CcdCollisionLoop.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013-2016, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_CCDCOLLISIONLOOP_H
17 #define SURGSIM_PHYSICS_CCDCOLLISIONLOOP_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Framework
25 {
26 class Logger;
27 }
28 
29 namespace Collision
30 {
31 class CollisionPair;
32 struct Contact;
33 }
34 namespace Physics
35 {
36 
37 class CcdCollision;
38 class ContactFiltering;
39 class UpdateCcdData;
40 class ContactConstraintGeneration;
41 class BuildMlcp;
42 class SolveMlcp;
43 class PushResults;
44 class PhysicsManager;
45 
47 {
48 public:
49 
51  explicit CcdCollisionLoop(bool copyState);
52 
55 
57 
58  std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt,
59  const std::shared_ptr<PhysicsManagerState>& state) override;
60 
66 
67 private:
70  std::unique_ptr<CcdCollision> m_ccdCollision;
71  std::unique_ptr<UpdateCcdData> m_updateCcdData;
72  std::unique_ptr<ContactFiltering> m_contactFilter;
73  std::unique_ptr<ContactConstraintGeneration> m_constraintGeneration;
74  std::unique_ptr<BuildMlcp> m_buildMlcp;
75  std::unique_ptr<SolveMlcp> m_solveMlcp;
76  std::unique_ptr<PushResults> m_pushResults;
78 
79  size_t m_maxIterations;
80 
85 
90  bool findEarliestContact(const std::vector<std::shared_ptr<Collision::CollisionPair>>& ccdPairs,
91  double* currentTimeOfImpact);
92 
97  void filterLaterContacts(std::vector<std::shared_ptr<Collision::CollisionPair>>* ccdPairs,
98  double epsilon,
99  double contactTime);
100 
104  void backupContacts(std::vector<std::shared_ptr<Collision::CollisionPair>>* ccdPairs,
105  std::vector<std::list<std::shared_ptr<Collision::Contact>>>* oldContacts);
106 
111  void restoreContacts(std::vector<std::shared_ptr<Collision::CollisionPair>>* ccdPairs,
112  std::vector<std::list<std::shared_ptr<Collision::Contact>>>* oldContacts);
113 
116  void printContacts(const std::vector<std::shared_ptr<Collision::CollisionPair>>& ccdPairs);
117 
118  std::shared_ptr<SurgSim::Framework::Logger> m_logger;
119 };
120 
121 }
122 }
123 
124 #endif
SurgSim::Physics::CcdCollisionLoop::CcdCollisionLoopTest_FilterContactsWithEpsilon_Test
friend class CcdCollisionLoopTest_FilterContactsWithEpsilon_Test
Definition: CcdCollisionLoop.h:64
SurgSim::Physics::CcdCollisionLoop::m_logger
std::shared_ptr< SurgSim::Framework::Logger > m_logger
Definition: CcdCollisionLoop.h:118
SurgSim::Physics::CcdCollisionLoop::restoreContacts
void restoreContacts(std::vector< std::shared_ptr< Collision::CollisionPair >> *ccdPairs, std::vector< std::list< std::shared_ptr< Collision::Contact >>> *oldContacts)
Adds all of the backed up contacts back into the current contacts.
Definition: CcdCollisionLoop.cpp:194
SurgSim::Physics::CcdCollisionLoop::m_solveMlcp
std::unique_ptr< SolveMlcp > m_solveMlcp
Definition: CcdCollisionLoop.h:75
SurgSim::Physics::CcdCollisionLoop::SURGSIM_CLASSNAME
SURGSIM_CLASSNAME(SurgSim::Physics::CcdCollisionLoop)
SurgSim::Physics::CcdCollisionLoop::m_updateCcdData
std::unique_ptr< UpdateCcdData > m_updateCcdData
Definition: CcdCollisionLoop.h:71
SurgSim::Physics::CcdCollisionLoop::m_buildMlcp
std::unique_ptr< BuildMlcp > m_buildMlcp
Definition: CcdCollisionLoop.h:74
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Physics::CcdCollisionLoop::printContacts
void printContacts(const std::vector< std::shared_ptr< Collision::CollisionPair >> &ccdPairs)
Logs all of the contacts.
Definition: CcdCollisionLoop.cpp:212
SurgSim::Physics::CcdCollisionLoop::findEarliestContact
bool findEarliestContact(const std::vector< std::shared_ptr< Collision::CollisionPair >> &ccdPairs, double *currentTimeOfImpact)
Takes all the contacts from ccdPairs, finds the first contact wrt contact time.
Definition: CcdCollisionLoop.cpp:139
SurgSim::Physics::CcdCollisionLoop::m_ccdCollision
std::unique_ptr< CcdCollision > m_ccdCollision
Definition: CcdCollisionLoop.h:70
ComputationGroup.h
SurgSim::Physics::CcdCollisionLoop::doUpdate
std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override this function to implement the computations specific behavior.
Definition: CcdCollisionLoop.cpp:56
SurgSim::Physics::CcdCollisionLoop::m_constraintGeneration
std::unique_ptr< ContactConstraintGeneration > m_constraintGeneration
Definition: CcdCollisionLoop.h:73
SurgSim::Physics::CcdCollisionLoop::CcdCollisionLoop
CcdCollisionLoop(bool copyState)
Constructor.
Definition: CcdCollisionLoop.cpp:36
SurgSim::Physics::CcdCollisionLoop::filterLaterContacts
void filterLaterContacts(std::vector< std::shared_ptr< Collision::CollisionPair >> *ccdPairs, double epsilon, double contactTime)
Removes all contacts with contact time greater than the first contact time + epsilon.
Definition: CcdCollisionLoop.cpp:169
SurgSim::Physics::CcdCollisionLoop::m_contactFilter
std::unique_ptr< ContactFiltering > m_contactFilter
Definition: CcdCollisionLoop.h:72
SurgSim::Physics::CcdCollisionLoop::m_maxIterations
size_t m_maxIterations
maximum number of iterations to run
Definition: CcdCollisionLoop.h:79
SurgSim::Physics::CcdCollisionLoop::backupContacts
void backupContacts(std::vector< std::shared_ptr< Collision::CollisionPair >> *ccdPairs, std::vector< std::list< std::shared_ptr< Collision::Contact >>> *oldContacts)
Backs up all current contacts into oldContacts and then clears the ccdPairs.
Definition: CcdCollisionLoop.cpp:183
SurgSim::Physics::CcdCollisionLoop::CcdCollisionLoopTest_FilterContacts_Test
friend class CcdCollisionLoopTest_FilterContacts_Test
Definition: CcdCollisionLoop.h:63
SurgSim::Physics::CcdCollisionLoop::m_pushResults
std::unique_ptr< PushResults > m_pushResults
Definition: CcdCollisionLoop.h:76
SurgSim::Physics::CcdCollisionLoop
Definition: CcdCollisionLoop.h:47
SurgSim::Physics::CcdCollisionLoop::~CcdCollisionLoop
~CcdCollisionLoop()
Destructor.
Definition: CcdCollisionLoop.cpp:51
SurgSim::Physics::Computation
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used.
Definition: Computation.h:33
SurgSim::Physics::CcdCollisionLoop::m_epsilonFactor
double m_epsilonFactor
epsilon as a fraction of dt, i.e.
Definition: CcdCollisionLoop.h:84