This class contains all Geometries and performs Broad Phase and Narrow Phase collision detection to calculate overlapping Geometry pairs. More...

#include <Space.h>

Inheritance diagram for agxCollide::Space:

Public Types
enum	BroadPhaseAlgorithm { INVALID_BROAD_PHASE_ALGORITHM = -1 , SWEEP_AND_PRUNE , HIERARCHICAL_GRID }
	Enum for specifying which BroadPhase algorithm space should use. More...

typedef agx::SetVector< GeometryPair >	GeometryPairHash

Public Types inherited from agx::Component
typedef Event2< Component , Object >	ObjectEvent
	Event when adding removing child objects.

typedef Callback1< Object * >	TraverseCallback

Public Types inherited from agx::Object
typedef agx::observer_ptr< const Event >	EventConstObserver

typedef agx::ref_ptr< const Event >	EventConstRef

typedef agx::observer_ptr< Event >	EventObserver

typedef agx::Vector< EventObserver >	EventObserverVector

typedef agx::VectorPOD< Event * >	EventPtrVector

typedef agx::ref_ptr< Event >	EventRef

typedef agx::Vector< EventRef >	EventRefVector

Public Member Functions
	Space ()
	Default constructor.

	Space (agx::Device *device)
	Instantiate Space with a specific device.

bool	add (Geometry *geometry)
	Insert a new geometry into the Space so it can collide with other geometries.

void	addGeometryContacts (const LocalGeometryContactVector &localContacts)
	Explicitly add geometry contacts.

void	addListener (agxCollide::SpaceListener *listener)
	Add a listener to space.

bool	canCollide (const Geometry g1, const Geometry g2) const
	Check if two geometries can collide.

void	cleanup ()
	Cleanup the internal state of the object.

void	commitRemovedContacts ()
	Go through all the contact and contact points scheduled for removal and remove them from the list of contacts.

size_t	computeNumberOfEnabledContactPoints () const

template<typename F >
void	disableForContacts (F relevantCollision)
	If for some reason a geometry or several geometries collides with less geometries now than previously, we need to make sure that previous overlaps are removed, as they might remain otherwise.

template<typename F >
void	enableForContacts (F relevantCollision)
	If for some reason a geometry or several geometries collides with more geometries now than previously, we need to make sure that current overlaps are reported, as they might be ignored otherwise.

void	eraseDisabledGroupPair (agx::UInt32 group1, agx::UInt32 group2)
	Consider using setEnablePair( group1, group2, true ) instead.

agxCollide::DisabledCollisionsState	findDisabledCollisionsState () const
	Find the complete state of disabled collisions, including name <-> name pairs, id <-> id pairs and geometry <-> geometry pairs.

BroadPhaseAlgorithm	getBroadPhaseAlgorithm () const

const BroadPhasePairVector &	getBroadPhasePairs () const

GeometryContact	getContact (Geometry g1, Geometry g2) const
	Returns geometry contact between two geometries, if existing.

agx::UInt	getContactReductionBinResolution () const

agx::UInt	getContactReductionThreshold () const

const GeometryPairHash &	getDisabledPairs () const

bool	getEnableContactReduction () const

bool	getEnablePair (agx::UInt32 group1, agx::UInt32 group2) const
	Get information if `group1` and `group2` are allowed to collide.

bool	getEnablePair (const agx::Name &group1, const agx::Name &group2) const
	Get information if `group1` and `group2` are allowed to collide.

const GeometryRefVector &	getGeometries () const

Geometry *	getGeometry (const agx::Name &name)
	Find (linear search) the first Geometry in space with a matching name.

const Geometry *	getGeometry (const agx::Name &name) const
	Find (linear search) the first Geometry in space with a matching name.

