#include <vclip.h>

Public Types
enum	result_type { PENETRATION, CONTINUE, DISJOINT }
typedef vclip_mesh_type::vertex_halfedge_circulator	vertex_halfedge_circulator
typedef vclip_mesh_type::face_halfedge_circulator	face_halfedge_circulator
typedef vclip_mesh_type::face_iterator	face_iterator
typedef vclip_mesh_type::vertex_type	vertex_type
typedef vclip_mesh_type::halfedge_type	halfedge_type
typedef vclip_mesh_type::face_type	face_type
typedef vertex_type *	vertex_pointer
typedef halfedge_type *	halfedge_pointer
typedef face_type *	face_pointer
typedef Feature *	feature_pointer
typedef halfedge_type::plane_type	plane_type
typedef vclip_mesh_type::math_types	math_types
typedef math_types::vector3_type	vector3_type
typedef math_types::real_type	real_type
typedef unsigned char	state_type
typedef OpenTissue::math::CoordSys < real_type >	coordsys_type
Public Member Functions
real_type	run (vclip_mesh_type const &meshA, vclip_mesh_type const &meshB, coordsys_type const &AtoB, coordsys_type const &BtoA, feature_pointer seedA, feature_pointer seedB, vector3_type &cpA, vector3_type &cpB, unsigned int const max_iterations=500)
Public Attributes
feature_pointer	m_vertexA
	Temporary Storage. All these are used to pass along information about the two current withness features to each state handler.
feature_pointer	m_vertexB
feature_pointer	m_vertex
feature_pointer	m_edgeA
feature_pointer	m_edgeB
feature_pointer	m_edge
feature_pointer	m_face
real_type	m_distance
	The Separation Distance.
std::vector< int >	m_code
std::vector< real_type >	m_parameter
Static Public Attributes
static const state_type	vertex_vertex_state = 0
static const state_type	vertex_edge_state = 1
static const state_type	edge_vertex_state = 4
static const state_type	vertex_face_state = 2
static const state_type	face_vertex_state = 8
static const state_type	edge_edge_state = 5
static const state_type	edge_face_state = 6
static const state_type	face_edge_state = 9
static const int	INSIDE = 0x000
static const int	OUTSIDE = 0x001
static const int	MIN = 0x002
static const int	MAX = 0x004

Detailed Description

Voronoi Clip Algorithm. One have to setup a vclip mesh in order to use this collision algorithm. An vclip mesh is a polygon mesh annotated with voronoi planes of the external voronoi regions of each mesh feature.

An utility tool have been created for setting up a vclip mesh. An example:

polymesh::PolyMesh<....> my_usual_mesh; mesh::obj_read(my_favorite_polymesh_file,my_usual_mesh); vclip_mesh_type my_vclip_mesh; convert(my_usual_mesh,my_vclip_mesh);

Now you can simply invoke the run method on this class to do a collision test between two vclip meshes.

Here is a little longer example. First at startup one initializes the geometries

OpenTissue::vclip::vclip_mesh_type A; OpenTissue::vclip::vclip_mesh_type B;

polymesh::PolyMesh<> tmp; mesh::make_box(1.0,1.0,1.0, tmp); mesh::make_box(1.0,1.0,1.0, tmp);

OpenTissue::vclip::convert(tmp,A); OpenTissue::vclip::convert(tmp,B);

Then during runtime, one determines where the geometries are places in the world

coordsys_type Awcs = coordsys_type( vector3_type(-1.0,0.0,0.0), quaternion_type()); coordsys_type Bwcs = coordsys_type( vector3_type( 1.0,0.0,0.0), quaternion_type()); coordsys_type AtoB = model_update(Awcs,Bwcs); coordsys_type BtoA = inverse(AtoB);

Finally one can query the vclip algorithm about cloest features and separation distance.

OpenTissue::vclip::Feature * seed_a = &( * ea ); OpenTissue::vclip::Feature * seed_b = &( * fb ); real_type distance = vclip.run(A,B,AtoB,BtoA,&seed_a,&seed_b,p_a,p_b,max_iterations);

