SurgSim::Collision::Representation Class Referenceabstract

The type of collision detection. More...

`#include <SurgSim/Collision/Representation.h>`

Inheritance diagram for SurgSim::Collision::Representation:

## Public Member Functions

| Representation (const std::string &name)
| Constructor. More...
virtual | ~Representation ()
| Destructor. More...
virtual int | getShapeType () const =0
| Get the shape type id. More...
void | setCollisionDetectionType (CollisionDetectionType type)
| Set the type of collision detection to use between this representation and other representations. More...
CollisionDetectionType | getCollisionDetectionType () const
| Get the type of collision detection used between this representation and other representations. More...
void | setSelfCollisionDetectionType (CollisionDetectionType type)
| Set the type of collision detection to use between this representation and itself. More...
CollisionDetectionType | getSelfCollisionDetectionType () const
| Get the type of collision detection used between this representation and itself. More...
virtual const std::shared_ptr< SurgSim::Math::Shape > | getShape () const =0
| Get the shape. More...
virtual std::shared_ptr< SurgSim::Math::Shape > | getPosedShape ()
| Get the shape, posed. More...
const Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > & | getPosedShapeMotion () const
SurgSim::DataStructures::BufferedValue< ContactMapType > & | getCollisions ()
| A map between collision representations and contacts. More...
void | addContact (const std::shared_ptr< Representation > &other, const std::shared_ptr< SurgSim::Collision::Contact > &contact)
| Add a contact with another representation. More...
bool | collidedWith (const std::shared_ptr< Representation > &other)
| Check whether this collision representation collided with another during the last update. More...
virtual void | update (const double &dt)
| Update the representation. More...
virtual void | updateShapeData ()
| Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined. More...
virtual void | updateDcdData ()
| Update the data (the shape) in preparation for a DCD contact calculation. More...
virtual void | updateCcdData (double timeOfImpact)
| Update the data (the motionShape) in preparation for a CCD contact calcul ation. More...
bool | ignore (const std::string &fullName)
| Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...
bool | ignore (const std::shared_ptr< Representation > &representation)
| Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow() More...
void | setIgnoring (const std::vector< std::string > &fullNames)
| Set the collision representations to ignore Collisions with these collision representation will not be detected. More...
bool | isIgnoring (const std::string &fullName) const
| Is the collision representation being ignored. More...
bool | isIgnoring (const std::shared_ptr< Representation > &representation) const
| Is the collision representation being ignored. More...
bool | allow (const std::string &fullName)
| Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...
bool | allow (const std::shared_ptr< Representation > &representation)
| Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again. More...
void | setAllowing (const std::vector< std::string > &fullNames)
| Set the only collision representations to allow collisions with Only Collisions with these collision representation will be detected. More...
bool | isAllowing (const std::string &fullName) const
| Is the collision representation being allowed. More...
bool | isAllowing (const std::shared_ptr< Representation > &representation) const
| Is the collision representation being allowed. More...
Math::Aabbd | getBoundingBox () const
Public Member Functions inherited from SurgSim::Framework::Representation
| Representation (const std::string &name)
| Constructor. More...
virtual void | setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
| Set the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d | getLocalPose () const
| Get the pose of the representation with respect to the Scene Element. More...
virtual SurgSim::Math::RigidTransform3d | getPose () const
| Get the pose of the representation in world coordinates. More...
Public Member Functions inherited from SurgSim::Framework::Component
| Component (const std::string &name)
| Constructor. More...
virtual | ~Component ()
| Destructor. More...
std::string | getName () const
| Gets component name. More...
std::string | getFullName () const
| Gets a string containing the name of the Component and (if it has one) its SceneElement. More...
void | setName (const std::string &name)
| Sets the name of component. More...
boost::uuids::uuid | getUuid () const
| Gets the id of the component. More...
bool | isInitialized () const
bool | initialize (const std::weak_ptr< Runtime > &runtime)
| Initialize this component, this needs to be called before wakeUp() can be called. More...
bool | isAwake () const
bool | wakeUp ()
| Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
void | retire ()
| Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...
void | setScene (std::weak_ptr< Scene > scene)
| Sets the scene. More...
std::shared_ptr< Scene > | getScene ()
| Gets the scene. More...
void | setSceneElement (std::weak_ptr< SceneElement > sceneElement)
| Sets the scene element. More...
std::shared_ptr< SceneElement > | getSceneElement ()
| Gets the scene element. More...
std::shared_ptr< const SceneElement > | getSceneElement () const
| Gets the scene element, constant version. More...
std::shared_ptr< Runtime > | getRuntime () const
| Get the runtime which contains this component. More...
virtual std::string | getClassName () const
| The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
std::shared_ptr< Component > | getSharedPtr ()
| Gets a shared pointer to this component. More...
bool | isActive () const
virtual void | setLocalActive (bool val)
| Set the component's active state. More...
bool | isLocalActive () const
Public Member Functions inherited from SurgSim::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
template<class T >
T | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
boost::any | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found. More...
template<class T >
bool | getValue (const std::string &name, T *value) const
| Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
void | setValue (const std::string &name, const boost::any &value)
| Sets a value of a property that has setter. More...
bool | isReadable (const std::string &name) const
| Check whether a property is readable. More...
bool | isWriteable (const std::string &name) const
| Check whether a property is writable. More...
void | setGetter (const std::string &name, GetterType func)
| Sets a getter for a given property. More...
void | setSetter (const std::string &name, SetterType func)
| Sets a setter for a given property. More...
void | setAccessors (const std::string &name, GetterType getter, SetterType setter)
| Sets the accessors getter and setter in one function. More...
void | removeAccessors (const std::string &name)
| Removes all the accessors (getter and setter) for a given property. More...
void | forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
| Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
| Sets the functions used to convert data from and to a YAML::Node. More...
void | setDecoder (const std::string &name, DecoderType decoder)
| Sets the functions used to convert data from a YAML::Node. More...
YAML::Node | encode () const
| Encode this Accessible to a YAML::Node. More...
void | decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
| Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
template<>
boost::any | getValue (const std::string &name) const

