pbat::sim::contact::Environment< TScalar > Class Template Reference

Static environment geometry for contact simulation. More...

#include <Environment.h>

Public Types
using	ScalarType = TScalar
	Scalar type.
using	SdfType = pbat::geometry::sdf::Forest<ScalarType>

Public Member Functions
	Environment ()=default
	Construct a new Environment object.
	Environment (SdfType sdf, Eigen::Index nPrimitives=0)
	Construct a new Environment object.
void	SetSdf (SdfType sdf)
	Set the signed distance field representing the environment.
void	Reserve (Eigen::Index nPrimitives)
	Reserve space for contact primitives.
template<common::CIndex TIndex = Index>
void	DetectContactCandidates (MultibodyTetrahedralMeshSystem< TIndex, ScalarType > const &meshes)
Eigen::Index	NumContactCandidates () const
	Get the number of contact candidates.
bool	IsContactCandidate (Eigen::Index i) const
	Check if a primitive is a contact candidate.
auto	ContactCandidates () const
	Get the contact candidates.
void	Serialize (io::Archive &archive) const
	Serialize the environment to an archive.
void	Deserialize (io::Archive const &archive)
	Deserialize the environment from an archive.

Public Attributes
Eigen::Vector< bool, Eigen::Dynamic >	mIsCandidate
	|# primitives| whether each point is in contact
Eigen::Vector< Eigen::Index, Eigen::Dynamic >	mCandidates
	|# primitives| indices of active primitives in [0, nCandidates)
Eigen::Index	nCandidates
	Number of active primitives.
Eigen::Vector< ScalarType, Eigen::Dynamic >	mPhi
Eigen::Matrix< ScalarType, 3, Eigen::Dynamic >	mPoint
Eigen::Matrix< ScalarType, 3 *3, Eigen::Dynamic >	mBasis
pbat::geometry::sdf::Forest< ScalarType >	mSdf
	Signed distance field representing the environment.

Detailed Description

template<common::CFloatingPoint TScalar = Scalar>
class pbat::sim::contact::Environment< TScalar >

Static environment geometry for contact simulation.

Template Parameters

TScalar

Scalar type

Constructor & Destructor Documentation

Environment()

template<common::CFloatingPoint TScalar = Scalar>

pbat::sim::contact::Environment< TScalar >::Environment	(	SdfType	sdf,
		Eigen::Index	nPrimitives = 0 )

Construct a new Environment object.

Parameters

sdf	Signed distance field representing the environment
nPrimitives	Number of primitives to reserve space for

Member Function Documentation

ContactCandidates()

template<common::CFloatingPoint TScalar = Scalar>

auto pbat::sim::contact::Environment< TScalar >::ContactCandidates ( ) const

inline

Get the contact candidates.

Returns

|# candidates| x 1 indices of contact candidate primitives in [0, |# primitives|)

Deserialize()

template<common::CFloatingPoint TScalar = Scalar>

void pbat::sim::contact::Environment< TScalar >::Deserialize

(

io::Archive const &

archive

)

Deserialize the environment from an archive.

Parameters

archive

Archive to deserialize from

DetectContactCandidates()

template<common::CFloatingPoint TScalar = Scalar>

template<common::CIndex TIndex = Index>

void pbat::sim::contact::Environment< TScalar >::DetectContactCandidates

(

MultibodyTetrahedralMeshSystem< TIndex, ScalarType > const &

meshes

)

Returns

IsContactCandidate()

template<common::CFloatingPoint TScalar = Scalar>

bool pbat::sim::contact::Environment< TScalar >::IsContactCandidate ( Eigen::Index i ) const

inline

Check if a primitive is a contact candidate.

Parameters

i	Index of the primitive in [0, |# primitives|)

Returns

True if the primitive is a contact candidate

NumContactCandidates()

template<common::CFloatingPoint TScalar = Scalar>

Eigen::Index pbat::sim::contact::Environment< TScalar >::NumContactCandidates ( ) const

inline

Get the number of contact candidates.

Returns

The number of contact candidates

Reserve()

template<common::CFloatingPoint TScalar = Scalar>

void pbat::sim::contact::Environment< TScalar >::Reserve

(

Eigen::Index

nPrimitives

)

Reserve space for contact primitives.

Parameters

nPrimitives

Number of primitives to reserve space for

Serialize()

template<common::CFloatingPoint TScalar = Scalar>

void pbat::sim::contact::Environment< TScalar >::Serialize

(

io::Archive &

archive

)

const

Serialize the environment to an archive.

Parameters

archive

Archive to serialize to

SetSdf()

template<common::CFloatingPoint TScalar = Scalar>

void pbat::sim::contact::Environment< TScalar >::SetSdf

(

SdfType

sdf

)

Set the signed distance field representing the environment.

Parameters

sdf	Signed distance field representing the environment

Member Data Documentation

mBasis

template<common::CFloatingPoint TScalar = Scalar>

Eigen::Matrix<ScalarType, 3 * 3, Eigen::Dynamic> pbat::sim::contact::Environment< TScalar >::mBasis

3*3 x |# primitives| contact basis \( \begin{bmatrix} \mathbf{n} & < \mathbf{t} & \mathbf{b} \end{bmatrix} \) at each contact point (undefined if phi > 0), such that mBasis.col(i).reshaped<3,3>() is the basis for primitive i

mPhi

template<common::CFloatingPoint TScalar = Scalar>

Eigen::Vector<ScalarType, Eigen::Dynamic> pbat::sim::contact::Environment< TScalar >::mPhi

|# primitives| signed distance values at each contact point (negative inside, positive outside)

mPoint

template<common::CFloatingPoint TScalar = Scalar>

Eigen::Matrix<ScalarType, 3, Eigen::Dynamic> pbat::sim::contact::Environment< TScalar >::mPoint

3 x |# primitives| contact point on the surface of each primitive (undefined if phi > 0)

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

• C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/contact/Environment.h