CCD¶

Broad Phase¶

enum class ipc::BroadPhaseMethod¶

Enumeration of implemented broad phase methods.

Values:

enumerator BRUTE_FORCE¶

enumerator HASH_GRID¶

enumerator SPATIAL_HASH¶

enumerator SWEEP_AND_TINIEST_QUEUE¶

enumerator SWEEP_AND_TINIEST_QUEUE_GPU¶

enumerator NUM_METHODS¶

Candidates¶

struct ContinuousCollisionCandidate¶

Virtual class for candidates that support CCD.

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

Public Functions¶

inline virtual ~ContinuousCollisionCandidate()¶

virtual bool ccd(const Eigen::MatrixXd &V0, const Eigen::MatrixXd &V1, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, double &toi, const double min_distance = 0.0, const double tmax = 1.0, const double tolerance = DEFAULT_CCD_TOLERANCE, const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS, const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING) const = 0¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &V0¶: [in] Mesh vertex positions at the start of the time step.
const Eigen::MatrixXd &V1¶: [in] Mesh vertex positions at the end of the time step.
const Eigen::MatrixXi &E¶: [in] Mesh edges as rows of indicies into V.
const Eigen::MatrixXi &F¶: [in] Mesh triangular faces as rows of indicies into V.
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. Should be in [0, 1].
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

virtual void print_ccd_query(const Eigen::MatrixXd &V0, const Eigen::MatrixXd &V1, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const = 0¶

struct VertexVertexCandidate¶

Subclassed by ipc::VertexVertexConstraint, ipc::VertexVertexFrictionConstraint

Public Functions¶

VertexVertexCandidate(long vertex0_index, long vertex1_index)¶

inline int num_vertices() const¶

inline std::array<long, 4> vertex_indices(const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

Get the indices of the vertices.

Parameters:¶

const Eigen::MatrixXi &E¶: edge matrix of mesh
const Eigen::MatrixXi &F¶: face matrix of mesh

Returns:¶

List of vertex indices

double compute_distance(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

VectorMax6d compute_distance_gradient(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

MatrixMax6d compute_distance_hessian(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

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_index¶

long vertex1_index¶

Friends¶

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

struct EdgeVertexCandidate : public ipc::ContinuousCollisionCandidate ¶

Subclassed by ipc::EdgeVertexConstraint, ipc::EdgeVertexFrictionConstraint

Public Functions¶

EdgeVertexCandidate(long edge_index, long vertex_index)¶

inline int num_vertices() const¶

inline std::array<long, 4> vertex_indices(const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

double compute_distance(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const PointEdgeDistanceType dtype = PointEdgeDistanceType::AUTO) const¶

VectorMax9d compute_distance_gradient(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const PointEdgeDistanceType dtype = PointEdgeDistanceType::AUTO) const¶

MatrixMax9d compute_distance_hessian(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const PointEdgeDistanceType dtype = PointEdgeDistanceType::AUTO) const¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &V0¶: [in] Mesh vertex positions at the start of the time step.
const Eigen::MatrixXd &V1¶: [in] Mesh vertex positions at the end of the time step.
const Eigen::MatrixXi &E¶: [in] Mesh edges as rows of indicies into V.
const Eigen::MatrixXi &F¶: [in] Mesh triangular faces as rows of indicies into V.
double &toi¶: [out] Computed time of impact (normalized).
const double tmax = 1.0¶: [in] Maximum time (normalized) to look for collisions. Should be in [0, 1].
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

virtual void print_ccd_query(const Eigen::MatrixXd &V0, const Eigen::MatrixXd &V1, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const override¶

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_index¶

long vertex_index¶

Friends¶

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

struct EdgeEdgeCandidate : public ipc::ContinuousCollisionCandidate ¶

Subclassed by ipc::EdgeEdgeConstraint, ipc::EdgeEdgeFrictionConstraint

Public Functions¶

EdgeEdgeCandidate(long edge0_index, long edge1_index)¶

inline int num_vertices() const¶

inline std::array<long, 4> vertex_indices(const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

double compute_distance(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const EdgeEdgeDistanceType dtype = EdgeEdgeDistanceType::AUTO) const¶

