Continuous Collision Detection¶

bool ipc::is_step_collision_free(const CollisionMesh& mesh,
    const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    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);¶

Determine if the step is collision free.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Surface vertex vertices at start as rows of a matrix.

const Eigen::MatrixXd &vertices_t1¶

Surface vertex vertices at end as rows of a matrix.

const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD¶

The broad phase method to use.

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 ipc::compute_collision_free_stepsize(
    const CollisionMesh& mesh, const Eigen::MatrixXd& vertices_t0,
    const Eigen::MatrixXd& vertices_t1,
    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);¶

Computes a maximal step size that is collision free.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶

The collision mesh.

const Eigen::MatrixXd &vertices_t0¶

Vertex vertices at start as rows of a matrix. Assumes vertices_t0 is intersection free.

const Eigen::MatrixXd &vertices_t1¶

Surface vertex vertices at end as rows of a matrix.

const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD¶

The broad phase method to use.

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.

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 = 10'000'000l;¶

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.

bool ipc::point_point_ccd(const Eigen::Vector3d& p0_t0,
    const Eigen::Vector3d& p1_t0, const Eigen::Vector3d& p0_t1,
    const Eigen::Vector3d& p1_t1, double& toi,
    const double min_distance, const double tmax,
    const double tolerance, const long max_iterations,
    const double conservative_rescaling);¶

bool ipc::point_edge_ccd(const VectorMax3d& p_t0,
    const VectorMax3d& e0_t0, const VectorMax3d& e1_t0,
    const VectorMax3d& p_t1, const VectorMax3d& e0_t1,
    const VectorMax3d& e1_t1, double& toi,
    const double min_distance, const double tmax,
    const double tolerance, const long max_iterations,
    const double conservative_rescaling);¶

bool ipc::edge_edge_ccd(const Eigen::Vector3d& ea0_t0,
    const Eigen::Vector3d& ea1_t0, const Eigen::Vector3d& eb0_t0,
    const Eigen::Vector3d& eb1_t0, const Eigen::Vector3d& ea0_t1,
    const Eigen::Vector3d& ea1_t1, const Eigen::Vector3d& eb0_t1,
    const Eigen::Vector3d& eb1_t1, double& toi,
    const double min_distance, const double tmax,
    const double tolerance, const long max_iterations,
    const double conservative_rescaling);¶

bool ipc::point_triangle_ccd(const Eigen::Vector3d& p_t0,
    const Eigen::Vector3d& t0_t0, const Eigen::Vector3d& t1_t0,
    const Eigen::Vector3d& t2_t0, const Eigen::Vector3d& p_t1,
    const Eigen::Vector3d& t0_t1, const Eigen::Vector3d& t1_t1,
    const Eigen::Vector3d& t2_t1, double& toi,
    const double min_distance, const double tmax,
    const double tolerance, const long max_iterations,
    const double conservative_rescaling);¶