Geometry *	getGeometry (const agx::Uuid &uuid)
	Find (linear search) the first Geometry in space matching the specified uuid.

const Geometry *	getGeometry (const agx::Uuid &uuid) const
	Find (linear search) the first Geometry in space matching the specified uuid.

const GeometryContactPtrVector &	getGeometryContacts () const
	Access to the vector containing all narrow phase contacts.

size_t	getGeometryContacts (GeometryContactPtrVector &matches, const agx::RigidBody body1, const agx::RigidBody body2=nullptr) const
	Extract a vector with all matching geometry contacts involving the two specified rigid bodies This method will perform a linear search through all contact points.

size_t	getGeometryContacts (GeometryContactPtrVector &matches, const agxCollide::Geometry geometry1, const agxCollide::Geometry geometry2=nullptr) const
	Extract a vector with all matching geometry contacts involving the two specified geometries.

Geometry *	getGeometryWithEntityId (agx::Index id)
	Return Geometry in space matching the specified id.

const Geometry *	getGeometryWithEntityId (agx::Index id) const
	Return Geometry in space matching the specified id.

HierarchicalGrid *	getHierarchicalGrid ()

agx::Real	getOrientedBoundsThreshold () const
	Returns the current threshold for where oriented bounds are created for Geometries.

const ParticleGeometryContactVector &	getParticleGeometryContacts ()

const ParticlePairContactVector &	getParticleParticleContacts ()

const SeparationPairVector &	getSeparationPairs () const

size_t	getSeparationPairs (agx::Physics::GeometryPairPtrVector &matches, const agx::RigidBody body1, const agx::RigidBody body2=nullptr) const
	Extract a new vector including rigid bodies which just recently separated.

size_t	getSeparationPairs (agx::Physics::GeometryPairPtrVector &matches, const agxCollide::Geometry geometry1, const agxCollide::Geometry geometry2=nullptr) const
	Extract a new vector including geometries which just recently separated.

agxCollide::SweepAndPrune *	getSweepAndPrune ()

agx::UInt32	getUniqueGroupID ()

void	insertDisabledGroupPair (agx::UInt32 group1, agx::UInt32 group2)
	Consider using setEnablePair( group1, group2, false ) instead.

bool	intersect (const agx::Vec3 &point, const agx::Vec3 &direction, LocalGeometryContactVector &geometryContacts, LocalParticleGeometryContactVector &particleGeometryContacts, const agx::Real length=FLT_MAX/4)
	Sends a ray into the collision space and returns information about the objects the ray hits.

bool	remove (Geometry *geometry)
	Remove a geometry from Space.

void	removeContact (agx::Physics::GeometryContactPtr contact)
	Schedule a removal of a specified Narrow phase contact, the contact will not be removed until the method commitRemovedContacts() is called (during the next update())

GeometryContactPtrVector::const_iterator	removeContact (GeometryContactPtrVector::const_iterator contact)
	Remove a specified GeometryContact from the list of contacts.

bool	removeListener (agxCollide::SpaceListener *listener)
	Remove a listener from Space.

void	removeOverlap (agxCollide::Geometry geometry1, agxCollide::Geometry geometry2)
	Remove a (Sweep and Prune) bounding overlap, if it exists, between `geometry1` and `geoemtry2`.

void	reportOverlap (agxCollide::Geometry geometry1, agxCollide::Geometry geometry2)
	Add an explicit bounding volume overlap between the two specified geometries.

void	resetGeometryCellAssignments (agxCollide::Geometry *geometry)

void	resetParticleCellAssignments ()

bool	setBroadPhaseAlgorithm (BroadPhaseAlgorithm algorithm)
	Specify a new broad phase algorithm implementation.

void	setContactReductionBinResolution (agx::UInt binResolution)
	Specify the default (for this Simulation) resolution used when evaluating contacts for reduction between geometry-geometry contacts.

void	setContactReductionThreshold (agx::UInt threshold)
	Specify the lower threshold for the number of contact points needed per geometry contact in order to do contact reduction per geometry contact.

void	setEnableCollisions (const Geometry g1, const Geometry g2, bool flag)
	Explicitly disable/enable a geometry pair.

void	setEnableContactReduction (bool flag)
	Enable/Disable contact reduction between pairs of geometries.

void	setEnableGeometry (Geometry *geometry, bool flag)

void	setEnablePair (agx::UInt32 group1, agx::UInt32 group2, bool flag)
	Enable/disable collisions between two geometry group ID:s.

