Namespaces
namespace	collision_detection
namespace	collision_laws
namespace	detail
namespace	math
namespace	mel
Classes
class	CachingContactGraphAnalysis
class	CollisionDetection
class	ExhaustiveSearch
class	GeometryDispatcher
class	SingleGroupAnalysis
class	SpatialHashing
class	IntervalEndpoint
class	AABB
class	SweepNPrune
class	IterateOnceCollisionResolver
class	SequentialCollisionResolver
class	SequentialTruncatingCollisionResolver
class	Damping
class	DrivingForce
class	Gravity
class	CollisionResolverInterface
class	ConstraintInterface
class	CoreConstraintInterface
class	ForceInterface
class	JointInterface
class	NCPSolverInterface
class	ScriptedMotionInterface
class	SimulatorInterface
class	StepperInterface
class	SubConstraintInterface
class	BallJoint
class	HingeJoint
class	SliderJoint
class	UniversalJoint
class	WheelJoint
class	AngularJointLimit
class	LinearJointLimit
class	ReachCone
class	default_ublas_math_policy
class	optimized_ublas_math_policy
class	Body
class	BodyGroup
class	CollisionInfo
class	Configuration
class	ContactPoint
class	Edge
class	JointSocket
class	KineticEnergySleepyPolicy
class	Material
class	MaterialLibrary
struct	NoSleepyPolicy
class	StackAnalysis
class	StackPropagation
class	Types
class	AngularJointMotor
class	LinearJointMotor
class	Oscillation
class	BisectionStepSimulator
class	ExplicitFixedStepSimulator
class	ExplicitSeparateErrorCorrectionFixedStepSimulator
class	FixPointStepSimulator
class	ImplicitFixedStepSimulator
class	SemiImplicitFixedStepSimulator
class	SeparatedCollisionContactFixedStepSimulator
class	ProjectedGaussSeidel
class	TwoPassShockPropagationStepper
class	ConstraintBasedShockPropagationStepper
class	DynamicsProjectionStepper
class	DynamicsStepper
class	FirstOrderStepper
class	DrawBodyFunctor
class	DrawBodyFunctor< true >
class	DrawJointFunctor
Functions
template<typename simulator_type >
void	setup_default_geometry_dispatcher (simulator_type &simulator)
template<typename body_type >
void	apply_impulse (body_type *body, typename body_type::vector3_type const &r, typename body_type::vector3_type const &J)
template<typename real_type , typename vector3_type , typename matrix3x3_type >
matrix3x3_type	compute_collision_matrix (real_type const &m_a, matrix3x3_type const &I_a, vector3_type const &r_a, real_type const &m_b, matrix3x3_type const &I_b, vector3_type const &r_b)
template<typename indirect_body_iterator >
size_t	compute_contact_count (indirect_body_iterator begin, indirect_body_iterator end)
template<typename indirect_body_iterator , typename matrix_type >
void	compute_contact_count_matrix (indirect_body_iterator begin, indirect_body_iterator end, matrix_type &C)
template<typename indirect_body_iterator , typename vector_type >
void	compute_kinetic_energy_vector (indirect_body_iterator begin, indirect_body_iterator end, vector_type &energy)
template<typename configuration_type , typename real_type2 >
void	compute_min_max_distance (configuration_type &configuration, real_type2 &min_value, real_type2 &max_value)
template<typename indirect_body_iterator , typename vector_type , typename real_type >
void	compute_position_update (indirect_body_iterator begin, indirect_body_iterator end, vector_type const &s, vector_type const &u, real_type const &h, vector_type &snew)
template<typename group_type , typename vector_type , typename real_type >
void	compute_position_update (group_type const &group, vector_type const &s, vector_type const &u, real_type const &h, vector_type &snew)
template<typename vector3_type >
vector3_type	compute_relative_contact_velocity (vector3_type const &v_a, vector3_type const &w_a, vector3_type const &r_a, vector3_type const &v_b, vector3_type const &w_b, vector3_type const &r_b)
template<typename indirect_body_iterator , typename real_type >
void	compute_scripted_motions (indirect_body_iterator begin, indirect_body_iterator end, real_type const &time)
