Broad Phase¶

class ipctk.BroadPhaseMethod¶

Bases: pybind11_object

Enumeration of implemented broad phase methods.

Members:

BRUTE_FORCE : Brute force

HASH_GRID : Hash grid

SPATIAL_HASH : Spatial hash

BOUNDING_VOLUME_HIERARCHY : Bounding volume hierarchy

SWEEP_AND_PRUNE : Sweep and prune

SWEEP_AND_TINIEST_QUEUE : Sweep and tiniest queue (GPU)

Public Data Attributes:

`name`
`value`
`BRUTE_FORCE`
`HASH_GRID`
`SPATIAL_HASH`
`BOUNDING_VOLUME_HIERARCHY`
`SWEEP_AND_PRUNE`
`SWEEP_AND_TINIEST_QUEUE`

Public Methods:

`__init__`(self, value)
`__repr__`(self)
`__str__`(self)
`__eq__`(self, other)
`__ne__`(self, other)
`__getstate__`(self)
`__hash__`(self)
`__int__`(self)
`__index__`(self)
`__setstate__`(self, state)

Inherited from pybind11_object

Private Data Attributes:

`__entries`

BOUNDING_VOLUME_HIERARCHY = <BroadPhaseMethod.BOUNDING_VOLUME_HIERARCHY: 3>¶

BRUTE_FORCE = <BroadPhaseMethod.BRUTE_FORCE: 0>¶

HASH_GRID = <BroadPhaseMethod.HASH_GRID: 1>¶

SPATIAL_HASH = <BroadPhaseMethod.SPATIAL_HASH: 2>¶

SWEEP_AND_PRUNE = <BroadPhaseMethod.SWEEP_AND_PRUNE: 4>¶

SWEEP_AND_TINIEST_QUEUE = <BroadPhaseMethod.SWEEP_AND_TINIEST_QUEUE: 5>¶

__annotations__ = {}¶

__eq__(self, other: object) → bool¶

__getstate__(self) → int¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__members__ = {'BOUNDING_VOLUME_HIERARCHY': <BroadPhaseMethod.BOUNDING_VOLUME_HIERARCHY: 3>, 'BRUTE_FORCE': <BroadPhaseMethod.BRUTE_FORCE: 0>, 'HASH_GRID': <BroadPhaseMethod.HASH_GRID: 1>, 'SPATIAL_HASH': <BroadPhaseMethod.SPATIAL_HASH: 2>, 'SWEEP_AND_PRUNE': <BroadPhaseMethod.SWEEP_AND_PRUNE: 4>, 'SWEEP_AND_TINIEST_QUEUE': <BroadPhaseMethod.SWEEP_AND_TINIEST_QUEUE: 5>}¶

__module__ = 'ipctk'¶

__ne__(self, other: object) → bool¶

__repr__(self) → str¶

__setstate__(self, state: int) → None¶

__str__(self) → str¶

property name : str¶

property value : int¶

Broad Phase¶

class ipctk.BroadPhase¶

Bases: pybind11_object

Public Data Attributes:

`can_vertices_collide`	Function for determining if two vertices can collide.

Public Methods:

`__init__`(args, *kwargs)
`make_broad_phase`(method)	Construct a registered broad phase object.
`build`(args, *kwargs)	Overloaded function.
`clear`(self)	Clear any built data.
`detect_vertex_vertex_candidates`(self)	Find the candidate vertex-vertex collisions.
`detect_edge_vertex_candidates`(self)	Find the candidate edge-vertex collisions.
`detect_edge_edge_candidates`(self)	Find the candidate edge-edge collisions.
`detect_face_vertex_candidates`(self)	Find the candidate face-vertex collisions.
`detect_edge_face_candidates`(self)	Find the candidate edge-face intersections.
`detect_face_face_candidates`(self)	Find the candidate face-face collisions.
`detect_collision_candidates`(self, dim)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

__annotations__ = {}¶

__init__(*args, **kwargs)¶

__module__ = 'ipctk'¶

build(*args, **kwargs)¶

Overloaded function.

build(self: ipctk.BroadPhase, vertices: numpy.ndarray[numpy.float64[m, n]], edges: numpy.ndarray[numpy.int32[m, n]], faces: numpy.ndarray[numpy.int32[m, n]], inflation_radius: float = 0) -> None

Build the broad phase for static collision detection.