## Protected Member Functions

void | invalidatePosedShapeMotion ()
| Invalidate the cached posed shape motion. More...
std::vector< std::string > | getIgnoring () const
| Get the ignored collision representations. More...
std::vector< std::string > | getAllowing () const
| Get the only collision representations that this representation is allowed to collide with. More...
void | doRetire () override
| Interface to be implemented by derived classes Has a default implementation, does nothing. More...
void | setPosedShapeMotion (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &posedShape)
Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent > | getPoseComponent ()
| Get the PoseComponent for this component. More...
virtual std::shared_ptr< const PoseComponent > | getPoseComponent () const
| Get the PoseComponent for this component, constant access. More...

## Protected Attributes

std::shared_ptr< Framework::Logger > | m_logger

## Private Attributes

CollisionDetectionType | m_collisionDetectionType
| The type of collision detection. More...
CollisionDetectionType | m_selfCollisionDetectionType
| The type of self collision detection. More...
SurgSim::DataStructures::BufferedValue< ContactMapType > | m_collisions
| A map which associates a list of contacts with each collision representation. More...
boost::mutex | m_collisionsMutex
| Mutex to lock write access to m_collisions. More...
Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > | m_posedShapeMotion
| The shape transformed in space and defined through time, i.e. with 2 differents configurations. More...
boost::shared_mutex | m_posedShapeMotionMutex
| Mutex to lock write access to m_posedShapeMotion. More...
std::unordered_set< std::string > | m_ignoring
| Ignored collision representations. More...
std::unordered_set< std::string > | m_allowing
| Allowed collision representations. More...

