VTK  9.1.0
vtkCollisionDetectionFilter.h
Go to the documentation of this file.
1/*=========================================================================
2
3 Program: Visualization Toolkit
4 Module: vtkCollisionDetection.h
5
6 Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
7 All rights reserved.
8 See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
9
10 This software is distributed WITHOUT ANY WARRANTY; without even
11 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
12 PURPOSE. See the above copyright notice for more information.
13
14 Copyright (c) Goodwin Lawlor All rights reserved.
15 BSD 3-Clause License
16
17 Redistribution and use in source and binary forms, with or without
18 modification, are permitted provided that the following conditions are
19 met:
20
21 Redistributions of source code must retain the above copyright notice,
22 this list of conditions and the following disclaimer.
23
24 Redistributions in binary form must reproduce the above copyright
25 notice, this list of conditions and the following disclaimer in the
26 documentation and/or other materials provided with the distribution.
27
28 Neither the name of the copyright holder nor the names of its
29 contributors may be used to endorse or promote products derived from
30 this software without specific prior written permission.
31
32 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
33 AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
34 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
35 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
36 HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
37 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
38 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
39 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
40 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
41 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
42 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
43=========================================================================*/
44
70/*
71 * @warning
72 * Currently only triangles are processed. Use vtkTriangleFilter to
73 * convert any strips or polygons to triangles.
74 */
76
78/*
79 * @cite
80 * Goodwin Lawlor <goodwin.lawlor@ucd.ie>, University College Dublin,
81 * who wrote this class.
82 * Thanks to Peter C. Everett
83 * <pce@world.std.com> for vtkOBBTree::IntersectWithOBBTree() in
84 * particular, and all those who contributed to vtkOBBTree in general.
85 * The original code was contained here: https://github.com/glawlor/vtkbioeng
86 *
87 */
89
91/*
92 * @see
93 * vtkTriangleFilter, vtkSelectPolyData, vtkOBBTree
94 */
96
97#ifndef vtkCollisionDetectionFilter_h
98#define vtkCollisionDetectionFilter_h
99
100#include "vtkFieldData.h" // For GetContactCells
101#include "vtkFiltersModelingModule.h" // For export macro
102#include "vtkPolyDataAlgorithm.h"
103
104class vtkOBBTree;
105class vtkPolyData;
106class vtkPoints;
107class vtkMatrix4x4;
109class vtkIdTypeArray;
110
111class VTKFILTERSMODELING_EXPORT vtkCollisionDetectionFilter : public vtkPolyDataAlgorithm
112{
113public:
115
120 void PrintSelf(ostream& os, vtkIndent indent) override;
122
124 {
125 VTK_ALL_CONTACTS = 0,
126 VTK_FIRST_CONTACT = 1,
127 VTK_HALF_CONTACTS = 2
128 };
129
131
136 vtkSetClampMacro(CollisionMode, int, VTK_ALL_CONTACTS, VTK_HALF_CONTACTS);
137 vtkGetMacro(CollisionMode, int);
138
139 void SetCollisionModeToAllContacts() { this->SetCollisionMode(VTK_ALL_CONTACTS); }
140 void SetCollisionModeToFirstContact() { this->SetCollisionMode(VTK_FIRST_CONTACT); }
141 void SetCollisionModeToHalfContacts() { this->SetCollisionMode(VTK_HALF_CONTACTS); }
142 const char* GetCollisionModeAsString(void)
143 {
144 if (this->CollisionMode == VTK_ALL_CONTACTS)
145 {
146 return "AllContacts";
147 }
148 else if (this->CollisionMode == VTK_FIRST_CONTACT)
149 {
150 return "FirstContact";
151 }
152 else
153 {
154 return "HalfContacts";
155 }
156 }
158
160
167 int IntersectPolygonWithPolygon(int npts, double* pts, double bounds[6], int npts2, double* pts2,
168 double bounds2[6], double tol2, double x1[2], double x2[3], int CollisionMode);
170
172
175 void SetInputData(int i, vtkPolyData* model);
178
180
188
190
196
198 /* Specify the transform object used to transform models. Alternatively, matrices
199 * can be set instead.
200` */
201 void SetTransform(int i, vtkLinearTransform* transform);
202 vtkLinearTransform* GetTransform(int i) { return this->Transform[i]; }
204
206 /* Specify the matrix object used to transform models.
