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__`(self)
`name`(self)	Get the name of the broad phase.
`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)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

_pybind11_conduit_v1_()¶

build(*args, **kwargs)¶

Overloaded function.

build(self: ipctk.BroadPhase, vertices: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, n]”, “flags.f_contiguous”], edges: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], faces: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], inflation_radius: typing.SupportsFloat = 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: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, n]”, “flags.f_contiguous”], vertices_t1: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, n]”, “flags.f_contiguous”], edges: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], faces: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], inflation_radius: typing.SupportsFloat = 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[[SupportsInt, SupportsInt], bool]¶: Function for determining if two vertices can collide.

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

detect_collision_candidates(self) → ipc::Candidates¶: Detect all collision candidates needed for a given dimensional simulation.

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.

name(self) → str¶: Get the name of the broad phase.

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__`(self)
`name`(self)	Get the name of the broad phase.
`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)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

Inherited from BroadPhase

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

_pybind11_conduit_v1_()¶

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__`(self)
`name`(self)	Get the name of the broad phase.
`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)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

Inherited from BroadPhase

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

_pybind11_conduit_v1_()¶

property cell_size : float¶

property domain_max : Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']¶

property domain_min : Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']¶

property grid_size : Annotated[numpy.typing.NDArray[numpy.int32], '[3, 1]']¶

Spatial Hash¶

class ipctk.SpatialHash¶

Bases: BroadPhase

Public Data Attributes:

Inherited from BroadPhase

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

Public Methods:

`__init__`(self)
`build`(args, *kwargs)	Overloaded function.

Inherited from BroadPhase

`__init__`(self)
`name`(self)	Get the name of the broad phase.
`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)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

Inherited from BroadPhase

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

_pybind11_conduit_v1_()¶

build(*args, **kwargs)¶

Overloaded function.

build(self: ipctk.SpatialHash, vertices: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, n]”, “flags.f_contiguous”], edges: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], faces: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], inflation_radius: typing.SupportsFloat = 0, voxel_size: typing.SupportsFloat = -1) -> None
build(self: ipctk.SpatialHash, vertices_t0: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, n]”, “flags.f_contiguous”], vertices_t1: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, n]”, “flags.f_contiguous”], edges: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], faces: typing.Annotated[numpy.typing.NDArray[numpy.int32], “[m, n]”, “flags.f_contiguous”], inflation_radius: typing.SupportsFloat = 0, voxel_size: typing.SupportsFloat = -1) -> None

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__`(self)
`name`(self)	Get the name of the broad phase.
`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)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

Inherited from BroadPhase

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

_pybind11_conduit_v1_()¶

LBVH¶

class ipctk.LBVH¶

Bases: BroadPhase

Public Data Attributes:

`vertex_nodes`
`edge_nodes`
`face_nodes`

Inherited from BroadPhase

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

Public Methods:

`__init__`(self)

Inherited from BroadPhase

`__init__`(self)
`name`(self)	Get the name of the broad phase.
`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)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

Inherited from BroadPhase

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

_pybind11_conduit_v1_()¶

property edge_nodes : list[ipctk.LBVH_Node]¶

property face_nodes : list[ipctk.LBVH_Node]¶

property vertex_nodes : list[ipctk.LBVH_Node]¶

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__`(self)
`name`(self)	Get the name of the broad phase.
`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)	Detect all collision candidates needed for a given dimensional simulation.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

Inherited from BroadPhase

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(self)¶

__module__ = 'ipctk'¶

_pybind11_conduit_v1_()¶

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.
`__repr__`(self)
`__str__`(self)
`conservative_inflation`(min, max, ...)	Compute a conservative inflation of the AABB.

Inherited from pybind11_object

Private Methods:

`_pybind11_conduit_v1_`

__annotations__ = {}¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: ipctk.AABB) -> None
__init__(self: ipctk.AABB, min: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, 1]”], max: typing.Annotated[numpy.typing.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'¶

__repr__(self) → str¶

__str__(self) → str¶

_pybind11_conduit_v1_()¶

static conservative_inflation(min: Annotated[numpy.typing.ArrayLike, numpy.float64, '[m, 1]'], max: Annotated[numpy.typing.ArrayLike, numpy.float64, '[m, 1]'], inflation_radius: SupportsFloat) → tuple[Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]'], Annotated[numpy.typing.NDArray[numpy.float64], '[m, 1]']]¶: Compute a conservative inflation of the AABB.

static from_point(*args, **kwargs)¶

Overloaded function.

from_point(p: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, 1]”], inflation_radius: typing.SupportsFloat = 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: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, 1]”], p_t1: typing.Annotated[numpy.typing.NDArray[numpy.float64], “[m, 1]”], inflation_radius: typing.SupportsFloat = 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 : Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']¶: Maximum corner of the AABB.

property min : Annotated[numpy.typing.NDArray[numpy.float64], '[3, 1]']¶: Minimum corner of the AABB.

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