Parameters:
vertices: Vertex positions edges: Collision mesh edges faces: Collision mesh faces inflation_radius: Radius of inflation around all elements.
build(self: ipctk.BroadPhase, vertices_t0: numpy.ndarray[numpy.float64[m, n]], vertices_t1: numpy.ndarray[numpy.float64[m, n]], edges: numpy.ndarray[numpy.int32[m, n]], faces: numpy.ndarray[numpy.int32[m, n]], inflation_radius: float = 0) -> None

Build the broad phase for continuous collision detection.

Parameters:
vertices_t0: Starting vertices of the vertices. vertices_t1: Ending vertices of the vertices. edges: Collision mesh edges faces: Collision mesh faces inflation_radius: Radius of inflation around all elements.

property can_vertices_collide : collections.abc.Callable[[int, int], bool]¶: Function for determining if two vertices can collide.

clear(self) → None¶: Clear any built data.

detect_collision_candidates(self, dim: int) → ipc::Candidates¶

Detect all collision candidates needed for a given dimensional simulation.

Parameters:¶

dim: int¶: The dimension of the simulation (i.e., 2 or 3).
candidates: The detected collision candidates.

detect_edge_edge_candidates(self) → list[ipc::EdgeEdgeCandidate]¶

Find the candidate edge-edge collisions.

Returns:¶: The candidate edge-edge collisions.

detect_edge_face_candidates(self) → list[ipc::EdgeFaceCandidate]¶

Find the candidate edge-face intersections.

Returns:¶: The candidate edge-face intersections.

detect_edge_vertex_candidates(self) → list[ipc::EdgeVertexCandidate]¶

Find the candidate edge-vertex collisions.

Returns:¶: The candidate edge-vertex collisions.

detect_face_face_candidates(self) → list[ipc::FaceFaceCandidate]¶

Find the candidate face-face collisions.

Returns:¶: The candidate face-face collisions.

detect_face_vertex_candidates(self) → list[ipc::FaceVertexCandidate]¶

Find the candidate face-vertex collisions.

Returns:¶: The candidate face-vertex collisions.

detect_vertex_vertex_candidates(self) → list[ipc::VertexVertexCandidate]¶

Find the candidate vertex-vertex collisions.

Returns:¶: The candidate vertex-vertex collisions.

static make_broad_phase(method: ipctk.BroadPhaseMethod) → ipctk.BroadPhase¶

Construct a registered broad phase object.

Parameters:¶

method: ipctk.BroadPhaseMethod¶: The broad phase method to use.

Returns:¶

The constructed broad phase object.

Brute Force¶

class ipctk.BruteForce¶

Bases: BroadPhase

Public Data Attributes:

Inherited from BroadPhase

`can_vertices_collide`	Function for determining if two vertices can collide.

Public Methods:

`__init__`(self)

Inherited from BroadPhase

`__init__`(args, *kwargs)
`make_broad_phase`(method)	Construct a registered broad phase object.
`build`(args, *kwargs)	Overloaded function.
`clear`(self)	Clear any built data.
`detect_vertex_vertex_candidates`(self)	Find the candidate vertex-vertex collisions.
`detect_edge_vertex_candidates`(self)	Find the candidate edge-vertex collisions.
`detect_edge_edge_candidates`(self)	Find the candidate edge-edge collisions.
`detect_face_vertex_candidates`(self)	Find the candidate face-vertex collisions.
`detect_edge_face_candidates`(self)	Find the candidate edge-face intersections.
`detect_face_face_candidates`(self)	Find the candidate face-face collisions.
`detect_collision_candidates`(self, dim)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

Hash Grid¶

class ipctk.HashGrid¶

Bases: BroadPhase

Public Data Attributes:

`cell_size`
`grid_size`
`domain_min`
`domain_max`

Inherited from BroadPhase

`can_vertices_collide`	Function for determining if two vertices can collide.

