HUMIM Tracker: OpenTissue::sdf::Geometry< mesh_type_, grid_type_ > Class Template Reference

#include <sdf_geometry.h>

Inheritance diagram for OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >:

List of all members.

Public Types
typedef mesh_type_	mesh_type
typedef grid_type_	grid_type
typedef mesh_type::math_types	math_types
typedef math_types::real_type	real_type
typedef math_types::vector3_type	vector3_type
typedef math_types::matrix3x3_type	matrix3x3_type
typedef geometry::Sphere < math_types >	sphere_type
typedef std::list< vector3_type >	point_container
typedef point_container::iterator	point_iterator
typedef point_container::const_iterator	const_point_iterator
typedef bvh::BoundingVolumeHierarchy < sphere_type, vector3_type * >	bvh_type
Public Member Functions
size_t const	class_id () const
	Geometry ()
vector3_type	ext () const
real_type const &	max_radius () const
void	compute_collision_aabb (vector3_type const &r, matrix3x3_type const &R, vector3_type &min_coord, vector3_type &max_coord) const
Public Attributes
mesh_type	m_mesh
	A pointer to the mesh representing the zero-level set surface of the signed distance field.
grid_type	m_phi
	A pointer to a map containing the signed distance field.
real_type	m_max_radius
	The maximum radius.
vector3_type	m_min_coord
	The AABB corner node with smallest coordinates (in BF coords).
vector3_type	m_max_coord
	The AABB corner node with largest coordinates (in BF coords).
point_container	m_sampling
	A point sampling, representing the zero level set surface of the signed distance map.
bvh_type	m_bvh
	Sphere BVH (of sample points), used to speed up collision queries.

Detailed Description

template<typename mesh_type_, typename grid_type_>
class OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >

Signed Distance Map Geometry. This is infact a double representation, a signed distance map is used and a point sampling of the surface of the object is also used.

When doing collision detection between two bodies one simply looks up the point sampling in the distance map of the other body and vice versa. All sample points with distance less than collision envelope generates a contact point. The separation (or penetration) distance is simply the signed distance value at the sample points position, the contact normal is the gradient of the signed distance map the sample position, and the location of the contact points is given by the sample position.

Member Typedef Documentation

template<typename mesh_type_ , typename grid_type_ >

typedef bvh::BoundingVolumeHierarchy<sphere_type,vector3_type*> OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::bvh_type

template<typename mesh_type_ , typename grid_type_ >

typedef point_container::const_iterator OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::const_point_iterator

template<typename mesh_type_ , typename grid_type_ >

typedef grid_type_ OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::grid_type

template<typename mesh_type_ , typename grid_type_ >

typedef mesh_type::math_types OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::math_types

template<typename mesh_type_ , typename grid_type_ >

typedef math_types::matrix3x3_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::matrix3x3_type

template<typename mesh_type_ , typename grid_type_ >

typedef mesh_type_ OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::mesh_type

template<typename mesh_type_ , typename grid_type_ >

typedef std::list<vector3_type> OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::point_container

template<typename mesh_type_ , typename grid_type_ >

typedef point_container::iterator OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::point_iterator

template<typename mesh_type_ , typename grid_type_ >

typedef math_types::real_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::real_type

template<typename mesh_type_ , typename grid_type_ >

typedef geometry::Sphere<math_types> OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::sphere_type

template<typename mesh_type_ , typename grid_type_ >

typedef math_types::vector3_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::vector3_type

Constructor & Destructor Documentation

template<typename mesh_type_ , typename grid_type_ >

OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::Geometry ( ) [inline]

Member Function Documentation

template<typename mesh_type_ , typename grid_type_ >

size_t const OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::class_id ( ) const [inline, virtual]

Query the class ID.

Returns:: The object's class ID

Reimplemented from OpenTissue::utility::ClassID< Geometry< mesh_type_, grid_type_ > >.

template<typename mesh_type_ , typename grid_type_ >

void OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::compute_collision_aabb	(	vector3_type const &	r,
		matrix3x3_type const &	R,
		vector3_type &	min_coord,
		vector3_type &	max_coord
	)			const `[inline]`

Compute Bounding Box. This method computes an axis aligned bounding box (AABB) that encloses the geometry.

Parameters:

	r	The position of the model frame (i.e the coordinate frame the geometry lives in).
	R	The orientation of the model frame (i.e the coordinate frame the geometry lives in).
	min_coord	Upon return holds the minimum corner of the box.
	max_coord	Upon return holds the maximum corner of the box.

template<typename mesh_type_ , typename grid_type_ >

vector3_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::ext ( ) const [inline]

Get Half Side Extents

Returns:: A 3D vector, where each component corresponds to the half-side extent of the tight fitting OBB of the signed distance field.

template<typename mesh_type_ , typename grid_type_ >

real_type const& OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::max_radius ( ) const [inline]

Maximum Radius. Return a radius value equal to or greater than the radius of the minimum enclosing sphere (with center at center of mass).

Returns:: The maximum radius.

Member Data Documentation

template<typename mesh_type_ , typename grid_type_ >

bvh_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::m_bvh

Sphere BVH (of sample points), used to speed up collision queries.

template<typename mesh_type_ , typename grid_type_ >

vector3_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::m_max_coord

The AABB corner node with largest coordinates (in BF coords).

template<typename mesh_type_ , typename grid_type_ >

real_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::m_max_radius

The maximum radius.

template<typename mesh_type_ , typename grid_type_ >

mesh_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::m_mesh

A pointer to the mesh representing the zero-level set surface of the signed distance field.

template<typename mesh_type_ , typename grid_type_ >

vector3_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::m_min_coord

The AABB corner node with smallest coordinates (in BF coords).

template<typename mesh_type_ , typename grid_type_ >

grid_type OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::m_phi

A pointer to a map containing the signed distance field.

template<typename mesh_type_ , typename grid_type_ >

point_container OpenTissue::sdf::Geometry< mesh_type_, grid_type_ >::m_sampling

A point sampling, representing the zero level set surface of the signed distance map.

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

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/collision/sdf/sdf_geometry.h