void	setEnablePair (const agx::Name &group1, const agx::Name &group2, bool flag)

void	setOrientedBoundsThreshold (agx::Real threshold)
	Sets the threshold where oriented bounds are created for Geometries.

bool	testBoundingVolumeOverlap (GeometryPtrVector &testGeometries, GeometryPairVector &geometryPairs, ParticleGeometryPairVector &particleGeometryPairs, bool skip=true)
	Tests a number of geometries for bounding volume overlaps without changing the geometries already in space besides from updating bounding volumes.

bool	testGeometryOverlap (GeometryPtrVector &testGeometries, LocalGeometryContactVector &geometryContacts, LocalParticleGeometryContactVector &particleGeometryContacts, bool skip=true)
	Test if a number of geometries collides with something already present in space without changing space, besides from updating some bounding volumes.

void	update ()
	Update the contact state of the entire space including Broad Phase and narrow phase.

void	updateBroadPhase ()
	Update the broad-phase state of the space.

void	updateNarrowPhase ()
	Update the narrow phase state, calculating contact data for all overlapping geometry pairs.

Public Member Functions inherited from agx::Component
	Component (const agx::Name &name=agx::Name(), agx::Model model=agx::Component::ClassModel(), agx::Device device=nullptr)

virtual void	addObject (agx::Object *object, bool assignContext=true)
	Add an object to the component.

virtual String	autoComplete (const String &partialName, StringVector &matchingNames) const

virtual void	buildNavigationTree (agxJson::Value &eNode) const override

void	configure (Model *model)

virtual void	configure (TiXmlElement *eComponent) override

agx::Device *	getDevice ()

template<typename T >
T *	getDevice ()

const agx::Device *	getDevice () const

template<typename T >
const T *	getDevice () const

size_t	getNumObjects (const agx::Name &name) const

agx::Object *	getObject (const agx::Name &name, agx::Model *model, size_t index=0)

const agx::Object *	getObject (const agx::Name &name, agx::Model *model, size_t index=0) const

agx::Object *	getObject (const agx::Name &name, size_t index=0)

template<typename T >
T *	getObject (const agx::Name &name, size_t index=0)

const agx::Object *	getObject (const agx::Name &name, size_t index=0) const

template<typename T >
const T *	getObject (const agx::Name &name, size_t index=0) const

const agx::ObjectRefVector &	getObjects () const

template<typename T >
void	getObjects (agx::ObjectPtrVector &result, bool recursive=false) const

void	getObjects (agx::ObjectPtrVector &result, const agx::Model *model, bool recursive=false) const

virtual Object *	getResourceImpl (const Path &path, agx::Model *model) override

virtual void	printSubtree () const override

void	printSubtree (std::ostream &stream, int depth=0) const

virtual void	rebind () override

void	removeAllObjects ()
	Remove all components.

virtual void	removeObject (agx::Object *object)
	Remove an object from the component.

void	removeObject (const agx::Name &name, size_t index=0)
	Remove an object with a specified name (and optional index) from the component.

virtual void	snapshot (TiXmlNode *eParent, const String &directory) const override

void	traverse (ComponentVisitor *)

void	traverse (const TraverseCallback &callback)

Public Member Functions inherited from agx::Object
	Object (const Name &name=Name(), Model *model=Object::ClassModel())

void	addListener (EventListener *listener)

virtual void	buildNavigationTree (agxJson::Value &eNode) const

virtual void	configure (TiXmlElement *)

agx::String	fullName () const

agx::String	fullPath () const

agx::String	fullPath (const agx::Object *root) const

template<typename T >
T *	getAutoScopedResource (const agx::Path &path)

template<typename T >
const T *	getAutoScopedResource (const agx::Path &path) const

agx::Object *	getAutoScopedResource (const agx::Path &path, agx::Model *model=nullptr)

const agx::Object *	getAutoScopedResource (const agx::Path &path, agx::Model *model=nullptr) const

agx::Object *	getContext ()

template<typename T >
T *	getContext ()

