CdCollisionDetection Class Reference

Collision search and distance measurement query utility. More...

#include <cdet_utility.h>

Public Member Functions
cdet_scene	Scene () const
	Get a geometric search scene, which is served by the collision detection utility.
cdet_item	AddItem (const MbSolid &solid, const MbPlacement3D &place, cdet_app_item appItem=CDET_APP_NULL)
	Add a solid with given placement to the collision detection set. More...
cdet_item	AddRay (const MbCartPoint3D &vertex, const MbVector3D &direction, const MbPlacement3D &place, cdet_app_item appItem=CDET_APP_NULL)
	Add a ray with given vertex, direction and placement to the collision detection set. More...
cdet_item	AddComponent (cdet_app_item)
	Add a new component to track collisions and proximity parameters. More...
cdet_item	AddInstance (cdet_item compItem, cdet_item solidItem, const MbPlacement3D &place)
	Add a new instance of a reused solid into the component. More...
cdet_item	AddInstance (cdet_item compItem, const MbItem *mbItem, const MbPlacement3D &place, cdet_app_item appItem=CDET_APP_NULL)
	Add a new instance of a reused solid into the component. More...
void	RemoveItem (cdet_item cdItem)
	Remove a geometric object from the set of collision detection.
void	Reposition (cdet_item, const MbPlacement3D &)
	Change current position of a geometric object.
cdet_result	CheckCollisions (cdet_query &)
	Check collisions between geometric objects of the set. More...
cdet_result	CheckCollisions ()
	Check collisions between geometric objects of the set. More...
cdet_app_item	AppItem (cdet_item cdItem) const
	Get an application pointer by descriptor of the collision detection set.
CdSceneIteratorRange	SubItemsRange (cdet_item scnItem) const noexcept
	Return the iterator range of the scene object/component in the collision detector.
CdSceneIteratorRange	InDepthSubItems (cdet_item scnItem) const noexcept
	Return the iterator range with in depth traversal for the scene object/component in the collision detector.
CdSceneIteratorRange	SceneItems () const noexcept
	Return the iterator range of all objects in the collision detector scene.
cdet_setting_result	SetToleranceDelta (cdet_item cqItem, double delta)
	Set the allowed deviation of the solid size inside or outside the shell. More...
cdet_item	AddMesh (const MbMesh &mesh, const MbPlacement3D &place, cdet_app_item appItem=CDET_APP_NULL, double delta=0.)
void	RemoveSolid (cdet_item)
	Remove a solid model or ray from a collision detector.
size_t	Count () const
	Get number of added solid models or rays.
size_t	SolidIndex (cdet_item cItem) const
	An index of solid model or ray registered in the detector.
cdet_result	DistanceQuery (CdProximityParameters &) const
	Calculation of minimal distance between objects (see the function SetDistanceTracking)
cdet_result	DistanceQuery (cdet_item, cdet_item, CdProximityParameters &) const
	Calculation of minimal distance between objects.
void	FlushSolids ()
	Exclude all models from consideration.
cdet_item	GetHRepSolid (const MbLumpAndFaces &) const
	Get the hierarchical representation of the solid (CDET_NULL means that the solid is not in the list).
void	SetTouchTolerance (double lTol)
	Set the barrier for the difference between the touch and the intersection.
void	SetApproxCollisionQuery (bool ff)
	On/off approximated calculation of intersections of solids.
void	SetApproxDistanceComputation (bool ff)
	On/off approximated calculation of proximity parameters - by triangulation.
void	SetDistanceTracking (const MbLumpAndFaces &, const MbLumpAndFaces &)
	Assign the pair to track the distance between them.
void	SetPlacement (size_t solIdx, const MbPlacement3D &)
	Update current placement of solid or ray with index solIdx.
MbeConvResType	ExportToC3D (const TCHAR *c3dFile)
	Export collision detection scene into C3D model.

Detailed Description

Collision search and distance measurement query utility.

Provides facilities of The Collision Detection to interact with the CAD application.

