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

#include <MeshVertexTetrahedronDcd.h>

Public Types
using	ScalarType = Scalar
	Scalar type used in the contact detection system.

using	IndexType = Index
	Index type used in the contact detection system.

Public Member Functions
PBAT_API	MeshVertexTetrahedronDcd (Eigen::Ref< Eigen::Matrix< ScalarType, kDims, Eigen::Dynamic > > X, Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > > T)
	Construct a new MeshVertexTetrahedronDcd object from input tetrahedron meshes.

PBAT_API void	UpdateActiveSet (Eigen::Ref< Eigen::Matrix< ScalarType, kDims, Eigen::Dynamic > const > const &X, Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > const > const &T)
	Update the active set of vertex-triangle contacts.

template<class FOnVertexTriangleContactPair>
void	ForEachActiveVertexTriangleContact (IndexType v, FOnVertexTriangleContactPair fOnVertexTriangleContactPair) const
	Visit the triangles in active vertex-triangle contacts.

PBAT_API MultibodyTetrahedralMeshSystem< IndexType > const &	MultibodySystem () const
	Get the multibody tetrahedral mesh system.

Static Public Attributes
static constexpr int	kMaxVertexTriangleContacts
	Maximum number of contacting triangles per vertex.

static constexpr int	kDims = 3
	Number of dimensions in the contact detection system.

Protected Member Functions
template<class TDerivedX>
void	ComputeTriangleAabbs (Eigen::DenseBase< TDerivedX > const &X)
	Compute axis-aligned bounding boxes for triangles for DCD.

template<class TDerivedX, class TDerivedT>
void	ComputeTetrahedronMeshAabbs (IndexType o, Eigen::DenseBase< TDerivedX > const &X, Eigen::DenseBase< TDerivedT > const &T)
	Computes AABBs for tetrahedra from mesh vertex positions.

PBAT_API void	ComputeBodyAabbs ()
	Computes body AABBs from mesh vertex BVHs.

PBAT_API void	UpdateMeshTriangleBvhs ()
	Recompute mesh triangle BVH bounding boxes.

PBAT_API void	UpdateMeshTetrahedronHashGrid (IndexType bodyIndex)
	Recompute mesh tetrahedron hash grid for a specific body.

PBAT_API void	RecomputeBodiesBvh ()
	Recompute bodies BVH tree and internal node bounding boxes.

template<class FOnBodyPair>
void	ForEachBodyPair (FOnBodyPair &&fOnBodyPair) const
	Compute and visit all contacting body pairs.

template<class TDerivedX, class TDerivedT>
void	MarkPenetratingVertices (IndexType ov, IndexType ot, Eigen::DenseBase< TDerivedX > const &X, Eigen::DenseBase< TDerivedT > const &T)
	Register all collision vertices of body `ov` that penetrate into body `ot`

template<class TDerivedX>
void	FindNearestTrianglesToPenetratingVertices (IndexType ov, IndexType of, Eigen::DenseBase< TDerivedX > const &X)
	Find the nearest triangles on the triangle mesh `of` to penetrating vertices of body `ov`

Detailed Description

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

Uses an AABB tree hierarchy for the mesh vertices and an AABB tree hierarchy for the mesh triangles, as well as a spatial hash grid for the tetrahedra.

For each vertex, stores up to kMaxVertexTriangleContacts contacting triangles.

Constructor & Destructor Documentation

◆ MeshVertexTetrahedronDcd()

pbat::sim::contact::MeshVertexTetrahedronDcd::MeshVertexTetrahedronDcd	(	Eigen::Ref< Eigen::Matrix< ScalarType, kDims, Eigen::Dynamic > >	X,
		Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > >	T )

Construct a new MeshVertexTetrahedronDcd object from input tetrahedron meshes.

Template Parameters

TDerivedX Eigen type of the input vertex positions

Parameters

X	`kDims x \|# vertices\|` matrix of vertex positions
T	`4 x \|# tetrahedra\|` tetrahedron array

Member Function Documentation

◆ ComputeBodyAabbs()

void pbat::sim::contact::MeshVertexTetrahedronDcd::ComputeBodyAabbs ( )

protected

Computes body AABBs from mesh vertex BVHs.

Precondition: (Vertex) mesh BVHs must be up-to-date before calling this function, i.e. via a call to UpdateMeshVertexBvhs

◆ ComputeTetrahedronMeshAabbs()

template<class TDerivedX, class TDerivedT>

void pbat::sim::contact::MeshVertexTetrahedronDcd::ComputeTetrahedronMeshAabbs	(	IndexType	o,
		Eigen::DenseBase< TDerivedX > const &	X,
		Eigen::DenseBase< TDerivedT > const &	T )

inlineprotected

Computes AABBs for tetrahedra from mesh vertex positions.