template<typename group_type , typename real_type >
void	compute_scripted_motions (group_type const &group, real_type const &time)
template<typename group_type , typename vector_type >
void	get_cached_solution_vector (group_type const &group, size_t const &m, vector_type &x)
template<typename indirect_body_iterator , typename vector_type >
void	get_external_force_vector (indirect_body_iterator begin, indirect_body_iterator end, vector_type &f_ext, bool compute_velocity_forces)
template<typename group_type , typename vector_type >
void	get_external_force_vector (group_type const &group, vector_type &f_ext, bool compute_velocity_forces)
template<typename indirect_body_iterator , typename matrix_type >
void	get_inverse_mass_matrix (indirect_body_iterator begin, indirect_body_iterator end, matrix_type &invM)
template<typename group_type , typename matrix_type >
void	get_inverse_mass_matrix (group_type const &group, matrix_type &invM)
template<typename indirect_body_iterator , typename matrix_type >
void	get_mass_matrix (indirect_body_iterator begin, indirect_body_iterator end, matrix_type &M)
template<typename group_type , typename matrix_type >
void	get_mass_matrix (group_type const &group, matrix_type &M)
template<typename group_type , typename real_type , typename matrix_type , typename vector_type , typename idx_vector_type >
void	get_ncp_formulation (group_type &group, real_type const &fps, matrix_type &J, matrix_type &invM, vector_type &lo, vector_type &hi, idx_vector_type &pi, vector_type &mu, vector_type &gamma, vector_type &b, bool const &use_stabilization, bool const &use_friction, bool const &use_bounce, bool const &use_erp)
template<typename indirect_body_iterator , typename vector_type >
void	get_position_vector (indirect_body_iterator begin, indirect_body_iterator end, vector_type &s)
template<typename group_type , typename vector_type >
void	get_position_vector (group_type const &group, vector_type &s)
template<typename indirect_body_iterator , typename vector_type >
void	get_velocity_vector (indirect_body_iterator begin, indirect_body_iterator end, vector_type &u)
template<typename group_type , typename vector_type >
void	get_velocity_vector (group_type const &group, vector_type &u)
template<typename indirect_body_iterator >
bool	is_all_bodies_sleepy (indirect_body_iterator begin, indirect_body_iterator end)
template<typename group_type >
bool	is_all_bodies_sleepy (group_type const &group)
template<typename group_type , typename vector_type >
void	set_cached_solution_vector (group_type &group, size_t const &m, vector_type &x)
template<typename indirect_body_iterator , typename vector_type >
void	set_position_vector (indirect_body_iterator begin, indirect_body_iterator end, vector_type const &s)
template<typename group_type , typename vector_type >
void	set_position_vector (group_type const &group, vector_type &s)
template<typename indirect_body_iterator , typename vector_type >
void	set_velocity_vector (indirect_body_iterator begin, indirect_body_iterator end, vector_type const &u)
template<typename group_type , typename vector_type >
void	set_velocity_vector (group_type const &group, vector_type &u)
template<typename matrix3x3_type >
void	update_inertia_tensor (matrix3x3_type const &R, matrix3x3_type const &B, matrix3x3_type &W)
template<typename matrix_type , typename vector_type , typename math_policy >
vector_type::value_type	merit (matrix_type const &A, vector_type const &x, vector_type const &b, vector_type const &lo, vector_type const &hi, math_policy const &)
template<typename body_type >
void	draw_body (body_type const &body, bool wireframe)
template<typename configuration_type >
void	draw_contacts (configuration_type &configuration)
template<typename joint_type >
void	draw_joint (joint_type const &joint)
template<typename configuration_type >
void	draw_penetrations (configuration_type &configuration)