Attention

For the ensure proper functionality of the detector it is necessary that an object of type MbLumpAndFaces to be added in consideration by function AddSolid will have a correct matrix of transformation to the world coordinate system in its current state, i.e. from the beginning.

Member Function Documentation

AddItem()

cdet_item CdCollisionDetection::AddItem	(	const MbSolid &	solid,
		const MbPlacement3D &	place,
		cdet_app_item	appItem = CDET_APP_NULL
	)

Add a solid with given placement to the collision detection set.

Returns

Descriptor of object for collision detection.

AddRay()

cdet_item CdCollisionDetection::AddRay	(	const MbCartPoint3D &	vertex,
		const MbVector3D &	direction,
		const MbPlacement3D &	place,
		cdet_app_item	appItem = CDET_APP_NULL
	)

Add a ray with given vertex, direction and placement to the collision detection set.

Returns

Descriptor of object for collision detection.

AddComponent()

cdet_item CdCollisionDetection::AddComponent

(

cdet_app_item

)

Add a new component to track collisions and proximity parameters.

Component is able to unite solids into the rigid geometric sets.

AddInstance() [1/2]

cdet_item CdCollisionDetection::AddInstance	(	cdet_item	compItem,
		cdet_item	solidItem,
		const MbPlacement3D &	place
	)

Add a new instance of a reused solid into the component.

Parameters

[in]	compItem	- A component to witch the instance will belong.
[in]	solidItem	- An original solid added by the method AddItem by which the instance is made.
[in]	place	- The placement that the instance solid takes in global space.

Returns

The new solid instance registered in the detector.

Note

The value compItem can be CDET_NULL. This just means that the instance does not belong to any component.

AddInstance() [2/2]

cdet_item CdCollisionDetection::AddInstance	(	cdet_item	compItem,
		const MbItem *	mbItem,
		const MbPlacement3D &	place,
		cdet_app_item	appItem = CDET_APP_NULL
	)

Add a new instance of a reused solid into the component.

Parameters

[in]	compItem	- A component to witch the instance will belong.
[in]	mbItem	- An original solid by which the instance is made.
[in]	place	- The placement that the instance solid takes in global space.
[in]	appItem	- User geometric item.

Returns

The new solid instance registered in the detector.

Note

The value compItem can be CDET_NULL. This just means that the instance does not belong to any component.

CheckCollisions() [1/2]

cdet_result CdCollisionDetection::CheckCollisions

(

cdet_query &

)

Check collisions between geometric objects of the set.

Returns

The function will return CDM_RESULT_CollisionDetected if it detects at least one collision.

CheckCollisions() [2/2]

cdet_result CdCollisionDetection::CheckCollisions

(

)

Check collisions between geometric objects of the set.

Returns

The function will return CDM_RESULT_CollisionDetected if it detects at least one collision.

SetToleranceDelta()

cdet_setting_result CdCollisionDetection::SetToleranceDelta	(	cdet_item	cqItem,
		double	delta
	)

Set the allowed deviation of the solid size inside or outside the shell.

Parameters

[in]	cqItem	- An scene instance as an object to check collisions with others.
[in]	delta	- The maximum deviation of a geometric object size from its nominal size.

The delta value can be positive or negative, and defines the tolerance that affects the CheckCollisions result. A negative delta (delta < 0) defines the maximum interference depth with a solid to count a status "no collision". A positive delta (delta>0) defines the minimum distance to an object to count a status "no collision".

Note

By default, each body has a zero size deviation (delta = 0).

Returns

The function returns CDM_PARAMETER_Changed if the tolerance parameter was successfully changed.

AddMesh()

cdet_item CdCollisionDetection::AddMesh	(	const MbMesh &	mesh,
		const MbPlacement3D &	place,
		cdet_app_item	appItem = CDET_APP_NULL,
		double	delta = 0.
	)

Note

The call is deprecated. Use AddInstance instead.

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

• cdet_utility.h