207 */
208 void SetMatrix(int i, vtkMatrix4x4* matrix);
211
213 /* Set and Get the obb tolerance (absolute value, in world coords). Default is 0.001
214 */
215 vtkSetMacro(BoxTolerance, float);
216 vtkGetMacro(BoxTolerance, float);
218
220 /* Set and Get the cell tolerance (squared value). Default is 0.0
221 */
222 vtkSetMacro(CellTolerance, double);
223 vtkGetMacro(CellTolerance, double);
225
227 /*
228 * Set and Get the the flag to visualize the contact cells. If set the contacting cells
229 * will be coloured from red through to blue, with collisions first determined coloured red.
230 */
231 vtkSetMacro(GenerateScalars, int);
232 vtkGetMacro(GenerateScalars, int);
233 vtkBooleanMacro(GenerateScalars, int);
235
237 /*
238 * Get the number of contacting cell pairs.
239 *
240 * @note If FirstContact mode is set, it will return either 0 or 1.
241 * @warning It is mandatory to call Update() before, otherwise -1 is returned
242 * @return -1 if internal nullptr is found, otherwise the number of contacts found
243 */
246
248 /*
249 * Get the number of box tests
250 */
251 vtkGetMacro(NumberOfBoxTests, int);
253
255 /*
256 * Set and Get the number of cells in each OBB. Default is 2
257 */
258 vtkSetMacro(NumberOfCellsPerNode, int);
259 vtkGetMacro(NumberOfCellsPerNode, int);
261
263 /*
264 * Set and Get the opacity of the polydata output when a collision takes place.
265 * Default is 1.0
266 */
267 vtkSetClampMacro(Opacity, float, 0.0, 1.0);
268 vtkGetMacro(Opacity, float);
270
272 /*
273 * Return the MTime also considering the transform.
274 */
277
278protected:
281
282 // Usual data generation method
286
287 vtkLinearTransform* Transform[2];
288 vtkMatrix4x4* Matrix[2];
289
291
293
295
298 float Opacity;
299
301
302private:
304 void operator=(const vtkCollisionDetectionFilter&) = delete;
305};
306
307#endif
Proxy object to connect input/output ports.
vtkAlgorithmOutput * GetOutputPort()
Definition: vtkAlgorithm.h:479
performs collision determination between two polyhedral surfaces
vtkAlgorithmOutput * GetContactsOutputPort()
Get the output with the points where the contacting cells intersect.
vtkPolyData * GetContactsOutput()
Get the output with the points where the contacting cells intersect.
int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *) override
This is called by the superclass.
void SetCollisionModeToFirstContact()
Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with two points per ...
void SetTransform(int i, vtkLinearTransform *transform)
vtkIdTypeArray * GetContactCells(int i)
Get an array of the contacting cells.
vtkPolyData * GetInputData(int i)
Set and Get the input vtk polydata models.
vtkMTimeType GetMTime() override
Return this object's modified time.
vtkMatrix4x4 * GetMatrix(int i)
static vtkCollisionDetectionFilter * New()
Standard methods for construction, type and printing.
~vtkCollisionDetectionFilter() override
void SetCollisionModeToHalfContacts()
Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with two points per ...
void PrintSelf(ostream &os, vtkIndent indent) override
Standard methods for construction, type and printing.
void SetInputData(int i, vtkPolyData *model)
Set and Get the input vtk polydata models.
const char * GetCollisionModeAsString(void)
Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with two points per ...
void SetMatrix(int i, vtkMatrix4x4 *matrix)
void SetCollisionModeToAllContacts()
Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with two points per ...
vtkLinearTransform * GetTransform(int i)
int IntersectPolygonWithPolygon(int npts, double *pts, double bounds[6], int npts2, double *pts2, double bounds2[6], double tol2, double x1[2], double x2[3], int CollisionMode)
Description: Intersect two polygons, return x1 and x2 as the two points of intersection.
dynamic, self-adjusting array of vtkIdType
a simple class to control print indentation
Definition: vtkIndent.h:34
Store zero or more vtkInformation instances.
Store vtkAlgorithm input/output information.
abstract superclass for linear transformations
represent and manipulate 4x4 transformation matrices
Definition: vtkMatrix4x4.h:36
generate oriented bounding box (OBB) tree
Definition: vtkOBBTree.h:86
represent and manipulate 3D points
Definition: vtkPoints.h:34
Superclass for algorithms that produce only polydata as output.
vtkPolyData * GetOutput()
Get the output data object for a port on this algorithm.
concrete dataset represents vertices, lines, polygons, and triangle strips
Definition: vtkPolyData.h:86
vtkTypeUInt32 vtkMTimeType
Definition: vtkType.h:287