OpenTissue::mbd::CachingContactGraphAnalysis< types > Class Template Reference

#include <mbd_caching_contact_graph_analysis.h>

List of all members.

Classes
class	constraint_traits
class	edge_traits
class	node_traits
Public Member Functions
	CachingContactGraphAnalysis (void)
const bool	post_broad_phase_analysis (edge_ptr_container &edges)
void	doAbsoluteRestingTest (void)
void	post_narrow_phase_analysis (edge_ptr_container &edges)
void	post_contact_determination_analysis (edge_ptr_container &edges, group_ptr_container &reportedGroups)
void	clear ()
void	add (body_type *body)
void	remove (body_type *body)
void	init (configuration_type &configuration)
Protected Types
typedef types::math_policy::index_type	size_type
typedef types::math_policy::vector3_type	vector3_type
typedef types::math_policy::matrix3x3_type	matrix3x3_type
typedef types::math_policy::quaternion_type	quaternion_type
typedef types::math_policy::coordsys_type	coordsys_type
typedef types::math_policy::real_type	real_type
typedef types::configuration_type	configuration_type
typedef types::group_container	group_container
typedef types::group_ptr_container	group_ptr_container
typedef types::group_type	group_type
typedef types::edge_ptr_container	edge_ptr_container
typedef types::indirect_edge_iterator	indirect_edge_iterator
typedef types::body_type	body_type
typedef types::contact_type	contact_type
typedef types::edge_type	edge_type
typedef types::joint_type	joint_type
Protected Member Functions
void	traverseGroup (const size_type groupTag, edge_type *edge, group_type *group)
Protected Attributes
configuration_type *	m_configuration
	A pointer to the configuration that holds the current configuration.
size_type	m_time_stamp
	Time-stamp indicating which iteration the STC analysis i performed in.

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Detailed Description

template<typename types>
class OpenTissue::mbd::CachingContactGraphAnalysis< types >

Caching Contact Graph Analysis. This is a particular implementation of spatial-temporal-coherence analysis algorithm to be used as a policy in the CollisionDetection class.

The main idea is to store information in the contact graph edges (i.e. body pairs) and then in each query test this information to see whether information from last query can be reused, or if a quick-rejection is possible. Also a connected component search is done on the contact graph in order to determine independent contact groups.

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Member Typedef Documentation

template<typename types >

typedef types::body_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::body_type [protected]

template<typename types >

typedef types::configuration_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::configuration_type [protected]

template<typename types >

typedef types::contact_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::contact_type [protected]

template<typename types >

typedef types::math_policy::coordsys_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::coordsys_type [protected]

template<typename types >

typedef types::edge_ptr_container OpenTissue::mbd::CachingContactGraphAnalysis< types >::edge_ptr_container [protected]

template<typename types >

typedef types::edge_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::edge_type [protected]

template<typename types >

typedef types::group_container OpenTissue::mbd::CachingContactGraphAnalysis< types >::group_container [protected]

template<typename types >

typedef types::group_ptr_container OpenTissue::mbd::CachingContactGraphAnalysis< types >::group_ptr_container [protected]

template<typename types >

typedef types::group_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::group_type [protected]

template<typename types >

typedef types::indirect_edge_iterator OpenTissue::mbd::CachingContactGraphAnalysis< types >::indirect_edge_iterator [protected]

template<typename types >

typedef types::joint_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::joint_type [protected]

template<typename types >

typedef types::math_policy::matrix3x3_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::matrix3x3_type [protected]

template<typename types >

typedef types::math_policy::quaternion_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::quaternion_type [protected]

template<typename types >

typedef types::math_policy::real_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::real_type [protected]

template<typename types >

typedef types::math_policy::index_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::size_type [protected]

template<typename types >

typedef types::math_policy::vector3_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::vector3_type [protected]

---

Constructor & Destructor Documentation

template<typename types >

OpenTissue::mbd::CachingContactGraphAnalysis< types >::CachingContactGraphAnalysis

(

void

)

[inline]

---

Member Function Documentation

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::add

(

body_type *

body

)

[inline]

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::clear

(

)

[inline]

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::doAbsoluteRestingTest

(

void

)

[inline]

Absolute Resting Test. This method examines each body in the configuration and tries to determine wheter it has moved since last invocation. If not then the body is said to be in absolute rest.

The term absolute rest, reflects how geometry is percieved it has nothing to do with the dynamic state of a body.

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::init

(

configuration_type &

configuration

)

[inline]

template<typename types >

const bool OpenTissue::mbd::CachingContactGraphAnalysis< types >::post_broad_phase_analysis

(

edge_ptr_container &

edges

)

[inline]

Post Broad Phase Analysis.

Parameters:

edges

The overlaps reported from the broad phase collision detection phase.

Returns:

A boolean value indicating wheter a penetration have been detected at this stage in analysis.

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::post_contact_determination_analysis	(	edge_ptr_container &	edges,
		group_ptr_container &	reportedGroups
	)			[inline]

Post Contact Determination Analysis. In this phase all the geometrical proximity information that have been determined prior in the collision detection engine pipeline is analyzed inorder to build a higher level construct called contact groups. That is independent groups of contacts and bodies. Independent implies that they can be simulated independently of each other.

Parameters:

	edges	The edges that were detected by the broad phase collision detection algorithm.
	reportedGroups	Upon return this group container contains all the contact groups.

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::post_narrow_phase_analysis

(

edge_ptr_container &

edges

)

[inline]

Post Narrow Phase Analysis. In this analysis all body pairs (i.e. overlaps or edges) that were processed by the narrow phase collision detection algorithm are examined.

For each body pair the contact state is determined and all separated body pairs are filtred from the set of processed body pairs. This is because it does not make sense to run contact determination on a separated body pair.

Parameters:

edges

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::remove

(

body_type *

body

)

[inline]

template<typename types >

void OpenTissue::mbd::CachingContactGraphAnalysis< types >::traverseGroup	(	const size_type	groupTag,
		edge_type *	edge,
		group_type *	group
	)			[inline, protected]

Traverse Contact group_type.

Parameters:

	groupTag	A unique index identifying the contact groups that is currently being traversed.
	edge	The current body pair of the contact group that is traversed.
	group	Upon return this argument holds the traversed contact group.

---

Member Data Documentation

template<typename types >

configuration_type* OpenTissue::mbd::CachingContactGraphAnalysis< types >::m_configuration [protected]

A pointer to the configuration that holds the current configuration.

template<typename types >

size_type OpenTissue::mbd::CachingContactGraphAnalysis< types >::m_time_stamp [protected]

Time-stamp indicating which iteration the STC analysis i performed in.

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/collision_detection/mbd_caching_contact_graph_analysis.h