Public Methods:

`__init__`(self)

Inherited from BroadPhase

`__init__`(args, *kwargs)
`make_broad_phase`(method)	Construct a registered broad phase object.
`build`(args, *kwargs)	Overloaded function.
`clear`(self)	Clear any built data.
`detect_vertex_vertex_candidates`(self)	Find the candidate vertex-vertex collisions.
`detect_edge_vertex_candidates`(self)	Find the candidate edge-vertex collisions.
`detect_edge_edge_candidates`(self)	Find the candidate edge-edge collisions.
`detect_face_vertex_candidates`(self)	Find the candidate face-vertex collisions.
`detect_edge_face_candidates`(self)	Find the candidate edge-face intersections.
`detect_face_face_candidates`(self)	Find the candidate face-face collisions.
`detect_collision_candidates`(self, dim)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

property cell_size : float¶

property domain_max : numpy.ndarray[numpy.float64[m, 1]]¶

property domain_min : numpy.ndarray[numpy.float64[m, 1]]¶

property grid_size : numpy.ndarray[numpy.int32[m, 1]]¶

Spatial Hash¶

class ipctk.SpatialHash¶

Bases: BroadPhase

Public Data Attributes:

`left_bottom_corner`	The left bottom corner of the world bounding box.
`right_top_corner`	The right top corner of the world bounding box.
`voxel_count`	The number of voxels in each dimension.
`one_div_voxelSize`	1.0 / voxel_size
`voxel_count_0x1`	The number of voxels in the first two dimensions.
`edge_start_ind`
`tri_start_ind`
`voxel_to_primitives`	Map from voxel index to the primitive indices it contains.
`point_to_voxels`	Map from point index to the voxel indices it occupies.
`edge_to_voxels`	Map from edge index to the voxel indices it occupies.
`face_to_voxels`	Map from face index to the voxel indices it occupies.

Inherited from BroadPhase

`can_vertices_collide`	Function for determining if two vertices can collide.

Public Methods:

`__init__`(args, *kwargs)	Overloaded function.
`build`(args, *kwargs)	Overloaded function.
`clear`(self)
`is_vertex_index`(self, idx)	Check if primitive index refers to a vertex.
`is_edge_index`(self, idx)	Check if primitive index refers to an edge.
`is_triangle_index`(self, idx)	Check if primitive index refers to a triangle.
`to_edge_index`(self, idx)	Convert a primitive index to an edge index.
`to_triangle_index`(self, idx)	Convert a primitive index to a triangle index.

Inherited from BroadPhase

`__init__`(args, *kwargs)
`make_broad_phase`(method)	Construct a registered broad phase object.
`build`(args, *kwargs)	Overloaded function.
`clear`(self)	Clear any built data.
`detect_vertex_vertex_candidates`(self)	Find the candidate vertex-vertex collisions.
`detect_edge_vertex_candidates`(self)	Find the candidate edge-vertex collisions.
`detect_edge_edge_candidates`(self)	Find the candidate edge-edge collisions.
`detect_face_vertex_candidates`(self)	Find the candidate face-vertex collisions.
`detect_edge_face_candidates`(self)	Find the candidate edge-face intersections.
`detect_face_face_candidates`(self)	Find the candidate face-face collisions.
`detect_collision_candidates`(self, dim)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

