Namespace for contact detection algorithms. More...

Classes
class	Environment
	Static environment geometry for contact simulation. More...

class	MeshVertexTetrahedronDcd
	Discrete contact detection system for vertex-tetrahedron contacts between multiple tetrahedral meshes. More...

class	MultibodyMeshMixedCcdDcd
	Multibody triangle mesh continuous collision detection system. More...

struct	MultibodyTetrahedralMeshSystem
	Multibody Tetrahedral Mesh System. More...

Functions
template<math::linalg::mini::CMatrix TMatrixP, math::linalg::mini::CMatrix TMatrixNTB, math::linalg::mini::CMatrix TMatrixX1, math::linalg::mini::CMatrix TMatrixX2, math::linalg::mini::CMatrix TMatrixX3, math::linalg::mini::CMatrix TMatrixBary, math::linalg::mini::CMatrix TMatrixC>
PBAT_HOST_DEVICE void	TriangleEnvironmentConstraint (TMatrixP const &P, TMatrixNTB const &NTB, TMatrixX1 const &X1, TMatrixX2 const &X2, TMatrixX3 const &X3, TMatrixBary const &bary, TMatrixC &C)
	Computes the constraint \( C(x) = \begin{bmatrix} N & T & B \end{bmatrix}^T (\begin{bmatrix} x_i & x_j & x_k \end{bmatrix} \beta - P) \in \mathbb{R}^3 \).

template<math::linalg::mini::CMatrix TMatrixP, math::linalg::mini::CMatrix TMatrixNTB, math::linalg::mini::CMatrix TMatrixX1, math::linalg::mini::CMatrix TMatrixX2, math::linalg::mini::CMatrix TMatrixX3, math::linalg::mini::CMatrix TMatrixBary, math::linalg::mini::CMatrix TMatrixC, math::linalg::mini::CMatrix TMatrixGradCT>
PBAT_HOST_DEVICE void	TriangleEnvironmentConstraintAndGradient (TMatrixP const &P, TMatrixNTB const &NTB, TMatrixX1 const &X1, TMatrixX2 const &X2, TMatrixX3 const &X3, TMatrixBary const &bary, TMatrixC &C, TMatrixGradCT &gradCT)
	Computes constraint \( C(x) = \begin{bmatrix} N & T & B \end{bmatrix}^T (\begin{bmatrix} x_i & x_j & x_k \end{bmatrix} \beta - P) \in \mathbb{R}^3 \) and its gradient.

Detailed Description

Namespace for contact detection algorithms.

Function Documentation

◆ TriangleEnvironmentConstraint()

template<math::linalg::mini::CMatrix TMatrixP, math::linalg::mini::CMatrix TMatrixNTB, math::linalg::mini::CMatrix TMatrixX1, math::linalg::mini::CMatrix TMatrixX2, math::linalg::mini::CMatrix TMatrixX3, math::linalg::mini::CMatrix TMatrixBary, math::linalg::mini::CMatrix TMatrixC>

PBAT_HOST_DEVICE void pbat::sim::contact::TriangleEnvironmentConstraint	(	TMatrixP const &	P,
		TMatrixNTB const &	NTB,
		TMatrixX1 const &	X1,
		TMatrixX2 const &	X2,
		TMatrixX3 const &	X3,
		TMatrixBary const &	bary,
		TMatrixC &	C )

Computes the constraint \( C(x) = \begin{bmatrix} N & T & B \end{bmatrix}^T (\begin{bmatrix} x_i & x_j & x_k \end{bmatrix} \beta - P) \in \mathbb{R}^3 \).

where \( N, T, B \) are an orthonormal contact basis, \( P \) is its origin, \( x_i, x_j, x_k \) are triangle vertex positions in counter-clockwise order, and \( \beta \) are barycentric coordinates of the contact point on the triangle.

Template Parameters

TMatrixP	Matrix type for \( P \)
TMatrixNTB	Matrix type for \( \begin{bmatrix} N & T & B \end{bmatrix} \)
TMatrixX1	Matrix type for \( x_i \)
TMatrixX2	Matrix type for \( x_j \)
TMatrixX3	Matrix type for \( x_k \)
TMatrixBary	Matrix type for \( bary \)
TMatrixC	Matrix type for \( C \)

Parameters

P	`3 x 1` origin of the contact basis
NTB	`3 x 3` contact basis (normal, tangent, bitangent)
X1	`3 x 1` vertex position \( x_i \)
X2	`3 x 1` vertex position \( x_j \)
X3	`3 x 1` vertex position \( x_k \)
bary	`3 x 1` barycentric coordinates of the contact point on the triangle
C	`3 x 1` constraint (vector) value

◆ TriangleEnvironmentConstraintAndGradient()

template<math::linalg::mini::CMatrix TMatrixP, math::linalg::mini::CMatrix TMatrixNTB, math::linalg::mini::CMatrix TMatrixX1, math::linalg::mini::CMatrix TMatrixX2, math::linalg::mini::CMatrix TMatrixX3, math::linalg::mini::CMatrix TMatrixBary, math::linalg::mini::CMatrix TMatrixC, math::linalg::mini::CMatrix TMatrixGradCT>

PBAT_HOST_DEVICE void pbat::sim::contact::TriangleEnvironmentConstraintAndGradient	(	TMatrixP const &	P,
		TMatrixNTB const &	NTB,
		TMatrixX1 const &	X1,
		TMatrixX2 const &	X2,
		TMatrixX3 const &	X3,
		TMatrixBary const &	bary,
		TMatrixC &	C,
		TMatrixGradCT &	gradCT )

Computes constraint \( C(x) = \begin{bmatrix} N & T & B \end{bmatrix}^T (\begin{bmatrix} x_i & x_j & x_k \end{bmatrix} \beta - P) \in \mathbb{R}^3 \) and its gradient.