## Additional Inherited Members

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> | GetterType
typedef std::function< void(boost::any)> | SetterType
typedef std::function< YAML::Node(void)> | EncoderType
typedef std::function< void(const YAML::Node *)> | DecoderType
Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType & | getFactory ()

## Detailed Description

The type of collision detection.

Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to global coordinate system transform, if the physics representation is a nullptr or a has gone out of scope ASSERT's will be triggered. Collision with other representations will be updated by CollisionPair::addContact() and be cleared every time DcdCollision::updatePair() makes a new CollisionPair.

## Constructor & Destructor Documentation

## Representation()

SurgSim::Collision::Representation::Representation | ( | const std::string & | name | ) |

explicit

Constructor.

Parameters

  name | Name of this collision representation

## ~Representation()

SurgSim::Collision::Representation::~Representation | ( |  | ) |

virtual

Destructor.

Reimplemented from SurgSim::Framework::Representation.

## Member Function Documentation

## addContact()

void SurgSim::Collision::Representation::addContact | ( | const std::shared_ptr< Representation > & | other,
|  | const std::shared_ptr< SurgSim::Collision::Contact > & | contact
| ) |  |

Add a contact with another representation.

Parameters

  other | The other collision representation
  contact | The contact to be added

Note
  This method is thread-safe

## allow() [1/2]

bool SurgSim::Collision::Representation::allow | ( | const std::string & | fullName | ) |

Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again.

Note
  When both the allow and ignore lists are empty calling allow may cause a change of behavior that might not be wanted (i.e. the representation will go from colliding with all others to just colliding with one other representation). This might be caused by trying to revert an "ignore" that has already been reversed.

Parameters

  fullName | The full name of the collision representation to allow

## allow() [2/2]

bool SurgSim::Collision::Representation::allow | ( | const std::shared_ptr< Representation > & | representation | ) |

Set a collision representation to allow Only collisions with "allowed" collision representation will be detected If the the representation is currently being "ignored" then it will be removed from that state and collisions will be allowed again.

Note
  When both the allow and ignore lists are empty calling allow may cause a change of behavior that might not be wanted (i.e. the representation will go from colliding with all others to just colliding with one other representation). This might be caused by trying to revert an "ignore" that has already been reversed.

Parameters

  representation | The collision representation to allow

## collidedWith()

bool SurgSim::Collision::Representation::collidedWith | ( | const std::shared_ptr< Representation > & | other | ) |

Check whether this collision representation collided with another during the last update.

Parameters

  other | other collision representation to check against

Returns
  true if there were contacts recorded, false otherwise

## doRetire()

void SurgSim::Collision::Representation::doRetire | ( |  | ) |

override protected virtual

Interface to be implemented by derived classes Has a default implementation, does nothing.

Reimplemented from SurgSim::Framework::Component.

## getAllowing()

std::vector< std::string > SurgSim::Collision::Representation::getAllowing | ( |  | ) | const

protected

Get the only collision representations that this representation is allowed to collide with.

Returns
  The full names of all the collision representations to allow

## getBoundingBox()

Math::Aabbd SurgSim::Collision::Representation::getBoundingBox | ( |  | ) | const

Returns
  the Bounding box for this object

## getCollisionDetectionType()

CollisionDetectionType SurgSim::Collision::Representation::getCollisionDetectionType | ( |  | ) | const

Get the type of collision detection used between this representation and other representations.

Returns
  The collision detection type

## getCollisions()

SurgSim::DataStructures::BufferedValue< ContactMapType > & SurgSim::Collision::Representation::getCollisions | ( |  | ) |

A map between collision representations and contacts.

For each collision representation, it gives the list of contacts registered against this instance.

Returns
  A map with collision representations as keys and lists of contacts as the associated value.

## getIgnoring()

std::vector< std::string > SurgSim::Collision::Representation::getIgnoring | ( |  | ) | const

protected

Get the ignored collision representations.

