StepCore::GJKCollisionSolver Class Reference

#include <collisionsolver.h>

Inheritance diagram for StepCore::GJKCollisionSolver:

Public Member Functions
	GJKCollisionSolver ()
	GJKCollisionSolver (const GJKCollisionSolver &solver)
void	bodyAdded (BodyList &bodies, Body *body)
void	bodyRemoved (BodyList &bodies, Body *body)
int	checkContacts (BodyList &bodies, bool collisions=false, int *count=NULL)
void	getContactsInfo (ConstraintsInfo &info, bool collisions=false)
GJKCollisionSolver &	operator= (const GJKCollisionSolver &)
void	resetCaches ()
int	solveCollisions (BodyList &bodies)
Public Member Functions inherited from StepCore::CollisionSolver
	CollisionSolver ()
virtual	~CollisionSolver ()
double	localError () const
virtual void	setToleranceAbs (double toleranceAbs)
double	toleranceAbs () const
Public Member Functions inherited from StepCore::Object
	Object (const QString &name=QString())
virtual	~Object ()
const QString &	name () const
void	setName (const QString &name)

Protected Member Functions
void	addContact (Body *body0, Body *body1)
void	checkCache (BodyList &bodies)
int	checkContact (Contact *contact)
int	checkDiskDisk (Contact *contact)
int	checkDiskParticle (Contact *contact)
int	checkPolygonDisk (Contact *contact)
int	checkPolygonParticle (Contact *contact)
int	checkPolygonPolygon (Contact *contact)
int	solveDiskDisk (Contact *contact)
int	solveDiskParticle (Contact *contact)
int	solvePolygonDisk (Contact *contact)
int	solvePolygonParticle (Contact *contact)
int	solvePolygonPolygon (Contact *contact)

Protected Attributes
ContactValueList	_contacts
bool	_contactsIsValid
Protected Attributes inherited from StepCore::CollisionSolver
double	_localError
double	_toleranceAbs
Protected Attributes inherited from StepCore::Object
QString	_name

Additional Inherited Members
Public Types inherited from StepCore::CollisionSolver
enum	{ InternalError = Solver::CollisionError }

Detailed Description

Discrete collision solver using Gilbert-Johnson-Keerthi distance algorithm.

Objects are treated as colliding if distance between them is greater than zero but smaller than certain small value. If distance is less than zero objects are always treated as interpenetrating - this signals World::doEvolve to invalidate current time step and try with smaller stepSize until objects are colliding but not interpenetrating.

Definition at line 154 of file collisionsolver.h.

Constructor & Destructor Documentation

StepCore::GJKCollisionSolver::GJKCollisionSolver ( )

inline

Definition at line 159 of file collisionsolver.h.

StepCore::GJKCollisionSolver::GJKCollisionSolver ( const GJKCollisionSolver &  solver )

inline

Definition at line 162 of file collisionsolver.h.

Member Function Documentation

void StepCore::GJKCollisionSolver::addContact ( Body *  body0, Body *  body1  )

protected

Definition at line 1248 of file collisionsolver.cc.

void StepCore::GJKCollisionSolver::bodyAdded ( BodyList &  bodies, Body *  body  )

virtual

Reimplemented from StepCore::CollisionSolver.

Definition at line 1225 of file collisionsolver.cc.

void StepCore::GJKCollisionSolver::bodyRemoved ( BodyList &  bodies, Body *  body  )

virtual

Reimplemented from StepCore::CollisionSolver.

Definition at line 1234 of file collisionsolver.cc.

void StepCore::GJKCollisionSolver::checkCache ( BodyList &  bodies )

protected

Definition at line 1209 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkContact ( Contact *  contact )

inlineprotected

Definition at line 828 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkContacts ( BodyList &  bodies, bool  collisions = false, int *  count = NULL  )

virtual

Check (and update) state of the contact.

Parameters

contact

contact to check (only body0 and body1 fields must be set)

Returns

state of the contact (equals to contact->state)Check and count contacts between several bodies

Parameters

bodies	list of bodies to check
count	number of contacts

Returns

maximum contact state (i.e. maximum value of Contact::state)

Implements StepCore::CollisionSolver.

Definition at line 839 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkDiskDisk ( Contact *  contact )

protected

Definition at line 732 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkDiskParticle ( Contact *  contact )

protected

Definition at line 769 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkPolygonDisk ( Contact *  contact )

protected

Definition at line 347 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkPolygonParticle ( Contact *  contact )

protected

Definition at line 541 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkPolygonPolygon ( Contact *  contact )

protected

Definition at line 39 of file collisionsolver.cc.

void StepCore::GJKCollisionSolver::getContactsInfo ( ConstraintsInfo &  info, bool  collisions = false  )

virtual

Fill the constraint info structure with the contacts computed by checkContacts()

Parameters

info	ConstraintsInfo structure to fill

Implements StepCore::CollisionSolver.

Definition at line 862 of file collisionsolver.cc.

GJKCollisionSolver& StepCore::GJKCollisionSolver::operator= ( const GJKCollisionSolver &  )

inline

Definition at line 164 of file collisionsolver.h.

void StepCore::GJKCollisionSolver::resetCaches ( )

virtual

Reset internal caches of collision information.

Todo:

do it automatically by checking the cache

Reimplemented from StepCore::CollisionSolver.

Definition at line 1285 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solveCollisions ( BodyList &  bodies )

virtual

Solve the collisions between bodies.

Implements StepCore::CollisionSolver.

Definition at line 1173 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solveDiskDisk ( Contact *  contact )

protected

Definition at line 1131 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solveDiskParticle ( Contact *  contact )

protected

Definition at line 1152 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solvePolygonDisk ( Contact *  contact )

protected

Definition at line 1035 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solvePolygonParticle ( Contact *  contact )

protected

Definition at line 1083 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solvePolygonPolygon ( Contact *  contact )

protected

Definition at line 974 of file collisionsolver.cc.

Member Data Documentation

ContactValueList StepCore::GJKCollisionSolver::_contacts

protected

Definition at line 207 of file collisionsolver.h.

bool StepCore::GJKCollisionSolver::_contactsIsValid

protected

Definition at line 208 of file collisionsolver.h.

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The documentation for this class was generated from the following files:

• collisionsolver.h
• collisionsolver.cc