const agx::Object *	getContext () const

template<typename T >
const T *	getContext () const

agx::UInt32	getId () const

const agx::Name &	getImplementationName () const

agx::Model *	getModel ()

const agx::Model *	getModel () const

const agx::Name &	getName () const

agx::Object *	getNextSibling ()

const agx::Object *	getNextSibling () const

agx::Path	getPath () const

agx::Path	getPath (const agx::Object *root) const

template<typename T >
T *	getResource (const agx::Path &path)

template<typename T >
const T *	getResource (const agx::Path &path) const

agx::Object *	getResource (const agx::Path &path, agx::Model *model=nullptr)

const agx::Object *	getResource (const agx::Path &path, agx::Model *model=nullptr) const

virtual agx::Object *	getResourceImpl (const agx::Path &path, agx::Model *model)

agx::Object *	getRootContext ()

const agx::Object *	getRootContext () const

bool	hasListener (EventListener *listener)

bool	hasParent (const agx::Object *node) const

bool	isUnique () const

virtual void	printSubtree () const

virtual void	rebind ()

void	removeListener (EventListener *listener)

virtual void	save (TiXmlElement *) const

virtual void	setContext (agx::Object *context)

void	setId (UInt32 id)

void	setModel (agx::Model *model)
	Set the object model (handled automatically).

void	setName (const agx::Name &name)
	Set the name of the object.

virtual void	snapshot (TiXmlNode *, const String &) const

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Protected Member Functions
virtual	~Space ()
	Destructor.

Protected Member Functions inherited from agx::Component
virtual	~Component ()

String	expandAutoCompletionMatch (const String &query, const StringVector &matchingNames) const

void	setDevice (Device *device)

Protected Member Functions inherited from agx::Object
virtual	~Object ()

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Public Member Functions inherited from agx::Component
static Component *	_load (TiXmlElement eComponent, Device device)

static agx::Model *	ClassModel ()

static Component *	load (const Path &path, const Name &implementation, Device *device, const Path &_namespace=Path())

static Component *	load (const String &path, const Path &_namespace=Path())

static Component *	load (const String &path, Device *device, const Path &_namespace=Path())

static Component *	load (TiXmlElement eComponent, Device device)

Static Public Member Functions inherited from agx::Object
static agx::Model *	ClassModel ()

static agx::String	generateName (const agx::String &bindPath)

static const HashSet< Object * > &	getActiveObjects ()

static bool	getEnableRebind ()
	Should rebinding be allowed? Right now a global setting.

static Object *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

template<typename T >
static T *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

static Object *	load (const String &path, Device *device, const String &type="", size_t instance=0)

template<typename T >
static T *	load (const String &path, Device *device, const String &type="", size_t instance=0)

static void	load (const String &path, Device *device, ObjectPtrVector &loadedObjects)

static Object *	load (TiXmlElement eObject, Device device)

template<typename T >
static T *	load (TiXmlElement eObject, Device device)

static TiXmlDocument	openDocument (const String &path)

static void	setEnableRebind (bool flag)
	Sets if rebinding of objects should be allowed (Right now a global setting).

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Public Attributes inherited from agx::Component
ObjectEvent	addObjectEvent

ObjectEvent	removeObjectEvent

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

This class contains all Geometries and performs Broad Phase and Narrow Phase collision detection to calculate overlapping Geometry pairs.

It also contains methods for explicit overlapping tests with rays etc.

Definition at line 85 of file Space.h.

Member Typedef Documentation

◆ GeometryPairHash

typedef agx::SetVector<GeometryPair> agxCollide::Space::GeometryPairHash

Definition at line 597 of file Space.h.

Member Enumeration Documentation

◆ BroadPhaseAlgorithm

enum agxCollide::Space::BroadPhaseAlgorithm

Enum for specifying which BroadPhase algorithm space should use.

Enumerator

INVALID_BROAD_PHASE_ALGORITHM

SWEEP_AND_PRUNE

SAP good for scenes which are semi stationary.

Good for temporal coherency.

HIERARCHICAL_GRID

Good for large scale scenes, particle systems where one can expect large motions between time steps.

