Candidates¶

Candidates¶

class Candidates;¶

Public Functions¶

inline Candidates();¶

void build(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices,
    const double inflation_radius = 0,
    const BroadPhaseMethod broad_phase_method
    = DEFAULT_BROAD_PHASE_METHOD);¶

Initialize the set of discrete collision detection candidates.

Parameters:¶

const CollisionMesh &mesh¶

The surface of the contact mesh.

const Eigen::MatrixXd &vertices¶

Surface vertex positions (rowwise).

const double inflation_radius = 0¶

Amount to inflate the bounding boxes.

const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD¶

Broad phase method to use.

void build(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const double inflation_radius = 0,
    const BroadPhaseMethod broad_phase_method
    = DEFAULT_BROAD_PHASE_METHOD);¶

Initialize the set of continuous collision detection candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The surface of the contact mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise).

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double inflation_radius = 0¶

Amount to inflate the bounding boxes.

const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD¶

Broad phase method to use.

size_t size() const;¶

bool empty() const;¶

void clear();¶

ContinuousCollisionCandidate& operator[](size_t idx);¶

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

bool is_step_collision_free(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const double min_distance = 0.0,
    const double tolerance = DEFAULT_CCD_TOLERANCE,
    const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS) const;¶

Determine if the step is collision free from the set of candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise).

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double min_distance = 0.0¶

The minimum distance allowable between any two elements.

const double tolerance = DEFAULT_CCD_TOLERANCE¶

The tolerance for the CCD algorithm.

const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS¶

The maximum number of iterations for the CCD algorithm.

Returns:¶

True if any collisions occur.

double compute_collision_free_stepsize(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const double min_distance = 0.0,
    const double tolerance = DEFAULT_CCD_TOLERANCE,
    const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS) const;¶

Computes a maximal step size that is collision free using the set of collision candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise). Assumed to be intersection free.

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double min_distance = 0.0¶

The minimum distance allowable between any two elements.

const double tolerance = DEFAULT_CCD_TOLERANCE¶

The tolerance for the CCD algorithm.

const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS¶

The maximum number of iterations for the CCD algorithm.

Returns:¶

A step-size \(\in [0, 1]\) that is collision free. A value of 1.0 if a full step and 0.0 is no step.

double compute_noncandidate_conservative_stepsize(
    const CollisionMesh& mesh, const Eigen::MatrixXd& displacements,
    const double dhat) const;¶

Computes a conservative bound on the largest-feasible step size for surface primitives not in contact.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &displacements¶

Surface vertex displacements (rowwise).

const double dhat¶

Barrier activation distance.

double compute_cfl_stepsize(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1, const double dhat,
    const BroadPhaseMethod broad_phase_method
    = DEFAULT_BROAD_PHASE_METHOD,
    const double min_distance = 0.0,
    const double tolerance = DEFAULT_CCD_TOLERANCE,
    const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS) const;¶

Computes a CFL-inspired CCD maximum step step size.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex starting positions (rowwise).

const Eigen::MatrixXd &vertices_t1¶

Surface vertex ending positions (rowwise).

const double dhat¶

Barrier activation distance.

const double min_distance = 0.0¶

The minimum distance allowable between any two elements.

const double tolerance = DEFAULT_CCD_TOLERANCE¶

The tolerance for the CCD algorithm.

const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS¶

The maximum number of iterations for the CCD algorithm.

bool save_obj(const std::string& filename,
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Public Members¶

std::vector<EdgeVertexCandidate> ev_candidates;¶

std::vector<EdgeEdgeCandidate> ee_candidates;¶

std::vector<FaceVertexCandidate> fv_candidates;¶

Collision Stencil¶

class CollisionStencil;¶

A stencil representing a collision between at most four vertices.

Subclassed by ipc::CollisionConstraint, ipc::ContinuousCollisionCandidate, ipc::FrictionConstraint, ipc::VertexVertexCandidate

Public Functions¶

virtual ~CollisionStencil() = default;¶

virtual int num_vertices() const = 0;¶

Get the number of vertices in the contact stencil.

virtual std::array<long, 4> vertex_ids(const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const
    = 0;¶

Get the vertex IDs of the contact stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the contact stencil. Size is always 4, but elements i > num_vertices() are -1.

template <typename T>
inline std::array<VectorMax3<T>, 4> vertices(
    const MatrixX<T>& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Get the vertex attributes of the contact stencil.

Template Parameters:¶

typename T¶

Type of the attributes

Parameters:¶

const MatrixX<T> &vertices¶

Vertex attributes

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex positions of the contact stencil. Size is always 4, but elements i > num_vertices() are NaN.

template <typename T>
inline VectorMax12<T> dof(const MatrixX<T>& X,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Select this stencil’s DOF from the full matrix of DOF.