__annotations__ = {}¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: ipctk.SpatialHash) -> None
__init__(self: ipctk.SpatialHash, vertices: numpy.ndarray[numpy.float64[m, n]], edges: numpy.ndarray[numpy.int32[m, n]], faces: numpy.ndarray[numpy.int32[m, n]], inflation_radius: float = 0, voxel_size: float = -1) -> None
__init__(self: ipctk.SpatialHash, vertices_t0: numpy.ndarray[numpy.float64[m, n]], vertices_t1: numpy.ndarray[numpy.float64[m, n]], edges: numpy.ndarray[numpy.int32[m, n]], faces: numpy.ndarray[numpy.int32[m, n]], inflation_radius: float = 0, voxel_size: float = -1) -> None

__module__ = 'ipctk'¶

build(*args, **kwargs)¶

Overloaded function.

build(self: ipctk.SpatialHash, vertices: numpy.ndarray[numpy.float64[m, n]], edges: numpy.ndarray[numpy.int32[m, n]], faces: numpy.ndarray[numpy.int32[m, n]], inflation_radius: float = 0, voxel_size: float = -1) -> None
build(self: ipctk.SpatialHash, vertices_t0: numpy.ndarray[numpy.float64[m, n]], vertices_t1: numpy.ndarray[numpy.float64[m, n]], edges: numpy.ndarray[numpy.int32[m, n]], faces: numpy.ndarray[numpy.int32[m, n]], inflation_radius: float = 0, voxel_size: float = -1) -> None

clear(self) → None¶

property edge_start_ind : int¶

property edge_to_voxels : list[list[int]]¶: Map from edge index to the voxel indices it occupies.

property face_to_voxels : list[list[int]]¶: Map from face index to the voxel indices it occupies.

is_edge_index(self, idx: int) → bool¶: Check if primitive index refers to an edge.

is_triangle_index(self, idx: int) → bool¶: Check if primitive index refers to a triangle.

is_vertex_index(self, idx: int) → bool¶: Check if primitive index refers to a vertex.

property left_bottom_corner : numpy.ndarray[numpy.float64[m, 1]]¶: The left bottom corner of the world bounding box.

property one_div_voxelSize : float¶: 1.0 / voxel_size

property point_to_voxels : list[list[int]]¶: Map from point index to the voxel indices it occupies.

property right_top_corner : numpy.ndarray[numpy.float64[m, 1]]¶: The right top corner of the world bounding box.

to_edge_index(self, idx: int) → int¶: Convert a primitive index to an edge index.

to_triangle_index(self, idx: int) → int¶: Convert a primitive index to a triangle index.

property tri_start_ind : int¶

property voxel_count : numpy.ndarray[numpy.int32[m, 1]]¶: The number of voxels in each dimension.

property voxel_count_0x1 : int¶: The number of voxels in the first two dimensions.

property voxel_to_primitives : tsl::robin_map<int, std::vector<int, std::allocator<int> >, absl::lts_20230125::hash_internal::Hash<int>, std::equal_to<int>, std::allocator<std::pair<int, std::vector<int, std::allocator<int> > > >, false, tsl::rh::power_of_two_growth_policy<2ul> >¶: Map from voxel index to the primitive indices it contains.

BVH¶

class ipctk.BVH¶

Bases: BroadPhase

Public Data Attributes:

Inherited from BroadPhase

`can_vertices_collide`	Function for determining if two vertices can collide.

Public Methods:

`__init__`(self)

Inherited from BroadPhase

`__init__`(args, *kwargs)
`make_broad_phase`(method)	Construct a registered broad phase object.
`build`(args, *kwargs)	Overloaded function.
`clear`(self)	Clear any built data.
`detect_vertex_vertex_candidates`(self)	Find the candidate vertex-vertex collisions.
`detect_edge_vertex_candidates`(self)	Find the candidate edge-vertex collisions.
`detect_edge_edge_candidates`(self)	Find the candidate edge-edge collisions.
`detect_face_vertex_candidates`(self)	Find the candidate face-vertex collisions.
`detect_edge_face_candidates`(self)	Find the candidate edge-face intersections.
`detect_face_face_candidates`(self)	Find the candidate face-face collisions.
`detect_collision_candidates`(self, dim)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

Sweep and Prune¶

class ipctk.SweepAndPrune¶

Bases: BroadPhase

Public Data Attributes:

Inherited from BroadPhase

`can_vertices_collide`	Function for determining if two vertices can collide.