Definition at line 90 of file Space.h.

Constructor & Destructor Documentation

◆ Space() [1/2]

agxCollide::Space::Space ( )

Default constructor.

◆ Space() [2/2]

agxCollide::Space::Space ( agx::Device * device )

Instantiate Space with a specific device.

◆ ~Space()

virtual agxCollide::Space::~Space ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ add()

bool agxCollide::Space::add ( Geometry * geometry )

Insert a new geometry into the Space so it can collide with other geometries.

Returns: true if geometry is added successfully. False if geometry was already added.

◆ addGeometryContacts()

void agxCollide::Space::addGeometryContacts ( const LocalGeometryContactVector & localContacts )

Explicitly add geometry contacts.

This must be done after Space::update(), and not from within a ContactEventListener; preferable via agxSDK::StepEventListener::pre(t). Contact materials are not automatically calculated; they must be explicitly set for each contact. Contacts without a contact material will be ignored. Impact state for each LocalGeometryContact has to be set manually by using the 'solveImpact'-member (default: on).

◆ addListener()

void agxCollide::Space::addListener ( agxCollide::SpaceListener * listener )

Add a listener to space.

The listener will be signaled at add/remove geometry events.

◆ canCollide()

bool agxCollide::Space::canCollide	(	const Geometry *	g1,
		const Geometry *	g2
	)		const

Check if two geometries can collide.

Following has to be true to make this method return true.

Both geometries have to be enabled if they belong to a group pair that is not disabled g1 != g2. collisions for g1 are not disabled against g2 (g1->setEnableCollisions(g2, false) if they both have a body, that it is not the same body.

Returns: true if the two geometries can collide.

Definition at line 870 of file Space.h.

References agx::SetVector< DataT, HashT >::contains(), and agx::RigidBody::getEnable().

◆ cleanup()

void agxCollide::Space::cleanup ( )

Cleanup the internal state of the object.

All Geometries will be removed one by one. The state after calling this method should be the same as creating a new object.

◆ commitRemovedContacts()

void agxCollide::Space::commitRemovedContacts ( )

Go through all the contact and contact points scheduled for removal and remove them from the list of contacts.

◆ computeNumberOfEnabledContactPoints()

size_t agxCollide::Space::computeNumberOfEnabledContactPoints ( ) const

Returns: the computed number of enabled geometry contact points in the simulation.

◆ disableForContacts()

template<typename F >

void agxCollide::Space::disableForContacts ( F relevantCollision )

inline

If for some reason a geometry or several geometries collides with less geometries now than previously, we need to make sure that previous overlaps are removed, as they might remain otherwise.

Parameters

relevantCollision A class that has the function const bool operator()(const agxCollide::Geometry*, const agxCollide::Geometry*) that returns whether or not the collision between the two geometries should be reevaluated

Definition at line 456 of file Space.h.

References agx::Vector< T, Allocator >::back(), agx::Container::empty(), agx::Physics::GeometryPairPtr::geometry1(), agx::Physics::GeometryPairPtr::geometry2(), agx::Physics::GeometryPtr::model(), agx::Vector< T, Allocator >::pop_back(), agx::Vector< T, Allocator >::push_back(), agx::Vector< T, Allocator >::reserve(), and agx::Container::size().

◆ enableForContacts()

template<typename F >

void agxCollide::Space::enableForContacts ( F relevantCollision )

inline

If for some reason a geometry or several geometries collides with more geometries now than previously, we need to make sure that current overlaps are reported, as they might be ignored otherwise.

Parameters

relevantCollision A class that has the function const bool operator()(const agxCollide::Geometry*, const agxCollide::Geometry*) that returns whether or not the collision between the two geometries should be reevaluated

Definition at line 426 of file Space.h.

◆ eraseDisabledGroupPair()

void agxCollide::Space::eraseDisabledGroupPair	(	agx::UInt32	group1,
		agx::UInt32	group2
	)

Consider using setEnablePair( group1, group2, true ) instead.

Similar to setEnablePair( group1, group2, true ) but this method doesn't look for (and adds) broad phase pairs matching the groups. I.e., this method isn't safe to use if you are unsure there are geometries overlapping matching the groups.

