Inheritance diagram for PQPSolid:

Collaboration diagram for PQPSolid:

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Public Member Functions
Construction
	PQPSolid ()

virtual	~PQPSolid ()

CollisionDetectorMethod Overrides
virtual bool	IsInCollision (const GMSPolyhedron &_polyhedron1, const mathtool::Transformation &_t1, const GMSPolyhedron &_polyhedron2, const mathtool::Transformation &_t2, CDInfo &_cdInfo) override

virtual bool	IsInsideObstacle (const mathtool::Vector3d &_point, const GMSPolyhedron &_polyhedron, const mathtool::Transformation &_transformation) override

Public Member Functions inherited from PQP
	PQP ()

virtual	~PQP ()

Public Member Functions inherited from CollisionDetectionMethod
	CollisionDetectionMethod (const std::string &_name="CD_USER1")

virtual	~CollisionDetectionMethod ()

const std::string &	GetName () const

virtual void	Print (std::ostream &_os) const

Additional Inherited Members
Static Public Member Functions inherited from PQP
static PQP_Model *	Build (const GMSPolyhedron &_polyhedron)

Protected Attributes inherited from CollisionDetectionMethod
std::string	m_name
	Name of the CD method. More...

Detailed Description

PQPSolid is an extended PQP which also checks if one mesh lies entirely within another.

Constructor & Destructor Documentation

PQPSolid::PQPSolid ( )

PQPSolid::~PQPSolid ( )

virtualdefault

bool PQPSolid::IsInCollision	(	const GMSPolyhedron &	_polyhedron1,
		const mathtool::Transformation &	_transformation1,
		const GMSPolyhedron &	_polyhedron2,
		const mathtool::Transformation &	_transformation2,
		CDInfo &	_cdInfo
	)

overridevirtual

Check if two polyhedrons are in collision.

Parameters

_polyhedron1	The first polyhedron.
_transformation1	Transformation for the first polyhedron.
_polyhedron2	The second polyhedron.
_transformation2	Transformation for the second polyhedron.
_cdInfo	Output information from the collision computation.

Returns: True if the polyhedrons are considered to be in collision. Some method check only intersection (i.e. Rapid, PQP) while others also check if one polyhedron is inside the other (i.e. PQPSolid).

@TODO See if we can modify PQP_Distance to take const double arrays instead of just double arrays so we don't have to copy.

@TODO Update to use polyhedrons instead of bodies?

Reimplemented from PQP.

bool PQPSolid::IsInsideObstacle	(	const mathtool::Vector3d &	_point,
		const GMSPolyhedron &	_polyhedron,
		const mathtool::Transformation &	_transformation
	)

overridevirtual

Shoot a pseudo-ray outward from a reference point to determine if it lies within a given body.

Parameters

_pt	The reference point of interest.
_body	The body to check against.

@TODO See if we can modify PQP_Collide to take const double arrays instead of just double arrays so we don't have to copy.

Todo:: This can still fail. I.e., what if we collide with two entering and one leaving triangle, as if we shot straight past the tip of a tetrahedron with the seem exactly aligned with the starting point? We need to check all colocated points, not just a pair. On detection of a scrape (colocated and different type) we need to erase all of the colocated collisions.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/PQPCollisionDetection.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/PQPCollisionDetection.cpp