The ContactStrategy is a common interface for different contact strategies. More...

#include <ContactStrategy.hpp>

Inherited by BallBallStrategy, ContactStrategyDMS< T >, ContactStrategyGeometry< A, B >, ODEContactStrategy, and BtContactStrategy.

Public Types
typedef rw::core::Ptr< ContactStrategy >	Ptr
	smart pointer type to this class

Public Types inherited from ProximityStrategy
typedef rw::core::Ptr< ProximityStrategy >	Ptr
	smart pointer type to this class

Public Member Functions
	ContactStrategy ()
	Create new contact strategy.

virtual	~ContactStrategy ()
	Destruct contact strategy.

virtual bool	match (rw::core::Ptr< const rw::geometry::GeometryData > geoA, rw::core::Ptr< const rw::geometry::GeometryData > geoB)=0
	Test is this strategy can be used for the given geometries. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb) const
	Check if there is contact between two contact models. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data) const
	Check if there is contact between two contact models using additional data. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data, ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const =0
	Check if there is contact between two contact models using additional data and tracking of contacts. More...

virtual std::vector< Contact >	updateContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data, ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const =0
	Update known contacts between two contact models. More...

virtual std::string	getName ()=0
	Get the name of the strategy as a string. More...

virtual rw::proximity::ProximityModel::Ptr	createModel ()=0
	creates an empty ProximityModel More...

virtual void	destroyModel (rw::proximity::ProximityModel *model)=0
	deallocates the memory used for model More...

virtual bool	addGeometry (rw::proximity::ProximityModel *model, const rw::geometry::Geometry &geom)=0

virtual bool	addGeometry (rw::proximity::ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)=0

virtual bool	removeGeometry (rw::proximity::ProximityModel *model, const std::string &geomId)=0
	removes a geometry from a specific proximity model More...

virtual std::vector< std::string >	getGeometryIDs (rw::proximity::ProximityModel *model)=0
	the list of all geometry ids that are associated to the proximity model model is returned More...

virtual void	clear ()=0
	Clears any stored model information. More...

virtual rw::core::PropertyMap &	getPropertyMap ()
	Get the properties used by the contact strategy. More...

virtual const rw::core::PropertyMap &	getPropertyMap () const
	Get the properties used by the contact strategy. More...

virtual void	setPropertyMap (const rw::core::PropertyMap &map)
	Set which properties the contact strategy should use. More...

Public Member Functions inherited from ProximityStrategy
virtual	~ProximityStrategy ()
	Destructor.

virtual bool	addModel (rw::core::Ptr< rw::models::Object > object)
	Adds a Proximity model of a frame to this strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, const rw::geometry::Geometry &faces)
	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::geometry::Geometry > faces, bool forceCopy=false)
	Adds a Proximity model to a frame. More...

virtual bool	hasModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Tells whether the frame has a proximity model in the strategy. More...

virtual void	clearFrame (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Clear (remove all) model information for frame frame.

virtual void	clearFrames ()
	Clear (remove all) model information for all frames.

ProximityModel::Ptr	getModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...

virtual std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries (rw::proximity::ProximityModel *model)=0
	the list of all geometry that are associated to the proximity model model is returned More...

	DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std

void	useThreads (int threads)
	setNumber of threads the strategy may use More...

Protected Attributes
rw::core::PropertyMap	_propertyMap
	Properties for strategy.

Protected Attributes inherited from ProximityStrategy
size_t	_threads
	the number of threads the strategy may use

Additional Inherited Members
Protected Member Functions inherited from ProximityStrategy
	ProximityStrategy ()
	Creates object.

Detailed Description

The ContactStrategy is a common interface for different contact strategies.

Each contact strategy implements its own contact models, and uses these models to find contacts.

Member Function Documentation

◆ addGeometry() [1/2]

virtual bool addGeometry	(	rw::proximity::ProximityModel *	model,
		const rw::geometry::Geometry &	geom
	)

pure virtual

rw::proximity::ProximityStrategy::addGeometry(rw::proximity::ProximityModel*,const rw::geometry::Geometry&)

Implements ProximityStrategy.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, and BallBallStrategy.

◆ addGeometry() [2/2]

virtual bool addGeometry	(	rw::proximity::ProximityModel *	model,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		bool	forceCopy = `false`
	)

pure virtual

rw::proximity::ProximityStrategy::addGeometry(rw::proximity::ProximityModel*,rw::core::Ptr<rw::geometry::Geometry>,bool)

Implements ProximityStrategy.

Implemented in BtContactStrategy, ODEContactStrategy, ContactStrategyDMS< T >, and BallBallStrategy.

◆ clear()

virtual void clear ( )

pure virtual

Clears any stored model information.

Implements ProximityStrategy.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, and BallBallStrategy.

◆ createModel()

virtual rw::proximity::ProximityModel::Ptr createModel ( )

pure virtual

creates an empty ProximityModel

Implements ProximityStrategy.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, and BallBallStrategy.