Parameters

group1	- first group id
group2	- second group id

See also: setEnablePair

◆ findDisabledCollisionsState()

agxCollide::DisabledCollisionsState agxCollide::Space::findDisabledCollisionsState ( ) const

Find the complete state of disabled collisions, including name <-> name pairs, id <-> id pairs and geometry <-> geometry pairs.

Returns: current disabled collisions state

◆ getBroadPhaseAlgorithm()

BroadPhaseAlgorithm agxCollide::Space::getBroadPhaseAlgorithm ( ) const

Returns: The active broad phase algorithm.

◆ getBroadPhasePairs()

const BroadPhasePairVector & agxCollide::Space::getBroadPhasePairs ( ) const

Returns: a vector of the current overlapping bounding volumes.

Definition at line 959 of file Space.h.

References agx::Vector< T, Allocator >::allocator(), and agxData::BufferProxyAllocator::update().

◆ getContact()

GeometryContact agxCollide::Space::getContact	(	Geometry *	g1,
		Geometry *	g2
	)		const

Returns geometry contact between two geometries, if existing.

Parameters

g1	The first geometry.
g2	The second geometry.

Returns: Geometry contact between two geometries. If no matching geometry contact is found, an empty GeometryContact (GeometryContact()) will get returned. Thus, the return value should be checked for isValid() before being used.

Note: Works only for geometry contacts added by the general collision detection pipeline, not manually added ones; an alternative in that case is to use getGeometryContacts()).

◆ getContactReductionBinResolution()

agx::UInt agxCollide::Space::getContactReductionBinResolution ( ) const

Return values

How	many bins per dimension for contact reduction between geometry pairs.

Definition at line 1002 of file Space.h.

◆ getContactReductionThreshold()

agx::UInt agxCollide::Space::getContactReductionThreshold ( ) const

Returns: Lower threshold number of contact points in a geometry contact in order run contact reduction on it.

◆ getDisabledPairs()

const GeometryPairHash & agxCollide::Space::getDisabledPairs ( ) const

Returns: an hashtable containing all pairs of disabled geometries

◆ getEnableContactReduction()

bool agxCollide::Space::getEnableContactReduction ( ) const

Returns: Is contact reduction for geometry pairs enabled?

Definition at line 997 of file Space.h.

◆ getEnablePair() [1/2]

bool agxCollide::Space::getEnablePair	(	agx::UInt32	group1,
		agx::UInt32	group2
	)		const

Get information if group1 and group2 are allowed to collide.

Parameters

group1	- First id
group2	- Second id

Returns: true if the two groupID is allowed to collide, otherwise false.

Definition at line 954 of file Space.h.

◆ getEnablePair() [2/2]

bool agxCollide::Space::getEnablePair	(	const agx::Name &	group1,
		const agx::Name &	group2
	)		const

Get information if group1 and group2 are allowed to collide.

Parameters

group1	- First id
group2	- Second id

Returns: true if the two groupID is allowed to collide, otherwise false.

Definition at line 947 of file Space.h.

◆ getGeometries()

const GeometryRefVector & agxCollide::Space::getGeometries ( ) const

Returns: vector of geometries which has been added to this space

Definition at line 942 of file Space.h.

◆ getGeometry() [1/4]

Geometry * agxCollide::Space::getGeometry ( const agx::Name & name )

Find (linear search) the first Geometry in space with a matching name.

Parameters

name	- name of geometry to search for

Returns: a pointer to the found Geometry, null if not found.

◆ getGeometry() [2/4]

const Geometry * agxCollide::Space::getGeometry ( const agx::Name & name ) const

Find (linear search) the first Geometry in space with a matching name.

Parameters

name	- name of geometry to search for

Returns: a pointer to the found Geometry, null if not found.

◆ getGeometry() [3/4]

Geometry * agxCollide::Space::getGeometry ( const agx::Uuid & uuid )

Find (linear search) the first Geometry in space matching the specified uuid.

Parameters

uuid	- name of geometry to search for

Returns: a pointer to the found Geometry, null if not found.