Function Documentation

template<typename body_type >

void OpenTissue::mbd::apply_impulse	(	body_type *	body,
		typename body_type::vector3_type const &	r,
		typename body_type::vector3_type const &	J
	)

Apply Impulse to body_type.

Parameters:

	body	The body where the impulse should be applied to.
	r	The arm from the center of mass of the body to the point of contact, where the impulse is applied.
	J	The impulse that should be applied.

template<typename real_type , typename vector3_type , typename matrix3x3_type >

matrix3x3_type OpenTissue::mbd::compute_collision_matrix	(	real_type const &	m_a,
		matrix3x3_type const &	I_a,
		vector3_type const &	r_a,
		real_type const &	m_b,
		matrix3x3_type const &	I_b,
		vector3_type const &	r_b
	)

Compute Collision Matrix. This method computes the collision matrix, K, which is part of the impulse-momemtum relation between two bodies in a single point collision.

K = (1/Ma + 1/Mb) Identity - ( star(ra) Ia^-1 star(ra) + star(rb) Ib^-1 star(rb))

Where star() is the cross product matrix and Identity is a diagonal matrix of ones.

The computations have been optimized to exploit symmetry and zero pattern's as much as possible. It is still possible to optimize further by exploiting common sub-terms in the computations.

Parameters:

	m_a	Inverse mass of object A.
	I_a	Inverse Intertia Tensor of object A.
	r_a	The arm from center of mas of object A to the point of contact.
	m_b	Inverse mass of object B.
	I_b	Inverse Intertia Tensor of object B.
	r_b	The arm from center of mas of object B to the point of contact.

Returns:: The collision matrix K.

template<typename indirect_body_iterator >

size_t OpenTissue::mbd::compute_contact_count	(	indirect_body_iterator	begin,
		indirect_body_iterator	end
	)

Compute Contact Count. This template function computes the number of contact points between a specified sequence of bodies. This is usefull for debugging or profiling information.

Example of usage:

std::cout << "|C| = " << mbd::compute_contact_count(configuration.body_begin(),configuration.body_end()) << std::endl;

template<typename indirect_body_iterator , typename matrix_type >

void OpenTissue::mbd::compute_contact_count_matrix	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		matrix_type &	C
	)

Compute Contact Count Matrix. This template function computes the number of contact points between pairs of bodies. Upon return the result is stored into a matrix.

This is usefull for debugging information. Example of usage:

matrix_type C; mbd::compute_contact_count_matrix(configuration.body_begin(),configuration.body_end(),C); std::cout << "C = " << C << ";" << std::endl;

template<typename indirect_body_iterator , typename vector_type >

void OpenTissue::mbd::compute_kinetic_energy_vector	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		vector_type &	energy
	)

Compute Kinetic Energy Vector. Retrieves the total kinetic energy of a sequence of bodies and stores these into a vector.

This template function is usefull for debugging. For instance to verify that kinetic energy is not increased during a simulation.

Example usage:

vector_type energy; mbd::compute_kinetic_energy_vector(configuration.body_begin(),configuration.body_end(),energy); std::cout << "E = " << energy << ";" << std:endl;

template<typename configuration_type , typename real_type2 >

void OpenTissue::mbd::compute_min_max_distance	(	configuration_type &	configuration,
		real_type2 &	min_value,
		real_type2 &	max_value
	)

template<typename indirect_body_iterator , typename vector_type , typename real_type >

void OpenTissue::mbd::compute_position_update	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		vector_type const &	s,
		vector_type const &	u,
		real_type const &	h,
		vector_type &	snew
	)

Position Update Method. This method implements a modified position update, ie.

$ s = s + t S u$

The modification lies in the ability to use finite rotatation updates. This allows an end user to model high-speed spinning objects to use finite rotation updates. Doing so will greatly improve upon the accuracy.

The drawback being that the finite update is much slower than the infinite update.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	s	Must have 7*n entries is the current position - probably rcm + quaternion
	u	Must have 6*n entries velocity - linear and angular
	h	Timestep size
	snew	Must be of same size as s - new position - we call with the same vector as s

template<typename group_type , typename vector_type , typename real_type >

void OpenTissue::mbd::compute_position_update	(	group_type const &	group,
		vector_type const &	s,
		vector_type const &	u,
		real_type const &	h,
		vector_type &	snew
	)

template<typename vector3_type >

vector3_type OpenTissue::mbd::compute_relative_contact_velocity	(	vector3_type const &	v_a,
		vector3_type const &	w_a,
		vector3_type const &	r_a,
		vector3_type const &	v_b,
		vector3_type const &	w_b,
		vector3_type const &	r_b
	)

Compute relative Contact Velocity.