VectorMax12d compute_distance_gradient(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const EdgeEdgeDistanceType dtype = EdgeEdgeDistanceType::AUTO) const¶

MatrixMax12d compute_distance_hessian(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const EdgeEdgeDistanceType dtype = EdgeEdgeDistanceType::AUTO) const¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &V0¶: [in] Mesh vertex positions at the start of the time step.
const Eigen::MatrixXd &V1¶: [in] Mesh vertex positions at the end of the time step.
const Eigen::MatrixXi &E¶: [in] Mesh edges as rows of indicies into V.
const Eigen::MatrixXi &F¶: [in] Mesh triangular faces as rows of indicies into V.
double &toi¶: [out] Computed time of impact (normalized).
const double tmax = 1.0¶: [in] Maximum time (normalized) to look for collisions. Should be in [0, 1].
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

virtual void print_ccd_query(const Eigen::MatrixXd &V0, const Eigen::MatrixXd &V1, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const override¶

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_index¶

long edge1_index¶

Friends¶

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

struct EdgeFaceCandidate¶

Candidate for intersection between edge and face.

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

Public Functions¶

EdgeFaceCandidate(long edge_index, long face_index)¶

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_index¶

long face_index¶

Friends¶

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

struct FaceVertexCandidate : public ipc::ContinuousCollisionCandidate ¶

Subclassed by ipc::FaceVertexConstraint, ipc::FaceVertexFrictionConstraint

Public Functions¶

FaceVertexCandidate(long face_index, long vertex_index)¶

inline int num_vertices() const¶

inline std::array<long, 4> vertex_indices(const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

double compute_distance(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const PointTriangleDistanceType dtype = PointTriangleDistanceType::AUTO) const¶

VectorMax12d compute_distance_gradient(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const PointTriangleDistanceType dtype = PointTriangleDistanceType::AUTO) const¶

MatrixMax12d compute_distance_hessian(const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F, const PointTriangleDistanceType dtype = PointTriangleDistanceType::AUTO) const¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &V0¶: [in] Mesh vertex positions at the start of the time step.
const Eigen::MatrixXd &V1¶: [in] Mesh vertex positions at the end of the time step.
const Eigen::MatrixXi &E¶: [in] Mesh edges as rows of indicies into V.
const Eigen::MatrixXi &F¶: [in] Mesh triangular faces as rows of indicies into V.
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. Should be in [0, 1].
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

virtual void print_ccd_query(const Eigen::MatrixXd &V0, const Eigen::MatrixXd &V1, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const override¶

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_index¶

long vertex_index¶

Friends¶

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

struct Candidates¶

Public Functions¶

inline Candidates()¶

size_t size() const¶

bool empty() const¶

void clear()¶

ContinuousCollisionCandidate &operator[](size_t idx)¶

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

bool save_obj(const std::string &filename, const Eigen::MatrixXd &V, const Eigen::MatrixXi &E, const Eigen::MatrixXi &F) const¶

Public Members¶

std::vector<EdgeVertexCandidate> ev_candidates¶

std::vector<EdgeEdgeCandidate> ee_candidates¶

std::vector<FaceVertexCandidate> fv_candidates¶

Narrow Phase¶

static constexpr double ipc::DEFAULT_CCD_TOLERANCE = 1e-6¶: The default tolerance used with Tight-Inclusion CCD.

static constexpr long ipc::DEFAULT_CCD_MAX_ITERATIONS = 1e7¶: The default maximum number of iterations used with Tight-Inclusion CCD.

static constexpr double ipc::DEFAULT_CCD_CONSERVATIVE_RESCALING = 0.8¶: The default conservative rescaling value used to avoid taking steps exactly to impact.