#include <CollisionBox.h>

Inheritance diagram for CollisionBox< T >:

Collaboration diagram for CollisionBox< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionBox (const T &mu, const T &restitution, const T &depth, const T &width, const T &height, const Vec3< T > &position, const Mat3< T > &ori)

virtual	~CollisionBox ()

virtual bool	ContactDetection (const Vec3< T > &cp_pos, T &penetration, Mat3< T > &cp_frame)

Public Member Functions inherited from Collision< T >
	Collision (const T &mu, const T &resti)

virtual	~Collision ()

const T &	getFrictionCoeff ()

const T &	getRestitutionCoeff ()

Private Attributes
T	_size [3]

Vec3< T >	_position

Mat3< T >	_orientation

Additional Inherited Members
Protected Attributes inherited from Collision< T >
T	_mu

T	_restitution_coeff

Detailed Description

template<typename T>
class CollisionBox< T >

Class to represent box collision

Definition at line 17 of file CollisionBox.h.

Constructor & Destructor Documentation

template<typename T >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionBox< T >::CollisionBox	(	const T &	mu,
		const T &	restitution,
		const T &	depth,
		const T &	width,
		const T &	height,
		const Vec3< T > &	position,
		const Mat3< T > &	ori
	)

inline

Construct a new collision box

Parameters

mu	: coefficient of friction
restitution	: rebounding ratio (v+/v-)
depth	: depth of the box
width	: width of the box
height	: height of the box
position	: position of the box w.r.t the global frame
ori	: orientation of the box w.r.t the global frame

Definition at line 31 of file CollisionBox.h.

References CollisionBox< T >::_size.

       : Collision<T>(mu, restitution), _position(position), _orientation(ori) {
     _size[0] = depth;
     _size[1] = width;
     _size[2] = height;
   }

template<typename T >

virtual CollisionBox< T >::~CollisionBox ( )

inlinevirtual

Definition at line 40 of file CollisionBox.h.

References CollisionBox< T >::ContactDetection().

40 {}

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Member Function Documentation

template<typename T >

bool CollisionBox< T >::ContactDetection	(	const Vec3< T > &	cp_pos,
		T &	penetration,
		Mat3< T > &	cp_frame
	)

virtual

check whether the contact happens or not cp_frame let you know which direction is normal (z) and which directions are x and y. The frame is basically contact coordinate w.r.t global.

Implements Collision< T >.

Definition at line 10 of file CollisionBox.cpp.

                                                           {
   Vec3<T> center2cp_local = _orientation.transpose() * (cp_pos - _position);
 
   bool inside_box(true);
   T err[3] = {0};
   for (size_t i(0); i < 3; ++i) {
     // Outside to the positive direction
     if (center2cp_local[i] > _size[i] / 2.) {
       inside_box = false;
     }
     // Outside to the negative direction
     else if (center2cp_local[i] < -_size[i] / 2.) {
       inside_box = false;
     }
     // Distance from surface
     else {
       err[i] = _size[i] / 2. - std::abs(center2cp_local[i]);
     }
   }
 
   if (inside_box) {
     if (err[2] < std::min(err[0], err[1])) {  // Contact on Z surface
       if (center2cp_local[2] > 0.) {
         cp_frame = _orientation;
       } else {
         cp_frame = -_orientation;
       }
       penetration = -err[2];
     } else if (err[1] < std::min(err[0], err[2])) {  // Contact on Y surface
       if (center2cp_local[1] > 0.) {
         // X -->X
         cp_frame.template block<3, 1>(0, 0) =
             _orientation.template block<3, 1>(0, 0);
         // -Z --> Y
         cp_frame.template block<3, 1>(0, 1) =
             -_orientation.template block<3, 1>(0, 2);
         // Y --> Z
         cp_frame.template block<3, 1>(0, 2) =
             _orientation.template block<3, 1>(0, 1);
       } else {
         // X --> X
         cp_frame.template block<3, 1>(0, 0) =
             _orientation.template block<3, 1>(0, 0);
         // Z --> Y
         cp_frame.template block<3, 1>(0, 1) =
             _orientation.template block<3, 1>(0, 2);
         // -Y --> Z
         cp_frame.template block<3, 1>(0, 2) =
             -_orientation.template block<3, 1>(0, 1);
       }
       penetration = -err[1];
     } else {  // contact on X surface
       if (center2cp_local[0] > 0.) {
         // X -->X
         cp_frame.template block<3, 1>(0, 0) =
             _orientation.template block<3, 1>(0, 1);
         // -Z --> Y
         cp_frame.template block<3, 1>(0, 1) =
             -_orientation.template block<3, 1>(0, 2);
         // Y --> Z
         cp_frame.template block<3, 1>(0, 2) =
             _orientation.template block<3, 1>(0, 0);
       } else {
         // X -->X
         cp_frame.template block<3, 1>(0, 0) =
             _orientation.template block<3, 1>(0, 0);
         // -Z --> Y
         cp_frame.template block<3, 1>(0, 1) =
             _orientation.template block<3, 1>(0, 1);
         // Y --> Z
         cp_frame.template block<3, 1>(0, 2) =
             -_orientation.template block<3, 1>(0, 0);
       }
       penetration = -err[0];
     }
     return true;
   }
   return false;
 }

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Member Data Documentation

template<typename T >

Mat3<T> CollisionBox< T >::_orientation

private

Definition at line 48 of file CollisionBox.h.

template<typename T >

Vec3<T> CollisionBox< T >::_position

private

Definition at line 47 of file CollisionBox.h.

template<typename T >

T CollisionBox< T >::_size[3]

private

Definition at line 45 of file CollisionBox.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename T> class CollisionBox< T >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class CollisionBox< T >