Collision Constraints

class ipctk.Constraints
build(*args, **kwargs)

Overloaded function.

  1. build(self: ipctk.Constraints, mesh: ipc::CollisionMesh, V: numpy.ndarray[numpy.float64[m, n]], dhat: float, dmin: float = 0, method: ipctk.BroadPhaseMethod = <BroadPhaseMethod.HASH_GRID: 1>) -> None

    Construct a set of constraints used to compute the barrier potential.

    Parameters:

    mesh: The collision mesh. V: Vertices of the collision mesh. dhat: The activation distance of the barrier. dmin: (optional) Minimum distance. method: (optional) Broad-phase method to use.

    Returns:

    The constructed set of constraints.

  2. build(self: ipctk.Constraints, candidates: ipctk.Candidates, mesh: ipc::CollisionMesh, V: numpy.ndarray[numpy.float64[m, n]], dhat: float, dmin: float = 0) -> None

    Construct a set of constraints used to compute the barrier potential.

    Parameters:

    candidates: Distance candidates from which the constraint set is built. mesh: The collision mesh. V: Vertices of the collision mesh. dhat: The activation distance of the barrier. dmin: Minimum distance.

    Returns:

    The constructed set of constraints (any existing constraints will be cleared).

clear(self) → None
empty(self) → bool
class ipctk.CollisionConstraint

Bases: pybind11_object

compute_distance(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → float
compute_distance_gradient(*args, **kwargs)

Overloaded function.

  1. compute_distance_gradient(self: ipctk.CollisionConstraint, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) -> numpy.ndarray[numpy.float64[m, 1]]

  2. compute_distance_gradient(self: ipctk.CollisionConstraint, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) -> numpy.ndarray[numpy.float64[m, 1]]

compute_distance_hessian(*args, **kwargs)

Overloaded function.

  1. compute_distance_hessian(self: ipctk.CollisionConstraint, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) -> numpy.ndarray[numpy.float64[m, n]]

  2. compute_distance_hessian(self: ipctk.CollisionConstraint, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) -> numpy.ndarray[numpy.float64[m, n]]

compute_potential(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → float
compute_potential_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → numpy.ndarray[numpy.float64[m, 1]]
compute_potential_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float, project_to_psd: bool) → numpy.ndarray[numpy.float64[m, n]]
num_vertices(*args, **kwargs)

Overloaded function.

  1. num_vertices(self: ipctk.CollisionConstraint) -> int

  2. num_vertices(self: ipctk.CollisionConstraint) -> int

vertex_indices(*args, **kwargs)

Overloaded function.

  1. vertex_indices(self: ipctk.CollisionConstraint, E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) -> List[int[4]]

    Get the indices of the vertices

    Parameters:

    E: edge matrix of mesh F: face matrix of mesh

    Returns:

    List of vertex indices

  2. vertex_indices(self: ipctk.CollisionConstraint, E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) -> List[int[4]]

property weight : float

Weight in the final sum of potentials

class ipctk.VertexVertexConstraint

Bases: VertexVertexCandidate, CollisionConstraint

compute_distance(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → float
compute_distance_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, 1]]
compute_distance_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, n]]
compute_potential(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → float
compute_potential_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → numpy.ndarray[numpy.float64[m, 1]]
compute_potential_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float, project_hessian_to_psd: bool) → numpy.ndarray[numpy.float64[m, n]]
num_vertices(self) → int
vertex_indices(self, E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → list[int[4]]
class ipctk.EdgeVertexConstraint

Bases: EdgeVertexCandidate, CollisionConstraint

compute_distance(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → float
compute_distance_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, 1]]
compute_distance_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, n]]
compute_potential(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → float
compute_potential_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → numpy.ndarray[numpy.float64[m, 1]]
compute_potential_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float, project_hessian_to_psd: bool) → numpy.ndarray[numpy.float64[m, n]]
num_vertices(self) → int
vertex_indices(self, E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → list[int[4]]
class ipctk.EdgeEdgeConstraint

Bases: EdgeEdgeCandidate, CollisionConstraint

compute_distance(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → float
compute_distance_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, 1]]
compute_distance_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, n]]
compute_potential(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → float
compute_potential_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float) → numpy.ndarray[numpy.float64[m, 1]]
compute_potential_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]], dhat: float, project_hessian_to_psd: bool) → numpy.ndarray[numpy.float64[m, n]]
num_vertices(self) → int
vertex_indices(self, E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → list[int[4]]
class ipctk.FaceVertexConstraint

Bases: FaceVertexCandidate, CollisionConstraint

compute_distance(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → float
compute_distance_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, 1]]
compute_distance_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, n]]
num_vertices(self) → int
vertex_indices(self, E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → list[int[4]]
class ipctk.PlaneVertexConstraint

Bases: CollisionConstraint

compute_distance(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → float
compute_distance_gradient(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, 1]]
compute_distance_hessian(self, V: numpy.ndarray[numpy.float64[m, n]], E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → numpy.ndarray[numpy.float64[m, n]]
num_vertices(self) → int
vertex_indices(self, E: numpy.ndarray[numpy.int32[m, n]], F: numpy.ndarray[numpy.int32[m, n]]) → list[int[4]]