Parameters:

	v_a	The linear velocity of the center of mass of object A.
	w_a	The angular velocity around the center of mass of object A.
	r_a	The arm from center of mas of object A to the point of contact.
	v_b	The linear velocity of the center of mass of object B.
	w_b	The angular velocity around the center of mass of object B.
	r_b	The arm from center of mas of object B to the point of contact.

Returns:: The relative contact velocity of the two bodies.

template<typename indirect_body_iterator , typename real_type >

void OpenTissue::mbd::compute_scripted_motions	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		real_type const &	time
	)

Compute Scripted Motion. This method will update the scripted motion of all scripted bodies in the body sequence. That is the state of each scripted body is updated by invoking the run method on the attached scripted motion.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	time	The time at which the scripted motion should be evaluated.

template<typename group_type , typename real_type >

void OpenTissue::mbd::compute_scripted_motions	(	group_type const &	group,
		real_type const &	time
	)

template<typename body_type >

void OpenTissue::mbd::draw_body	(	body_type const &	body,
		bool	wireframe
	)

template<typename configuration_type >

void OpenTissue::mbd::draw_contacts ( configuration_type & configuration )

template<typename joint_type >

void OpenTissue::mbd::draw_joint ( joint_type const & joint )

template<typename configuration_type >

void OpenTissue::mbd::draw_penetrations ( configuration_type & configuration )

template<typename group_type , typename vector_type >

void OpenTissue::mbd::get_cached_solution_vector	(	group_type const &	group,
		size_t const &	m,
		vector_type &	x
	)

Extract Cached Solution.

Further it is assumed that the vector library used provides a vector proxy function called subrange, which is capable of returning a vector range. (see for instance in Boost uBLAS for an example).

Parameters:

	group	The group corresponding to the A-matrix.
	m	The number of active constraints in the group (i.e. the number of rows in the Jacobian matrix).
	x	Upon return this vector holds the cached solution. Vector must have size m, where m is total number of jacobian rows.

template<typename indirect_body_iterator , typename vector_type >

void OpenTissue::mbd::get_external_force_vector	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		vector_type &	f_ext,
		bool	compute_velocity_forces
	)

Extract external Forces and Torques. Incl. velocity dependent terms acting on bodies.

The method implicitly assume that caller has restored position and velocities at the point in time where he/she wants to compute the external forces and torques.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	f_ext	Upon return this array holds the extracted values.
	compute_velocity_forces	Boolean flag indicating wheter velocity dependent forces should be added to the extracted vector. Default value is true meaning that velocity forces is by default added to the external force vector.

template<typename group_type , typename vector_type >

void OpenTissue::mbd::get_external_force_vector	(	group_type const &	group,
		vector_type &	f_ext,
		bool	compute_velocity_forces
	)

template<typename indirect_body_iterator , typename matrix_type >

void OpenTissue::mbd::get_inverse_mass_matrix	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		matrix_type &	invM
	)

Extract Generalized Inverse Mass Matrix.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	M	Upon return this arguement contains the generalized inverse mass matrix.

template<typename group_type , typename matrix_type >

void OpenTissue::mbd::get_inverse_mass_matrix	(	group_type const &	group,
		matrix_type &	invM
	)

template<typename group_type , typename matrix_type >

void OpenTissue::mbd::get_mass_matrix	(	group_type const &	group,
		matrix_type &	M
	)

template<typename indirect_body_iterator , typename matrix_type >

void OpenTissue::mbd::get_mass_matrix	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		matrix_type &	M
	)

Extract Generalized Mass Matrix.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	M	Upon return this arguement contains the generalized mass matrix.

template<typename group_type , typename real_type , typename matrix_type , typename vector_type , typename idx_vector_type >

void OpenTissue::mbd::get_ncp_formulation	(	group_type &	group,
		real_type const &	fps,
		matrix_type &	J,
		matrix_type &	invM,
		vector_type &	lo,
		vector_type &	hi,
		idx_vector_type &	pi,
		vector_type &	mu,
		vector_type &	gamma,
		vector_type &	b,
		bool const &	use_stabilization,
		bool const &	use_friction,
		bool const &	use_bounce,
		bool const &	use_erp
	)

template<typename group_type , typename vector_type >

void OpenTissue::mbd::get_position_vector	(	group_type const &	group,
		vector_type &	s
	)

template<typename indirect_body_iterator , typename vector_type >

void OpenTissue::mbd::get_position_vector	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		vector_type &	s
	)