Template Parameters

TDerivedX	Eigen type of vertex positions
TDerivedT	Eigen type of tetrahedron mesh elements/connectivity

Parameters

o	Index of the body to compute tetrahedron AABBs for
X	`kDims x \|# vertices\|` matrix of vertex positions
T	`4 x \|# tetrahedra\|` tetrahedron mesh elements/connectivity

◆ ComputeTriangleAabbs()

template<class TDerivedX>

void pbat::sim::contact::MeshVertexTetrahedronDcd::ComputeTriangleAabbs ( Eigen::DenseBase< TDerivedX > const & X )

inlineprotected

Compute axis-aligned bounding boxes for triangles for DCD.

Template Parameters

TDerivedX Eigen type of vertex positions

Parameters

X	`kDims x \|# vertices\|` matrix of vertex positions

◆ FindNearestTrianglesToPenetratingVertices()

template<class TDerivedX>

void pbat::sim::contact::MeshVertexTetrahedronDcd::FindNearestTrianglesToPenetratingVertices	(	IndexType	ov,
		IndexType	of,
		Eigen::DenseBase< TDerivedX > const &	X )

inlineprotected

Find the nearest triangles on the triangle mesh of to penetrating vertices of body ov

Template Parameters

TDerivedX Eigen type of vertex positions

Parameters

ov	Index of the body whose collision vertices penetrate body `of`
of	Index of the body penetrated by body `ov`
X	`kDims x \|# vertices\|` matrix of vertex positions

◆ ForEachActiveVertexTriangleContact()

template<class FOnVertexTriangleContactPair>

void pbat::sim::contact::MeshVertexTetrahedronDcd::ForEachActiveVertexTriangleContact	(	IndexType	v,
		FOnVertexTriangleContactPair	fOnVertexTriangleContactPair ) const

inline

Visit the triangles in active vertex-triangle contacts.

Template Parameters

FOnVertexTriangleContactPair Callable type with signature void( IndexType f, IndexType k) where f is the index of the triangle and 0 <= k < kMaxVertexTriangleContacts is the index of the contact

Parameters

v	Index of the vertex whose active triangle contacts to visit
fOnVertexTriangleContactPair	Function to call for each vertex-triangle contact pair

◆ ForEachBodyPair()

template<class FOnBodyPair>

void pbat::sim::contact::MeshVertexTetrahedronDcd::ForEachBodyPair ( FOnBodyPair && fOnBodyPair ) const

inlineprotected

Compute and visit all contacting body pairs.

Template Parameters

FOnBodyPair Callable type with signature void(IndexType oi, IndexType oj)

Parameters

fOnBodyPair Function to call for each body pair

◆ MarkPenetratingVertices()

template<class TDerivedX, class TDerivedT>

void pbat::sim::contact::MeshVertexTetrahedronDcd::MarkPenetratingVertices	(	IndexType	ov,
		IndexType	ot,
		Eigen::DenseBase< TDerivedX > const &	X,
		Eigen::DenseBase< TDerivedT > const &	T )

inlineprotected

Register all collision vertices of body ov that penetrate into body ot

Template Parameters

TDerivedX	Eigen type of vertex positions
TDerivedT	Eigen type of tetrahedron mesh elements/connectivity

Parameters

ov	Index of the body whose collision vertices to check against body `ot`
ot	Index of the body penetrated by body `ov`
X	`kDims x \|# vertices\|` matrix of vertex positions
T	`4 x \|# tetrahedra\|` tetrahedron mesh elements/connectivity

◆ UpdateActiveSet()

void pbat::sim::contact::MeshVertexTetrahedronDcd::UpdateActiveSet	(	Eigen::Ref< Eigen::Matrix< ScalarType, kDims, Eigen::Dynamic > const > const &	X,
		Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > const > const &	T )

Update the active set of vertex-triangle contacts.

Template Parameters

TDerivedX Eigen type of vertex positions

Parameters

X	`kDims x \|# vertices\|` matrix of vertex positions
T	`4 x \|# tetrahedra\|` tetrahedron array

◆ UpdateMeshTetrahedronHashGrid()

void pbat::sim::contact::MeshVertexTetrahedronDcd::UpdateMeshTetrahedronHashGrid ( IndexType bodyIndex )

protected

Recompute mesh tetrahedron hash grid for a specific body.

Parameters

bodyIndex Index of the body to update the tetrahedron hash grid for

Member Data Documentation

◆ kMaxVertexTriangleContacts

int pbat::sim::contact::MeshVertexTetrahedronDcd::kMaxVertexTriangleContacts

staticconstexpr

Initial value:

=

8

Maximum number of contacting triangles per vertex.

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

C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/contact/MeshVertexTetrahedronDcd.h
C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/contact/MeshVertexTetrahedronDcd.cpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MeshVertexTetrahedronDcd()

Member Function Documentation

◆ ComputeBodyAabbs()

◆ ComputeTetrahedronMeshAabbs()

◆ ComputeTriangleAabbs()

◆ FindNearestTrianglesToPenetratingVertices()

◆ ForEachActiveVertexTriangleContact()

◆ ForEachBodyPair()

◆ MarkPenetratingVertices()

◆ UpdateActiveSet()

◆ UpdateMeshTetrahedronHashGrid()

Member Data Documentation

◆ kMaxVertexTriangleContacts