◆ getGeometry() [4/4]

const Geometry * agxCollide::Space::getGeometry ( const agx::Uuid & uuid ) const

Find (linear search) the first Geometry in space matching the specified uuid.

Parameters

uuid	- uuid of geometry to search for

Returns: a pointer to the found Geometry, null if not found.

◆ getGeometryContacts() [1/3]

const GeometryContactPtrVector & agxCollide::Space::getGeometryContacts ( ) const

Access to the vector containing all narrow phase contacts.

Returns: A reference to a vector with reference pointers to GeometryContact This vector contain pointers to GeometryContact which are valid during this simulation step only, so never store a pointer to them and use them over several time steps.

◆ getGeometryContacts() [2/3]

size_t agxCollide::Space::getGeometryContacts	(	GeometryContactPtrVector &	matches,
		const agx::RigidBody *	body1,
		const agx::RigidBody *	body2 = `nullptr`
	)		const

Extract a vector with all matching geometry contacts involving the two specified rigid bodies This method will perform a linear search through all contact points.

Parameters

body1	- The first specified rigid body to search for among geometry contacts
body2	- The second specified rigid body to search for among geometry contacts (if null only match body1)
matches	- a vector with all matching geometry contact points This vector contain pointers to GeometryContact which are valid during this simulation step only, so never store a pointer to them and use them over several time steps.

Returns: number of matching geometry contacts

◆ getGeometryContacts() [3/3]

size_t agxCollide::Space::getGeometryContacts	(	GeometryContactPtrVector &	matches,
		const agxCollide::Geometry *	geometry1,
		const agxCollide::Geometry *	geometry2 = `nullptr`
	)		const

Extract a vector with all matching geometry contacts involving the two specified geometries.

This method will perform a linear search through all contact points.

Parameters

geometry1	- The first specified geometry to search for among geometry contacts
geometry2	- The second specified geometry to search for among geometry contacts (if null only match geometry1)
matches	- a vector with all matching geometry contact points This vector contain pointers to GeometryContact which are valid during this simulation step only, so never store a pointer to them and use them over several time steps.

Returns: number of matching geometry contacts

◆ getGeometryWithEntityId() [1/2]

Geometry * agxCollide::Space::getGeometryWithEntityId ( agx::Index id )

Return Geometry in space matching the specified id.

Note that the id specified here is the internal id of a geometry entity and not the id of the high level geometry object as returned by Geometry::getId()

Parameters

id	- Entity id of geometry

Returns: a pointer to the corresponding Geometry, null if id is not in space or is invalid.

◆ getGeometryWithEntityId() [2/2]

const Geometry * agxCollide::Space::getGeometryWithEntityId ( agx::Index id ) const

Return Geometry in space matching the specified id.

Note that the id specified here is the internal id of a geometry entity and not the id of the high level geometry object as returned by Geometry::getId()

Parameters

id	- Entity id of geometry

Returns: a pointer to the corresponding Geometry, null if id is not in space or is invalid.

◆ getHierarchicalGrid()

HierarchicalGrid * agxCollide::Space::getHierarchicalGrid ( )

Returns: The hierarchical grid.

Definition at line 1012 of file Space.h.

◆ getOrientedBoundsThreshold()

agx::Real agxCollide::Space::getOrientedBoundsThreshold ( ) const

Returns the current threshold for where oriented bounds are created for Geometries.

Definition at line 1007 of file Space.h.

◆ getParticleGeometryContacts()

const ParticleGeometryContactVector & agxCollide::Space::getParticleGeometryContacts ( )

Returns: the current ParticleGeometryContacts in the simulation

◆ getParticleParticleContacts()

const ParticlePairContactVector & agxCollide::Space::getParticleParticleContacts ( )

Returns: the current ParticleParticle contacts in the simulation

◆ getSeparationPairs() [1/3]

const SeparationPairVector & agxCollide::Space::getSeparationPairs ( ) const

Returns: a vector of the geometries which are no longer overlapping (could still have overlapping bounding volumes)

Definition at line 965 of file Space.h.