Member Typedef Documentation

typedef OpenTissue::math::CoordSys<real_type> OpenTissue::vclip::VClip::coordsys_type

typedef vclip_mesh_type::face_halfedge_circulator OpenTissue::vclip::VClip::face_halfedge_circulator

typedef vclip_mesh_type::face_iterator OpenTissue::vclip::VClip::face_iterator

typedef face_type* OpenTissue::vclip::VClip::face_pointer

typedef vclip_mesh_type::face_type OpenTissue::vclip::VClip::face_type

typedef Feature* OpenTissue::vclip::VClip::feature_pointer

typedef halfedge_type* OpenTissue::vclip::VClip::halfedge_pointer

typedef vclip_mesh_type::halfedge_type OpenTissue::vclip::VClip::halfedge_type

typedef vclip_mesh_type::math_types OpenTissue::vclip::VClip::math_types

typedef halfedge_type::plane_type OpenTissue::vclip::VClip::plane_type

typedef math_types::real_type OpenTissue::vclip::VClip::real_type

typedef unsigned char OpenTissue::vclip::VClip::state_type

typedef math_types::vector3_type OpenTissue::vclip::VClip::vector3_type

typedef vclip_mesh_type::vertex_halfedge_circulator OpenTissue::vclip::VClip::vertex_halfedge_circulator

typedef vertex_type* OpenTissue::vclip::VClip::vertex_pointer

typedef vclip_mesh_type::vertex_type OpenTissue::vclip::VClip::vertex_type

Member Enumeration Documentation

enum OpenTissue::vclip::VClip::result_type

Enumerator:

PENETRATION
CONTINUE
DISJOINT

Member Function Documentation

real_type OpenTissue::vclip::VClip::run	(	vclip_mesh_type const &	meshA,
		vclip_mesh_type const &	meshB,
		coordsys_type const &	AtoB,
		coordsys_type const &	BtoA,
		feature_pointer *	seedA,
		feature_pointer *	seedB,
		vector3_type &	cpA,
		vector3_type &	cpB,
		unsigned int const	max_iterations = `500`
	)			`[inline]`

Run V-Clip algorithm. When this method is invoked the v-clip algorithm is run on the two specified polyhedra.

Parameters:

	meshA	The mesh of object A (in model frame).
	meshB	The mesh of object B (in model frame).
	AtoB	A coordinate transform from model frame of object A to the model frame of object B.
	BtoA	The inverse coordinate transform of AtoB.
	seedA	A feature from the mesh of object A. This is used to seed the algorithm.
	seedB	A feature from the mesh of object B. This is used to seed the algorithm.
	cpA	Upon return this argument holds the closest point on A.
	cpB	Upon return this argument holds the closest point on B.
	max_iterations	This is an iterative algorithm, one can use this argument to either do single steps (usefull for visualizing the internal feature tracking) or simply guard against infinite loops.

Returns:: The separation distance if polyhedra are disjoint, if polyhedra are exactly touching the value is zero and in case of penetration the value is negative.

Member Data Documentation

const state_type OpenTissue::vclip::VClip::edge_edge_state = 5 [static]

const state_type OpenTissue::vclip::VClip::edge_face_state = 6 [static]

const state_type OpenTissue::vclip::VClip::edge_vertex_state = 4 [static]

const state_type OpenTissue::vclip::VClip::face_edge_state = 9 [static]

const state_type OpenTissue::vclip::VClip::face_vertex_state = 8 [static]

const int OpenTissue::vclip::VClip::INSIDE = 0x000 [static]

Constants used to describe an edges relative position to a edge-face voronoi plane.

See also:: m_code

std::vector<int> OpenTissue::vclip::VClip::m_code

Edge Clip Code. When an edge is clipped against the edge-face voronoi planes along the boundary of a face then this data structure is used to keep track of the edges position relatively to each voronoi plane.

That is an edge can be either inside, outside, minimum-cross or maximum-cross of a voronoi plane.

real_type OpenTissue::vclip::VClip::m_distance

The Separation Distance.

feature_pointer OpenTissue::vclip::VClip::m_edge

feature_pointer OpenTissue::vclip::VClip::m_edgeA

feature_pointer OpenTissue::vclip::VClip::m_edgeB

feature_pointer OpenTissue::vclip::VClip::m_face

std::vector<real_type> OpenTissue::vclip::VClip::m_parameter

Edge Clipping Parameter Storage. This array is used in a similar way to the code-array except this time we store the actual value of the clipping parameter.

feature_pointer OpenTissue::vclip::VClip::m_vertex

feature_pointer OpenTissue::vclip::VClip::m_vertexA

Temporary Storage. All these are used to pass along information about the two current withness features to each state handler.

feature_pointer OpenTissue::vclip::VClip::m_vertexB

const int OpenTissue::vclip::VClip::MAX = 0x004 [static]

const int OpenTissue::vclip::VClip::MIN = 0x002 [static]

const int OpenTissue::vclip::VClip::OUTSIDE = 0x001 [static]

const state_type OpenTissue::vclip::VClip::vertex_edge_state = 1 [static]

const state_type OpenTissue::vclip::VClip::vertex_face_state = 2 [static]

const state_type OpenTissue::vclip::VClip::vertex_vertex_state = 0 [static]

State type constants.

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