const override

Compute the distance between the point and plane.

Parameters:
const VectorMax12d &point

Point’s position.

Returns:

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const
 VectorMax12d& point
)
 const override

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

the point’s positions.

Parameters:
const VectorMax12d &point

Point’s position.

Returns:

Distance gradient w.r.t. the point’s positions.

virtual MatrixMax12d compute_distance_hessian(
    const
 VectorMax12d& point
)
 const override

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

the stencil’s vertex positions.

Parameters:
const VectorMax12d &point

Point’s position.

Returns:

Distance Hessian w.r.t. the point’s positions.

Public Members

VectorMax3d plane_origin

The plane’s origin.

VectorMax3d plane_normal

The plane’s normal.

long vertex_id

The vertex’s id.


Last update: Jun 12, 2024