Public Member Functions | Private Member Functions | Private Attributes | List of all members
SurgSim::Physics::DeformableCollisionRepresentation Class Reference

A collision representation that can be attached to a deformable, when this contains a mesh with the same number of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in the deformable. More...

#include <SurgSim/Physics/DeformableCollisionRepresentation.h>

Inheritance diagram for SurgSim::Physics::DeformableCollisionRepresentation:
SurgSim::Collision::Representation SurgSim::Framework::Representation SurgSim::Framework::Component SurgSim::Framework::Accessible SurgSim::Framework::FactoryBase1< Component, std::string >

Public Member Functions

 DeformableCollisionRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~DeformableCollisionRepresentation ()
 Destructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Physics::DeformableCollisionRepresentation)
 
void setShape (std::shared_ptr< SurgSim::Math::Shape > shape)
 Set the shape for this collision representation, has to be a SurgSim::Math::MeshShape. More...
 
const std::shared_ptr< SurgSim::Math::ShapegetShape () const override
 Get the shape. More...
 
void setDeformableRepresentation (std::shared_ptr< SurgSim::Physics::DeformableRepresentation > representation)
 Sets the deformable to which this collision representation is connected. More...
 
const std::shared_ptr< SurgSim::Physics::DeformableRepresentationgetDeformableRepresentation () const
 
int getShapeType () const override
 Get the shape type id. More...
 
void updateDcdData () override
 Update the data (the shape) in preparation for a DCD contact calculation. More...
 
void updateCcdData (double interval) override
 Update the data (the motionShape) in preparation for a CCD contact calcul ation. More...
 
void updateShapeData () override
 Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined. More...
 
- Public Member Functions inherited from SurgSim::Collision::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
void setCollisionDetectionType (CollisionDetectionType type)
 Set the type of collision detection to use between this representation and other representations. More...
 
CollisionDetectionType getCollisionDetectionType () const
 Get the type of collision detection used between this representation and other representations. More...
 
void setSelfCollisionDetectionType (CollisionDetectionType type)
 Set the type of collision detection to use between this representation and itself. More...
 
CollisionDetectionType getSelfCollisionDetectionType () const
 Get the type of collision detection used between this representation and itself. More...
 
virtual std::shared_ptr< SurgSim::Math::ShapegetPosedShape ()
 Get the shape, posed. More...
 
const Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > & getPosedShapeMotion () const
 
SurgSim::DataStructures::BufferedValue< ContactMapType > & getCollisions ()
 A map between collision representations and contacts. More...
 
void addContact (const std::shared_ptr< Representation > &other, const std::shared_ptr< SurgSim::Collision::Contact > &contact)
 Add a contact with another representation. More...
 
bool collidedWith (const std::shared_ptr< Representation > &other)
 Check whether this collision representation collided with another during the last update. More...
 
virtual void update (const double &dt)
 Update the representation. More...
 
bool ignore (const std::string &fullName)
 Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...
 
bool ignore (const std::shared_ptr< Representation > &representation)
 Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...
 
void setIgnoring (const std::vector< std::string > &fullNames)
 Set the collision representations to ignore Collisions with these collision representation will not be detected. More...
 
bool isIgnoring (const std::string &fullName) const
 Is the collision representation being ignored. More...
 
bool isIgnoring (const std::shared_ptr< Representation > &representation) const
 Is the collision representation being ignored. More...
 
bool allow (const std::string &fullName)
 Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...
 
bool allow (const std::shared_ptr< Representation > &representation)
 Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...
 
void setAllowing (const std::vector< std::string > &fullNames)
 Set the only collision representations to allow collisions with Only Collisions with these collision representation will be detected. More...
 
bool isAllowing (const std::string &fullName) const
 Is the collision representation being allowed. More...
 
bool isAllowing (const std::shared_ptr< Representation > &representation) const
 Is the collision representation being allowed. More...
 
Math::Aabbd getBoundingBox () const
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual void setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
 Set the pose of the representation with respect to the Scene Element. More...
 
virtual SurgSim::Math::RigidTransform3d getLocalPose () const
 Get the pose of the representation with respect to the Scene Element. More...
 
virtual SurgSim::Math::RigidTransform3d getPose () const
 Get the pose of the representation in world coordinates. More...
 
- Public Member Functions inherited from SurgSim::Framework::Component
 Component (const std::string &name)
 Constructor. More...
 
virtual ~Component ()
 Destructor. More...
 
std::string getName () const
 Gets component name. More...
 
std::string getFullName () const
 Gets a string containing the name of the Component and (if it has one) its SceneElement. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
bool isInitialized () const
 
bool initialize (const std::weak_ptr< Runtime > &runtime)
 Initialize this component, this needs to be called before wakeUp() can be called. More...
 
bool isAwake () const
 
bool wakeUp ()
 Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
 
void retire ()
 Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...
 
void setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const SceneElementgetSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () const
 Get the runtime which contains this component. More...
 
virtual std::string getClassName () const
 The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
 
std::shared_ptr< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
bool isActive () const
 
virtual void setLocalActive (bool val)
 Set the component's active state. More...
 
bool isLocalActive () const
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class T >
getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
template<class T >
bool getValue (const std::string &name, T *value) const
 Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
void forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
 Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
void setDecoder (const std::string &name, DecoderType decoder)
 Sets the functions used to convert data from a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 

Private Member Functions

bool doInitialize () override
 Interface to be implemented by derived classes. More...
 
bool doWakeUp () override
 Interface to be implemented by derived classes. More...
 