Returns
  The full names of all the ignored collision representations

## getPosedShape()

std::shared_ptr< Math::Shape > SurgSim::Collision::Representation::getPosedShape | ( |  | ) |

virtual

Get the shape, posed.

Returns
  The shape transformed by the pose of this representation

## getPosedShapeMotion()

const Math::PosedShapeMotion< std::shared_ptr< Math::Shape > > & SurgSim::Collision::Representation::getPosedShapeMotion | ( |  | ) | const

Returns
  the posed shape motion

## getSelfCollisionDetectionType()

CollisionDetectionType SurgSim::Collision::Representation::getSelfCollisionDetectionType | ( |  | ) | const

Get the type of collision detection used between this representation and itself.

Returns
  The collision detection type

## getShape()

virtual const std::shared_ptr<SurgSim::Math::Shape> SurgSim::Collision::Representation::getShape | ( |  | ) | const

pure virtual

Get the shape.

Returns
  The actual shape used for collision.

Implemented in SurgSim::Physics::DeformableCollisionRepresentation, SurgSim::Physics::RigidCollisionRepresentation, SurgSim::Particles::ParticlesCollisionRepresentation, and SurgSim::Collision::ShapeCollisionRepresentation.

## getShapeType()

virtual int SurgSim::Collision::Representation::getShapeType | ( |  | ) | const

pure virtual

Get the shape type id.

Returns
  The unique type of the shape, used to determine which calculation to use.

Implemented in SurgSim::Physics::DeformableCollisionRepresentation, SurgSim::Particles::ParticlesCollisionRepresentation, SurgSim::Physics::RigidCollisionRepresentation, and SurgSim::Collision::ShapeCollisionRepresentation.

## ignore() [1/2]

bool SurgSim::Collision::Representation::ignore | ( | const std::string & | fullName | ) |

Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow()

Parameters

  fullName | The full name of the collision representation to ignore

## ignore() [2/2]

bool SurgSim::Collision::Representation::ignore | ( | const std::shared_ptr< Representation > & | representation | ) |

Set a collision representation to ignore Collisions with this collision representation will not be detected This acts as the opposite of allow if the representation that is passed here was previously added via allow()

Parameters

  representation | The collision representation to ignore

## invalidatePosedShapeMotion()

void SurgSim::Collision::Representation::invalidatePosedShapeMotion | ( |  | ) |

protected

Invalidate the cached posed shape motion.

## isAllowing() [1/2]

bool SurgSim::Collision::Representation::isAllowing | ( | const std::string & | fullName | ) | const

Is the collision representation being allowed.

Parameters

  fullName | The full name of the collision representation to check return True if the collision representation is being allowed

## isAllowing() [2/2]

bool SurgSim::Collision::Representation::isAllowing | ( | const std::shared_ptr< Representation > & | representation | ) | const

Is the collision representation being allowed.

Parameters

  representation | The collision representation to check return True if the collision representation is being allowed

## isIgnoring() [1/2]

bool SurgSim::Collision::Representation::isIgnoring | ( | const std::string & | fullName | ) | const

Is the collision representation being ignored.

Parameters

  fullName | The full name of the collision representation to check return True if the collision representation is being ignored

## isIgnoring() [2/2]

bool SurgSim::Collision::Representation::isIgnoring | ( | const std::shared_ptr< Representation > & | representation | ) | const

Is the collision representation being ignored.

Parameters

  representation | The collision representation to check return True if the collision representation is being ignored

## setAllowing()

void SurgSim::Collision::Representation::setAllowing | ( | const std::vector< std::string > & | fullNames | ) |

Set the only collision representations to allow collisions with Only Collisions with these collision representation will be detected.

Note
  This method conflicts with ignore and setIgnoring. You can only set what representations to ignore or allow collisions with, not both.

Parameters

  fullNames | The collision representations (given by full name) to allow

## setCollisionDetectionType()

void SurgSim::Collision::Representation::setCollisionDetectionType | ( | CollisionDetectionType | type | ) |

Set the type of collision detection to use between this representation and other representations.