Extract Generalized Position Vector. Note this call also affect the tag-member of all bodies in the group. Thus, in a parallel computation side-effects could occur if bodies are ``shared'' among different groups.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	s	Upon return this vector holds the extracted generalized position vector.

template<typename group_type , typename vector_type >

void OpenTissue::mbd::get_velocity_vector	(	group_type const &	group,
		vector_type &	u
	)

template<typename indirect_body_iterator , typename vector_type >

void OpenTissue::mbd::get_velocity_vector	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		vector_type &	u
	)

Extract Generalized Velocity Vector.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	u	Upon return this vector holds the extracted generalized velocity vector.

template<typename indirect_body_iterator >

bool OpenTissue::mbd::is_all_bodies_sleepy	(	indirect_body_iterator	begin,
		indirect_body_iterator	end
	)

template<typename group_type >

bool OpenTissue::mbd::is_all_bodies_sleepy ( group_type const & group )

template<typename matrix_type , typename vector_type , typename math_policy >

vector_type::value_type OpenTissue::mbd::merit	(	matrix_type const &	A,
		vector_type const &	x,
		vector_type const &	b,
		vector_type const &	lo,
		vector_type const &	hi,
		math_policy const &
	)

Compute merit function and use as a measure of convergence

y = A * x + b

H_i(x) = min(x_i - l_i, max(x_i - u_i, y_i)).

theta(x) = H(x)^T H(x)/2

template<typename group_type , typename vector_type >

void OpenTissue::mbd::set_cached_solution_vector	(	group_type &	group,
		size_t const &	m,
		vector_type &	x
	)

Set Cached Solution.

Further it is assumed that the vector library used provides a vector proxy function called subrange, which is capable of returning a vector range. (see for instance in Boost uBLAS for an example).

Parameters:

	group	The group corresponding to the A-matrix.
	m	The number of active constraints in the group (i.e. the number of rows in the Jacobian matrix).
	x	This vector holds a solution that should be cached. Vector must have size m, where m is total number of jacobian rows.

template<typename indirect_body_iterator , typename vector_type >

void OpenTissue::mbd::set_position_vector	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		vector_type const &	s
	)

Set positions and orientations of a sequence of bodies.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	s	This vector holds the extracted generalized position vector.

template<typename group_type , typename vector_type >

void OpenTissue::mbd::set_position_vector	(	group_type const &	group,
		vector_type &	s
	)

template<typename group_type , typename vector_type >

void OpenTissue::mbd::set_velocity_vector	(	group_type const &	group,
		vector_type &	u
	)

template<typename indirect_body_iterator , typename vector_type >

void OpenTissue::mbd::set_velocity_vector	(	indirect_body_iterator	begin,
		indirect_body_iterator	end,
		vector_type const &	u
	)

Set velocities and spins of a sequence of bodies.

Parameters:

	begin	An iterator to the first body in the sequence.
	end	An iterator to the one past the last body in the sequence.
	u	This vector holds the extracted generalized velocity vector.

template<typename simulator_type >

void OpenTissue::mbd::setup_default_geometry_dispatcher ( simulator_type & simulator ) [inline]

Setup Default Geometry Dispatcher. This function will initialize the collision matrix in the geometry dispatcher.

Parameters:

simulator

A reference to the simulator where the dispatcher belongs to.

template<typename matrix3x3_type >

void OpenTissue::mbd::update_inertia_tensor	(	matrix3x3_type const &	R,
		matrix3x3_type const &	B,
		matrix3x3_type &	W
	)

Inertia Update Method. Computes, W = R B R^T. This method have been optimized to avoid having to transpose the orientation matrix and exploit symmetry of the inertia tensor.

Note: Further optimization may be possible by exploiting common sub-terms.

Parameters:

	R	The orientation as a rotation matrix.
	B	An inertia tensor entity in body frame
	W	The inertia tensor entity in the corresponding world frame.

OpenTissue::mbd Namespace Reference

Namespaces

Classes

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Function Documentation