#include <CollisionMesh.h>

Inheritance diagram for CollisionMesh< T >:

Collaboration diagram for CollisionMesh< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionMesh (const T &mu, const T &restitution, const T &grid, const Vec3< T > &left_corner_loc, const DMat< T > &height_map)

virtual	~CollisionMesh ()

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 >	_left_corner_loc

DMat< T >	_height_map

T	_grid

T	_x_max

T	_y_max

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

T	_restitution_coeff

Detailed Description

template<typename T>
class CollisionMesh< T >

Class to represent box collision

Definition at line 17 of file CollisionMesh.h.

Constructor & Destructor Documentation

template<typename T >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionMesh< T >::CollisionMesh	(	const T &	mu,
		const T &	restitution,
		const T &	grid,
		const Vec3< T > &	left_corner_loc,
		const DMat< T > &	height_map
	)

inline

Construct a new collision Mesh

Parameters

mu	: coefficient of friction
restitution	: rebounding ratio (v+/v-)
grid	: grid size (meter) of the given height map
left_corner_loc	: global location of left bottom edge of the height map
height_map	: Height map of mesh

Definition at line 30 of file CollisionMesh.h.

References CollisionMesh< T >::_grid, CollisionMesh< T >::_height_map, CollisionMesh< T >::_x_max, and CollisionMesh< T >::_y_max.

       : Collision<T>(mu, restitution),
         _left_corner_loc(left_corner_loc),
         _height_map(height_map),
         _grid(grid) {
     _x_max = (_height_map.rows() - 1) * _grid;
     _y_max = (_height_map.cols() - 1) * _grid;
   }

template<typename T >

virtual CollisionMesh< T >::~CollisionMesh ( )

inlinevirtual

Definition at line 40 of file CollisionMesh.h.

References CollisionMesh< T >::ContactDetection().

40 {}

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Member Function Documentation

template<typename T >

bool CollisionMesh< 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 9 of file CollisionMesh.cpp.

                                                            {
   // Contact detection
   Vec3<T> cp_pos_in_height_map = cp_pos - _left_corner_loc;
   if ((0 < cp_pos_in_height_map[0]) && (cp_pos_in_height_map[0] < _x_max)) {
     if ((0 < cp_pos_in_height_map[1]) && (cp_pos_in_height_map[1] < _y_max)) {
       int x_idx = floor(cp_pos_in_height_map[0] / _grid);
       int y_idx = floor(cp_pos_in_height_map[1] / _grid);
 
       Vec3<T> vec1;
       vec1[0] = _grid;
       vec1[1] = _grid;
       vec1[2] = _height_map(x_idx + 1, y_idx + 1) - _height_map(x_idx, y_idx);
 
       Vec3<T> vec2;
       vec2[0] = _grid;
       vec2[1] = -_grid;
       vec2[2] = _height_map(x_idx + 1, y_idx) - _height_map(x_idx, y_idx + 1);
 
       vec1.normalize();
       vec2.normalize();
 
       Vec3<T> normal = vec2.cross(vec1);
       // vec2 is x axis
       Vec3<T> y_axis = normal.cross(vec2);
 
       cp_frame.template block<3, 1>(0, 0) = vec2;
       cp_frame.template block<3, 1>(0, 1) = y_axis;
       cp_frame.template block<3, 1>(0, 2) = normal;
 
       // Vector pointing middle of four points
       T height_ave = 0.25 * _height_map(x_idx, y_idx) +
                      0.25 * _height_map(x_idx, y_idx + 1) +
                      0.25 * _height_map(x_idx + 1, y_idx) +
                      0.25 * _height_map(x_idx + 1, y_idx + 1);
 
       Vec3<T> middle_pt;
       middle_pt[0] = _grid * x_idx + 0.5 * _grid;
       middle_pt[1] = _grid * y_idx + 0.5 * _grid;
       middle_pt[2] = height_ave;
 
       Vec3<T> local_diff =
           cp_frame.transpose() * (cp_pos_in_height_map - middle_pt);
 
       if (local_diff[2] < 0.) {
         penetration = local_diff[2];
         return true;
       }
     }
   }
 
   return false;
 }

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Member Data Documentation

template<typename T >

T CollisionMesh< T >::_grid

private

Definition at line 50 of file CollisionMesh.h.

template<typename T >

DMat<T> CollisionMesh< T >::_height_map

private

Definition at line 48 of file CollisionMesh.h.

template<typename T >

Vec3<T> CollisionMesh< T >::_left_corner_loc

private

Definition at line 47 of file CollisionMesh.h.

template<typename T >

T CollisionMesh< T >::_size[3]

private

Definition at line 45 of file CollisionMesh.h.

template<typename T >

T CollisionMesh< T >::_x_max

private

Definition at line 51 of file CollisionMesh.h.

template<typename T >

T CollisionMesh< T >::_y_max

private

Definition at line 52 of file CollisionMesh.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 CollisionMesh< T >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class CollisionMesh< T >