VTK  9.1.0
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 
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 
104 class vtkOBBTree;
105 class vtkPolyData;
106 class vtkPoints;
107 class vtkMatrix4x4;
108 class vtkLinearTransform;
109 class vtkIdTypeArray;
110 
111 class VTKFILTERSMODELING_EXPORT vtkCollisionDetectionFilter : public vtkPolyDataAlgorithm
112 {
113 public:
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 
194  vtkPolyData* GetContactsOutput() { return this->GetOutput(2); }
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  */
275  vtkMTimeType GetMTime() override;
277 
278 protected:
281 
282  // Usual data generation method
286 
288  vtkMatrix4x4* Matrix[2];
289 
291 
293 
295 
298  float Opacity;
299 
301 
302 private:
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
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 ...
vtkMatrix4x4 * GetMatrix(int i)
void SetTransform(int i, vtkLinearTransform *transform)
static vtkCollisionDetectionFilter * New()
Standard methods for construction, type and printing.
vtkMTimeType GetMTime() override
Return this object's modified time.
vtkIdTypeArray * GetContactCells(int i)
Get an array of the contacting cells.
vtkLinearTransform * GetTransform(int i)
~vtkCollisionDetectionFilter() override
void SetCollisionModeToHalfContacts()
Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with two points per ...
vtkPolyData * GetInputData(int i)
Set and Get the input vtk polydata models.
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.
void SetMatrix(int i, vtkMatrix4x4 *matrix)
const char * GetCollisionModeAsString(void)
Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with two points per ...
void SetCollisionModeToAllContacts()
Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with two points per ...
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.
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.
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
@ Transform
Definition: vtkX3D.h:47
vtkTypeUInt32 vtkMTimeType
Definition: vtkType.h:287