Template Parameters:¶

typename T¶

Type of the DOF

Parameters:¶

const MatrixX<T> &X¶

Full matrix of DOF (rowwise).

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

This constraint’s DOF.

double compute_distance(const Eigen::MatrixXd& vertices,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Compute the distance of the stencil.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance of the stencil.

VectorMax12d compute_distance_gradient(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

MatrixMax12d compute_distance_hessian(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Protected Functions¶

virtual double compute_distance(const VectorMax12d& vertices) const
    = 0;¶

Compute the distance of the stencil.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Continuous Collision Candidate¶

class ContinuousCollisionCandidate
    : public virtual ipc::CollisionStencil;¶

Virtual class for candidates that support CCD.

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

Public Functions¶

inline virtual ~ContinuousCollisionCandidate();¶

bool ccd(const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces,
    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;¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &vertices_t0¶

[in] Mesh vertices at the start of the time step.

const Eigen::MatrixXd &vertices_t1¶

[in] Mesh vertices at the end of the time step.

const Eigen::MatrixXi &edges¶

[in] Collision mesh edges as rows of indicies into vertices.

const Eigen::MatrixXi &faces¶

[in] Collision mesh triangular faces as rows of indicies into vertices.

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& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const
    = 0;¶

Protected Functions¶

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, 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;¶

Vertex-Vertex Candidate¶

class VertexVertexCandidate : public virtual ipc::CollisionStencil;¶

Subclassed by ipc::VertexVertexConstraint, ipc::VertexVertexFrictionConstraint

Public Functions¶

VertexVertexCandidate(long vertex0_id, long vertex1_id);¶

inline virtual int num_vertices() const override;¶

Get the number of vertices in the contact stencil.

inline virtual std::array<long, 4> vertex_ids(
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override;¶

Get the indices of the vertices.

Parameters:¶

const Eigen::MatrixXi &edges¶

edge matrix of mesh

const Eigen::MatrixXi &faces¶

face matrix of mesh

Returns:¶

List of vertex indices

bool operator==(const VertexVertexCandidate& other) const;¶

bool operator!=(const VertexVertexCandidate& other) const;¶

bool operator<(const VertexVertexCandidate& other) const;¶

Compare EdgeVertexCandidates for sorting.

double compute_distance(const Eigen::MatrixXd& vertices,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Compute the distance of the stencil.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance of the stencil.

virtual double compute_distance(const VectorMax12d& vertices) const
    = 0;¶

Compute the distance of the stencil.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

VectorMax12d compute_distance_gradient(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

MatrixMax12d compute_distance_hessian(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Public Members¶

long vertex0_id;¶

ID of the first vertex.

long vertex1_id;¶

ID of the second vertex.

Protected Functions¶

virtual double compute_distance(
    const VectorMax12d& positions) const override;

Compute the distance of the stencil.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Friends¶

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

Edge-Vertex Candidate¶

class EdgeVertexCandidate
    : public ipc::ContinuousCollisionCandidate;¶

Subclassed by ipc::EdgeVertexConstraint, ipc::EdgeVertexFrictionConstraint

Public Functions¶

EdgeVertexCandidate(long edge_id, long vertex_id);¶

inline virtual int num_vertices() const override;¶

Get the number of vertices in the contact 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 contact stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the contact stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual void print_ccd_query(const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override;¶

bool operator==(const EdgeVertexCandidate& other) const;¶

bool operator!=(const EdgeVertexCandidate& other) const;¶

bool operator<(const EdgeVertexCandidate& other) const;¶

Compare EdgeVertexCandidates for sorting.

double compute_distance(const Eigen::MatrixXd& vertices,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Compute the distance of the stencil.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance of the stencil.

virtual double compute_distance(const VectorMax12d& vertices) const
    = 0;¶

Compute the distance of the stencil.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

VectorMax12d compute_distance_gradient(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

MatrixMax12d compute_distance_hessian(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

bool ccd(const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces,
    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;¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &vertices_t0¶

[in] Mesh vertices at the start of the time step.

const Eigen::MatrixXd &vertices_t1¶

[in] Mesh vertices at the end of the time step.

const Eigen::MatrixXi &edges¶

[in] Collision mesh edges as rows of indicies into vertices.

const Eigen::MatrixXi &faces¶

[in] Collision mesh triangular faces as rows of indicies into vertices.

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 bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, 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;¶

Public Members¶

long edge_id;¶

ID of the edge.

long vertex_id;¶

ID of the vertex.

