VTK  9.2.6
vtkCollisionDetectionFilter.h
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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
67/*
68 * @warning
69 * Currently only triangles are processed. Use vtkTriangleFilter to
70 * convert any strips or polygons to triangles.
71 */
73
75/*
76 * @cite
77 * Goodwin Lawlor <goodwin.lawlor@ucd.ie>, University College Dublin,
78 * who wrote this class.
79 * Thanks to Peter C. Everett
80 * <pce@world.std.com> for vtkOBBTree::IntersectWithOBBTree() in
81 * particular, and all those who contributed to vtkOBBTree in general.
82 * The original code was contained here: https://github.com/glawlor/vtkbioeng
83 *
84 */
86
88/*
89 * @see
90 * vtkTriangleFilter, vtkSelectPolyData, vtkOBBTree
91 */
93
94#ifndef vtkCollisionDetectionFilter_h
95#define vtkCollisionDetectionFilter_h
96
97#include "vtkFieldData.h" // For GetContactCells
98#include "vtkFiltersModelingModule.h" // For export macro
100
101class vtkOBBTree;
102class vtkPolyData;
103class vtkPoints;
104class vtkMatrix4x4;
106class vtkIdTypeArray;
107
108class VTKFILTERSMODELING_EXPORT vtkCollisionDetectionFilter : public vtkPolyDataAlgorithm
109{
110public:
112
117 void PrintSelf(ostream& os, vtkIndent indent) override;
119
121 {
122 VTK_ALL_CONTACTS = 0,
123 VTK_FIRST_CONTACT = 1,
124 VTK_HALF_CONTACTS = 2
125 };
126
128
133 vtkSetClampMacro(CollisionMode, int, VTK_ALL_CONTACTS, VTK_HALF_CONTACTS);
134 vtkGetMacro(CollisionMode, int);
135
136 void SetCollisionModeToAllContacts() { this->SetCollisionMode(VTK_ALL_CONTACTS); }
137 void SetCollisionModeToFirstContact() { this->SetCollisionMode(VTK_FIRST_CONTACT); }
138 void SetCollisionModeToHalfContacts() { this->SetCollisionMode(VTK_HALF_CONTACTS); }
139 const char* GetCollisionModeAsString(void)
140 {
141 if (this->CollisionMode == VTK_ALL_CONTACTS)
142 {
143 return "AllContacts";
144 }
145 else if (this->CollisionMode == VTK_FIRST_CONTACT)
146 {
147 return "FirstContact";
148 }
149 else
150 {
151 return "HalfContacts";
152 }
153 }
155
157
164 int IntersectPolygonWithPolygon(int npts, double* pts, double bounds[6], int npts2, double* pts2,
165 double bounds2[6], double tol2, double x1[2], double x2[3], int CollisionMode);
167
169
172 void SetInputData(int i, vtkPolyData* model);
175
177
185
187
193
195 /* Specify the transform object used to transform models. Alternatively, matrices
196 * can be set instead.
197` */
198 void SetTransform(int i, vtkLinearTransform* transform);
199 vtkLinearTransform* GetTransform(int i) { return this->Transform[i]; }
201
203 /* Specify the matrix object used to transform models.
204 */
205 void SetMatrix(int i, vtkMatrix4x4* matrix);
208
210 /* Set and Get the obb tolerance (absolute value, in world coords). Default is 0.001
211 */
212 vtkSetMacro(BoxTolerance, float);
213 vtkGetMacro(BoxTolerance, float);
215
217 /* Set and Get the cell tolerance (squared value). Default is 0.0
218 */
219 vtkSetMacro(CellTolerance, double);
220 vtkGetMacro(CellTolerance, double);
222
224 /*
225 * Set and Get the the flag to visualize the contact cells. If set the contacting cells
226 * will be coloured from red through to blue, with collisions first determined coloured red.
227 */
228 vtkSetMacro(GenerateScalars, int);
229 vtkGetMacro(GenerateScalars, int);
230 vtkBooleanMacro(GenerateScalars, int);
232
234 /*
235 * Get the number of contacting cell pairs.
236 *
237 * @note If FirstContact mode is set, it will return either 0 or 1.
238 * @warning It is mandatory to call Update() before, otherwise -1 is returned
239 * @return -1 if internal nullptr is found, otherwise the number of contacts found
240 */
243
245 /*
246 * Get the number of box tests
247 */
248 vtkGetMacro(NumberOfBoxTests, int);
250
252 /*
253 * Set and Get the number of cells in each OBB. Default is 2
254 */
255 vtkSetMacro(NumberOfCellsPerNode, int);
256 vtkGetMacro(NumberOfCellsPerNode, int);
258
260 /*
261 * Set and Get the opacity of the polydata output when a collision takes place.
262 * Default is 1.0
263 */
264 vtkSetClampMacro(Opacity, float, 0.0, 1.0);
265 vtkGetMacro(Opacity, float);
267
269 /*
270 * Return the MTime also considering the transform.
271 */
274
275protected:
278
279 // Usual data generation method
283
284 vtkLinearTransform* Transform[2];
285 vtkMatrix4x4* Matrix[2];
286
288
290
292
295 float Opacity;
296
298
299private:
301 void operator=(const vtkCollisionDetectionFilter&) = delete;
302};
303
304#endif
Proxy object to connect input/output ports.
vtkAlgorithmOutput * GetOutputPort()
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
generate oriented bounding box (OBB) tree
Definition vtkOBBTree.h:94
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:85
vtkTypeUInt32 vtkMTimeType
Definition vtkType.h:287