Parameters

  type | The collision detection type

## setIgnoring()

void SurgSim::Collision::Representation::setIgnoring | ( | const std::vector< std::string > & | fullNames | ) |

Set the collision representations to ignore Collisions with these collision representation will not be detected.

Note
  This method conflicts with setAllowing. You can only set what representations to ignore or allow collisions with, not both.

Parameters

  fullNames | The collision representations (given by full name) to ignore

## setPosedShapeMotion()

void SurgSim::Collision::Representation::setPosedShapeMotion | ( | const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> & | posedShape | ) |

protected

Parameters

  posedShape | the posed shape motion to be set

## setSelfCollisionDetectionType()

void SurgSim::Collision::Representation::setSelfCollisionDetectionType | ( | CollisionDetectionType | type | ) |

Set the type of collision detection to use between this representation and itself.

Parameters

  type | The collision detection type

## update()

void SurgSim::Collision::Representation::update | ( | const double & | dt | ) |

virtual

Update the representation.

Parameters

  dt | the time passed from the last update.

## updateCcdData()

void SurgSim::Collision::Representation::updateCcdData | ( | double | timeOfImpact | ) |

virtual

Update the data (the motionShape) in preparation for a CCD contact calcul ation.

Parameters

  timeOfImpact | the last time of impact, the representation is responsible for managing the time correctly

Reimplemented in SurgSim::Physics::RigidCollisionRepresentation, and SurgSim::Physics::DeformableCollisionRepresentation.

## updateDcdData()

void SurgSim::Collision::Representation::updateDcdData | ( |  | ) |

virtual

Update the data (the shape) in preparation for a DCD contact calculation.

Reimplemented in SurgSim::Physics::RigidCollisionRepresentation, and SurgSim::Physics::DeformableCollisionRepresentation.

## updateShapeData()

void SurgSim::Collision::Representation::updateShapeData | ( |  | ) |

virtual

Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined.

Reimplemented in SurgSim::Physics::DeformableCollisionRepresentation, SurgSim::Physics::RigidCollisionRepresentation, and SurgSim::Particles::ParticlesCollisionRepresentation.

## Member Data Documentation

## m_allowing

std::unordered_set<std::string> SurgSim::Collision::Representation::m_allowing

private

Allowed collision representations.

## m_collisionDetectionType

CollisionDetectionType SurgSim::Collision::Representation::m_collisionDetectionType

private

The type of collision detection.

## m_collisions

SurgSim::DataStructures::BufferedValue<ContactMapType> SurgSim::Collision::Representation::m_collisions

private

A map which associates a list of contacts with each collision representation.

Every contact added to this map follows the convention of pointing the contact normal toward this representation. And the first penetration point is on this representation.

## m_collisionsMutex

boost::mutex SurgSim::Collision::Representation::m_collisionsMutex

private

Mutex to lock write access to m_collisions.

## m_ignoring

std::unordered_set<std::string> SurgSim::Collision::Representation::m_ignoring

private

Ignored collision representations.

## m_logger

std::shared_ptr<Framework::Logger> SurgSim::Collision::Representation::m_logger

protected

## m_posedShapeMotion

Math::PosedShapeMotion<std::shared_ptr<Math::Shape> > SurgSim::Collision::Representation::m_posedShapeMotion

private

The shape transformed in space and defined through time, i.e. with 2 differents configurations.

## m_posedShapeMotionMutex

boost::shared_mutex SurgSim::Collision::Representation::m_posedShapeMotionMutex

mutable private

Mutex to lock write access to m_posedShapeMotion.

## m_selfCollisionDetectionType

CollisionDetectionType SurgSim::Collision::Representation::m_selfCollisionDetectionType

private

The type of self collision detection.

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

- SurgSim/Collision/Representation.h
- SurgSim/Collision/Representation.cpp