Public Methods:

`__init__`(self)

Inherited from BroadPhase

`__init__`(args, *kwargs)
`make_broad_phase`(method)	Construct a registered broad phase object.
`build`(args, *kwargs)	Overloaded function.
`clear`(self)	Clear any built data.
`detect_vertex_vertex_candidates`(self)	Find the candidate vertex-vertex collisions.
`detect_edge_vertex_candidates`(self)	Find the candidate edge-vertex collisions.
`detect_edge_edge_candidates`(self)	Find the candidate edge-edge collisions.
`detect_face_vertex_candidates`(self)	Find the candidate face-vertex collisions.
`detect_edge_face_candidates`(self)	Find the candidate edge-face intersections.
`detect_face_face_candidates`(self)	Find the candidate face-face collisions.
`detect_collision_candidates`(self, dim)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

Sweep and Tiniest Queue¶

AABB¶

class ipctk.AABB¶

Bases: pybind11_object

Public Data Attributes:

`min`	Minimum corner of the AABB.
`max`	Maximum corner of the AABB.
`vertex_ids`	Vertex IDs attached to the AABB.

Public Methods:

`__init__`(args, *kwargs)	Overloaded function.
`from_point`(args, *kwargs)	Overloaded function.
`intersects`(self, other)	Check if another AABB intersects with this one.
`conservative_inflation`(min, max, ...)	Compute a conservative inflation of the AABB.

Inherited from pybind11_object

__annotations__ = {}¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: ipctk.AABB) -> None
__init__(self: ipctk.AABB, min: numpy.ndarray[numpy.float64[m, 1]], max: numpy.ndarray[numpy.float64[m, 1]]) -> None
__init__(self: ipctk.AABB, aabb1: ipctk.AABB, aabb2: ipctk.AABB) -> None
__init__(self: ipctk.AABB, aabb1: ipctk.AABB, aabb2: ipctk.AABB, aabb3: ipctk.AABB) -> None

__module__ = 'ipctk'¶

static conservative_inflation(min: numpy.ndarray[numpy.float64[m, 1]], max: numpy.ndarray[numpy.float64[m, 1]], inflation_radius: float) → tuple[numpy.ndarray[numpy.float64[m, 1]], numpy.ndarray[numpy.float64[m, 1]]]¶: Compute a conservative inflation of the AABB.

static from_point(*args, **kwargs)¶

Overloaded function.

from_point(p: numpy.ndarray[numpy.float64[m, 1]], inflation_radius: float = 0) -> ipctk.AABB

Construct an AABB for a static point.

Parameters:
p: The point’s position. inflation_radius: Radius of a sphere around the point which the AABB encloses.

Returns:
The constructed AABB.
from_point(p_t0: numpy.ndarray[numpy.float64[m, 1]], p_t1: numpy.ndarray[numpy.float64[m, 1]], inflation_radius: float = 0) -> ipctk.AABB

Construct an AABB for a moving point (i.e. temporal edge).

Parameters:
p_t0: The point’s position at time t=0. p_t1: The point’s position at time t=1. inflation_radius: Radius of a capsule around the temporal edge which the AABB encloses.

Returns:
The constructed AABB.

intersects(self, other: ipctk.AABB) → bool¶

Check if another AABB intersects with this one.

Parameters:¶

other: ipctk.AABB¶: The other AABB.

Returns:¶

If the two AABBs intersect.

property max : numpy.ndarray[numpy.float64[m, 1]]¶: Maximum corner of the AABB.

property min : numpy.ndarray[numpy.float64[m, 1]]¶: Minimum corner of the AABB.

property vertex_ids : Annotated[list[int], FixedSize(3)]¶: Vertex IDs attached to the AABB.

Last update: Dec 12, 2024