PositionBasedDynamics/Simulation/CollisionDetection.h at python_bindings · InteractiveComputerGraphics/PositionBasedDynamics · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
#ifndef _COLLISIONDETECTION_H
#define _COLLISIONDETECTION_H

#include "Common/Common.h"
#include "SimulationModel.h"
#include "AABB.h"

namespace PBD
{
	class CollisionDetection
	{
	public:
		static const unsigned int RigidBodyContactType;			// = 0;
		static const unsigned int ParticleContactType;			// = 1;
		static const unsigned int ParticleRigidBodyContactType; // = 2;
		static const unsigned int ParticleSolidContactType;		// = 3;

		typedef void (*ContactCallbackFunction)(const unsigned int contactType, const unsigned int bodyIndex1, const unsigned int bodyIndex2,
												const Vector3r &cp1, const Vector3r &cp2,
												const Vector3r &normal, const Real dist,
												const Real restitutionCoeff, const Real frictionCoeff, void *userData);

		typedef void (*SolidContactCallbackFunction)(const unsigned int contactType, const unsigned int bodyIndex1, const unsigned int bodyIndex2,
													 const unsigned int tetIndex, const Vector3r &bary,
													 const Vector3r &cp1, const Vector3r &cp2,
													 const Vector3r &normal, const Real dist,
													 const Real restitutionCoeff, const Real frictionCoeff, void *userData);

		struct CollisionObject
		{
			static const unsigned int RigidBodyCollisionObjectType;		// = 0;
			static const unsigned int TriangleModelCollisionObjectType; // = 1;
			static const unsigned int TetModelCollisionObjectType;		// = 2;

			AABB m_aabb;
			unsigned int m_bodyIndex;
			unsigned int m_bodyType;

			virtual ~CollisionObject() {}
			virtual int &getTypeId() const = 0;
		};

		struct CollisionObjectWithoutGeometry : public CollisionObject
		{
			static int TYPE_ID;
			virtual int &getTypeId() const { return TYPE_ID; }
			virtual ~CollisionObjectWithoutGeometry() {}
		};

	protected:
		Real m_tolerance;
		ContactCallbackFunction m_contactCB;
		SolidContactCallbackFunction m_solidContactCB;
		void *m_contactCBUserData;
		void *m_solidContactCBUserData;
		std::vector<CollisionObject *> m_collisionObjects;

		void updateAABB(const Vector3r &p, AABB &aabb);

	public:
		CollisionDetection();
		virtual ~CollisionDetection();

		void cleanup();

		Real getTolerance() const { return m_tolerance; }
		void setTolerance(Real val) { m_tolerance = val; }

		void addRigidBodyContact(const unsigned int rbIndex1, const unsigned int rbIndex2,
								 const Vector3r &cp1, const Vector3r &cp2,
								 const Vector3r &normal, const Real dist,
								 const Real restitutionCoeff, const Real frictionCoeff);

		void addParticleRigidBodyContact(const unsigned int particleIndex, const unsigned int rbIndex,
										 const Vector3r &cp1, const Vector3r &cp2,
										 const Vector3r &normal, const Real dist,
										 const Real restitutionCoeff, const Real frictionCoeff);

		void addParticleSolidContact(const unsigned int particleIndex, const unsigned int solidIndex,
									 const unsigned int tetIndex, const Vector3r &bary,
									 const Vector3r &cp1, const Vector3r &cp2,
									 const Vector3r &normal, const Real dist,
									 const Real restitutionCoeff, const Real frictionCoeff);

		virtual void addCollisionObject(const unsigned int bodyIndex, const unsigned int bodyType);

		std::vector<CollisionObject *> &getCollisionObjects() { return m_collisionObjects; }

		virtual void collisionDetection(SimulationModel &model) = 0;

		void setContactCallback(CollisionDetection::ContactCallbackFunction val, void *userData);
		void setSolidContactCallback(CollisionDetection::SolidContactCallbackFunction val, void *userData);
		void updateAABBs(SimulationModel &model);
		void updateAABB(SimulationModel &model, CollisionDetection::CollisionObject *co);
	};
}

#endif