Private Attributes

std::shared_ptr< SurgSim::Math::Shapem_shape
 Shape used for collision detection. More...
 
std::shared_ptr< SurgSim::Math::Shapem_previousShape
 
std::weak_ptr< SurgSim::Physics::DeformableRepresentationm_deformable
 Reference to the deformable driving changes to this mesh. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function< YAML::Node(void)> EncoderType
 
typedef std::function< void(const YAML::Node *)> DecoderType
 
- Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::stringFactoryType
 
- Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryTypegetFactory ()
 
- Protected Member Functions inherited from SurgSim::Collision::Representation
void invalidatePosedShapeMotion ()
 Invalidate the cached posed shape motion. More...
 
std::vector< std::stringgetIgnoring () const
 Get the ignored collision representations. More...
 
std::vector< std::stringgetAllowing () const
 Get the only collision representations that this representation is allowed to collide with. More...
 
void doRetire () override
 Interface to be implemented by derived classes Has a default implementation, does nothing. More...
 
void setPosedShapeMotion (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &posedShape)
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponentgetPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const PoseComponentgetPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 
- Protected Attributes inherited from SurgSim::Collision::Representation
std::shared_ptr< Framework::Loggerm_logger
 

Detailed Description

A collision representation that can be attached to a deformable, when this contains a mesh with the same number of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in the deformable.

Constructor & Destructor Documentation

◆ DeformableCollisionRepresentation()

SurgSim::Physics::DeformableCollisionRepresentation::DeformableCollisionRepresentation ( const std::string name)
explicit

Constructor.

Parameters
nameName of the Representation

◆ ~DeformableCollisionRepresentation()

SurgSim::Physics::DeformableCollisionRepresentation::~DeformableCollisionRepresentation ( )
virtual

Destructor.

Member Function Documentation

◆ doInitialize()

bool SurgSim::Physics::DeformableCollisionRepresentation::doInitialize ( )
overrideprivatevirtual

Interface to be implemented by derived classes.

Returns
True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

◆ doWakeUp()

bool SurgSim::Physics::DeformableCollisionRepresentation::doWakeUp ( )
overrideprivatevirtual

Interface to be implemented by derived classes.

Returns
True if component is woken up successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

◆ getDeformableRepresentation()

const std::shared_ptr< SurgSim::Physics::DeformableRepresentation > SurgSim::Physics::DeformableCollisionRepresentation::getDeformableRepresentation ( ) const
Returns
The deformable that is used to update the contained mesh

◆ getShape()

const std::shared_ptr< SurgSim::Math::Shape > SurgSim::Physics::DeformableCollisionRepresentation::getShape ( ) const
overridevirtual

Get the shape.

Returns
The actual shape used for collision.

Implements SurgSim::Collision::Representation.

◆ getShapeType()

int SurgSim::Physics::DeformableCollisionRepresentation::getShapeType ( ) const
overridevirtual

Get the shape type id.

Returns
The unique type of the shape, used to determine which calculation to use.

Implements SurgSim::Collision::Representation.

◆ setDeformableRepresentation()

void SurgSim::Physics::DeformableCollisionRepresentation::setDeformableRepresentation ( std::shared_ptr< SurgSim::Physics::DeformableRepresentation representation)

Sets the deformable to which this collision representation is connected.

Parameters
representationThe deformable that will be used to update the contained mesh

◆ setShape()

void SurgSim::Physics::DeformableCollisionRepresentation::setShape ( std::shared_ptr< SurgSim::Math::Shape shape)

Set the shape for this collision representation, has to be a SurgSim::Math::MeshShape.

The vertices in the mesh need to be the same number as the vertices in the deformable representation.

Parameters
shapeThe shape to be used.

◆ SURGSIM_CLASSNAME()

SurgSim::Physics::DeformableCollisionRepresentation::SURGSIM_CLASSNAME ( SurgSim::Physics::DeformableCollisionRepresentation  )

◆ updateCcdData()

void SurgSim::Physics::DeformableCollisionRepresentation::updateCcdData ( double  timeOfImpact)
overridevirtual

Update the data (the motionShape) in preparation for a CCD contact calcul ation.

Parameters
timeOfImpactthe last time of impact, the representation is responsible for managing the time correctly

Reimplemented from SurgSim::Collision::Representation.

◆ updateDcdData()

void SurgSim::Physics::DeformableCollisionRepresentation::updateDcdData ( )
overridevirtual

Update the data (the shape) in preparation for a DCD contact calculation.

Reimplemented from SurgSim::Collision::Representation.

◆ updateShapeData()

void SurgSim::Physics::DeformableCollisionRepresentation::updateShapeData ( )
overridevirtual

Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined.

Reimplemented from SurgSim::Collision::Representation.

Member Data Documentation

◆ m_deformable

std::weak_ptr<SurgSim::Physics::DeformableRepresentation> SurgSim::Physics::DeformableCollisionRepresentation::m_deformable
private

Reference to the deformable driving changes to this mesh.

◆ m_previousShape

std::shared_ptr<SurgSim::Math::Shape> SurgSim::Physics::DeformableCollisionRepresentation::m_previousShape
private

◆ m_shape

std::shared_ptr<SurgSim::Math::Shape> SurgSim::Physics::DeformableCollisionRepresentation::m_shape
private

Shape used for collision detection.


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