Protected Functions¶

virtual double compute_distance(
    const VectorMax12d& positions) const override;

Compute the distance of the stencil.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, 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 override;

inline virtual PointEdgeDistanceType known_dtype() const;¶

Friends¶

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

Edge-Edge Candidate¶

class EdgeEdgeCandidate : public ipc::ContinuousCollisionCandidate;¶

Subclassed by ipc::EdgeEdgeConstraint, ipc::EdgeEdgeFrictionConstraint

Public Functions¶

EdgeEdgeCandidate(long edge0_id, long edge1_id);¶

inline virtual int num_vertices() const override;¶

Get the number of vertices in the contact 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 contact stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the contact stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual void print_ccd_query(const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override;¶

bool operator==(const EdgeEdgeCandidate& other) const;¶

bool operator!=(const EdgeEdgeCandidate& other) const;¶

bool operator<(const EdgeEdgeCandidate& other) const;¶

Compare EdgeEdgeCandidates for sorting.

double compute_distance(const Eigen::MatrixXd& vertices,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Compute the distance of the stencil.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance of the stencil.

virtual double compute_distance(const VectorMax12d& vertices) const
    = 0;¶

Compute the distance of the stencil.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

VectorMax12d compute_distance_gradient(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

MatrixMax12d compute_distance_hessian(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

bool ccd(const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces,
    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;¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &vertices_t0¶

[in] Mesh vertices at the start of the time step.

const Eigen::MatrixXd &vertices_t1¶

[in] Mesh vertices at the end of the time step.

const Eigen::MatrixXi &edges¶

[in] Collision mesh edges as rows of indicies into vertices.

const Eigen::MatrixXi &faces¶

[in] Collision mesh triangular faces as rows of indicies into vertices.

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 bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, 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;¶

Public Members¶

long edge0_id;¶

ID of the first edge.

long edge1_id;¶

ID of the second edge.

Protected Functions¶

virtual double compute_distance(
    const VectorMax12d& positions) const override;

Compute the distance of the stencil.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, 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 override;

inline virtual EdgeEdgeDistanceType known_dtype() const;¶

Friends¶

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

Edge-Face Candidate¶

class EdgeFaceCandidate;¶

Candidate for intersection between edge and face.

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

Public Functions¶

EdgeFaceCandidate(long edge_id, long face_id);¶

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_id;¶

ID of the edge.

long face_id;¶

ID of the face.

Friends¶

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

Face-Vertex Candidate¶

class FaceVertexCandidate
    : public ipc::ContinuousCollisionCandidate;¶

Subclassed by ipc::FaceVertexConstraint, ipc::FaceVertexFrictionConstraint

Public Functions¶

FaceVertexCandidate(long face_id, long vertex_id);¶

inline virtual int num_vertices() const override;¶

Get the number of vertices in the contact 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 contact stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

The vertex IDs of the contact stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual void print_ccd_query(const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const override;¶

bool operator==(const FaceVertexCandidate& other) const;¶

bool operator!=(const FaceVertexCandidate& other) const;¶

bool operator<(const FaceVertexCandidate& other) const;¶

Compare FaceVertexCandidate for sorting.

double compute_distance(const Eigen::MatrixXd& vertices,
    const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

Compute the distance of the stencil.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance of the stencil.

virtual double compute_distance(const VectorMax12d& vertices) const
    = 0;¶

Compute the distance of the stencil.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

VectorMax12d compute_distance_gradient(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

MatrixMax12d compute_distance_hessian(
    const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges,
    const Eigen::MatrixXi& faces) const;¶

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

the stencil’s vertex positions.

Parameters:¶

const Eigen::MatrixXd &vertices¶

Collision mesh vertex positions.

const Eigen::MatrixXi &edges¶

Collision mesh edges

const Eigen::MatrixXi &faces¶

Collision mesh faces

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& vertices) const
    = 0;¶

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

the stencil’s vertex positions.

Parameters:¶

const VectorMax12d &vertices¶

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

bool ccd(const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces,
    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;¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const Eigen::MatrixXd &vertices_t0¶

[in] Mesh vertices at the start of the time step.

const Eigen::MatrixXd &vertices_t1¶

[in] Mesh vertices at the end of the time step.

const Eigen::MatrixXi &edges¶

[in] Collision mesh edges as rows of indicies into vertices.

const Eigen::MatrixXi &faces¶

[in] Collision mesh triangular faces as rows of indicies into vertices.

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 bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, 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;¶

Public Members¶

long face_id;¶

ID of the face.

long vertex_id;¶

ID of the vertex.

Protected Functions¶

virtual double compute_distance(
    const VectorMax12d& positions) const override;

Compute the distance of the stencil.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian(
    const VectorMax12d& positions) const override;

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

the stencil’s vertex positions.

Parameters:¶

vertices

Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

virtual bool ccd(const VectorMax12d& vertices_t0,
    const VectorMax12d& vertices_t1, 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 override;

inline virtual PointTriangleDistanceType known_dtype() const;¶

Friends¶

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