◆ destroyModel()

virtual void destroyModel ( rw::proximity::ProximityModel * model )

pure virtual

deallocates the memory used for model

Parameters

model

Implements ProximityStrategy.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, and BallBallStrategy.

◆ findContacts() [1/3]

virtual std::vector<Contact> findContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb
	)		const

virtual

Check if there is contact between two contact models.

Parameters

a	[in] model a.
wTa	[in] transform of model a.
b	[in] model b.
wTb	[in] transform of model b.

Returns: a list of contacts.

◆ findContacts() [2/3]

virtual std::vector<Contact> findContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		ContactStrategyData &	data
	)		const

virtual

Check if there is contact between two contact models using additional data.

Use of this function is encouraged if changes between consecutive calls are expected to be small. This will in some cases allow the detection algorithm to do certain speed-ups.

Parameters

a	[in] model a.
wTa	[in] transform of model a.
b	[in] model b.
wTb	[in] transform of model b.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.

Returns: a list of contacts.

◆ findContacts() [3/3]

virtual std::vector<Contact> findContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		ContactStrategyData &	data,
		ContactStrategyTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)		const

pure virtual

Check if there is contact between two contact models using additional data and tracking of contacts.

Use of this function is encouraged if changes between consecutive calls are expected to be small. This will in some cases allow the detection algorithm to do certain speed-ups.

Parameters

a	[in] model a.
wTa	[in] transform of model a.
b	[in] model b.
wTb	[in] transform of model b.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] meta-data for previously found contacts.
log	[in/out] (optional) store detailed logging information.

Returns: a list of contacts.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyDMS< T >, and BallBallStrategy.

◆ getGeometryIDs()

virtual std::vector<std::string> getGeometryIDs ( rw::proximity::ProximityModel * model )

pure virtual

the list of all geometry ids that are associated to the proximity model model is returned

Parameters

model [in] the model containing the geometries

Returns: all geometry ids associated to the proximity model

Implements ProximityStrategy.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, and BallBallStrategy.

◆ getName()

virtual std::string getName ( )

pure virtual

Get the name of the strategy as a string.

Returns: name of the strategy.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyDMS< T >, and BallBallStrategy.

◆ getPropertyMap() [1/2]

virtual rw::core::PropertyMap& getPropertyMap ( )

virtual

Get the properties used by the contact strategy.

Returns: reference to the property map.

◆ getPropertyMap() [2/2]

virtual const rw::core::PropertyMap& getPropertyMap ( ) const

virtual

Get the properties used by the contact strategy.

Returns: the property map.

◆ match()

virtual bool match	(	rw::core::Ptr< const rw::geometry::GeometryData >	geoA,
		rw::core::Ptr< const rw::geometry::GeometryData >	geoB
	)

pure virtual

Test is this strategy can be used for the given geometries.

Parameters

geoA	[in] geometry data for the first object.
geoB	[in] geometry data for the second object.

Returns: true if this strategy can be used for the given geometries.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyDMS< T >, and BallBallStrategy.

◆ removeGeometry()

virtual bool removeGeometry	(	rw::proximity::ProximityModel *	model,
		const std::string &	geomId
	)

pure virtual

removes a geometry from a specific proximity model

Implements ProximityStrategy.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyGeometry< A, B >, ContactStrategyDMS< T >, and BallBallStrategy.

◆ setPropertyMap()

virtual void setPropertyMap ( const rw::core::PropertyMap & map )

virtual

Set which properties the contact strategy should use.

Parameters

map	[in] the property map to get properties from.

◆ updateContacts()

virtual std::vector<Contact> updateContacts	(	rw::proximity::ProximityModel::Ptr	a,
		const rw::math::Transform3D<> &	wTa,
		rw::proximity::ProximityModel::Ptr	b,
		const rw::math::Transform3D<> &	wTb,
		ContactStrategyData &	data,
		ContactStrategyTracking &	tracking,
		rwsim::log::SimulatorLogScope *	log = `NULL`
	)		const

pure virtual

Update known contacts between two contact models.

Parameters

a	[in] model a.
wTa	[in] current transform of model a.
b	[in] model b.
wTb	[in] current transform of model b.
data	[in/out] allows caching between contact detection calls, and makes it possible for detection algorithms to exploit spatial and temporal coherence.
tracking	[in/out] meta-data for previously found contacts.
log	[in/out] (optional) store detailed logging information.

Returns: a list of updated contacts.

Implemented in ODEContactStrategy, BtContactStrategy, ContactStrategyDMS< T >, and BallBallStrategy.

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

ContactStrategy.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addGeometry() [1/2]

◆ addGeometry() [2/2]

◆ clear()

◆ createModel()

◆ destroyModel()

◆ findContacts() [1/3]

◆ findContacts() [2/3]

◆ findContacts() [3/3]

◆ getGeometryIDs()

◆ getName()

◆ getPropertyMap() [1/2]

◆ getPropertyMap() [2/2]

◆ match()

◆ removeGeometry()

◆ setPropertyMap()

◆ updateContacts()