References agx::Vector< T, Allocator >::allocator(), and agxData::BufferProxyAllocator::update().

◆ getSeparationPairs() [2/3]

size_t agxCollide::Space::getSeparationPairs	(	agx::Physics::GeometryPairPtrVector &	matches,
		const agx::RigidBody *	body1,
		const agx::RigidBody *	body2 = `nullptr`
	)		const

Extract a new vector including rigid bodies which just recently separated.

Parameters

body1	- Specifies the first rigid body to search for among the separation pairs
body2	- Specifies the second rigid body to search for among the separation pairs, if nullptr then only match geometry1
matches	- a vector of the geometries which are no longer overlapping (could still have overlapping bounding volumes)

Returns: size of matching vector

◆ getSeparationPairs() [3/3]

size_t agxCollide::Space::getSeparationPairs	(	agx::Physics::GeometryPairPtrVector &	matches,
		const agxCollide::Geometry *	geometry1,
		const agxCollide::Geometry *	geometry2 = `nullptr`
	)		const

Extract a new vector including geometries which just recently separated.

Parameters

geometry1	- Specifies the first geometry to search for among the separation pairs
geometry2	- Specifies the second geometry to search for among the separation pairs, if nullptr then only match geometry1
matches	- a vector of the geometries which are no longer overlapping (could still have overlapping bounding volumes)

Returns: size of matching vector

◆ getSweepAndPrune()

agxCollide::SweepAndPrune * agxCollide::Space::getSweepAndPrune ( )

Returns: a pointer to the Sweep and prune implementation.

◆ getUniqueGroupID()

agx::UInt32 agxCollide::Space::getUniqueGroupID ( )

Returns: a unique group ID starting from 2^31

◆ insertDisabledGroupPair()

void agxCollide::Space::insertDisabledGroupPair	(	agx::UInt32	group1,
		agx::UInt32	group2
	)

Consider using setEnablePair( group1, group2, false ) instead.

Similar to setEnablePair( group1, group2, false ) but this method doesn't look for (and removes) broad phase pairs matching the groups. I.e., this method isn't safe to use if you are unsure there are geometries overlapping matching the groups.

Parameters

group1	- first group id
group2	- second group id

See also: setEnablePair

◆ intersect()

bool agxCollide::Space::intersect	(	const agx::Vec3 &	point,
		const agx::Vec3 &	direction,
		LocalGeometryContactVector &	geometryContacts,
		LocalParticleGeometryContactVector &	particleGeometryContacts,
		const agx::Real	length = `FLT_MAX/4`
	)

Sends a ray into the collision space and returns information about the objects the ray hits.

The ray does not have to hit anything and the returned contact data can be empty.

Parameters

point	start point of the ray
direction	Direction of the ray
geometryContacts	A GeometryContactPtrVector where contact data will be stored for the objects the ray intersected the objects are sorted closest to furthest away
particleGeometryContacts	A GeometryContactPtrVector where contact data will be stored for the objects the ray intersected the objects are sorted closest to furthest away
length	Max length of ray, objects further away than length will not be hit even if they are in the path of the ray

Returns: true if at least one object was intersected, otherwise false

◆ remove()

bool agxCollide::Space::remove ( Geometry * geometry )

Remove a geometry from Space.

Parameters

geometry - Pointer to a Geometry that will be removed

Returns: true if geometry existed in space and was successfully removed

◆ removeContact() [1/2]

void agxCollide::Space::removeContact ( agx::Physics::GeometryContactPtr contact )

Schedule a removal of a specified Narrow phase contact, the contact will not be removed until the method commitRemovedContacts() is called (during the next update())

Parameters

contact - Remove the specified contact.

Definition at line 971 of file Space.h.

References agx::Physics::GeometryContactPtr::enabled().

◆ removeContact() [2/2]

GeometryContactPtrVector::const_iterator agxCollide::Space::removeContact ( GeometryContactPtrVector::const_iterator contact )

Remove a specified GeometryContact from the list of contacts.

It is important that this iterator is valid, i.e. accessed during the same time step and that the list of contacts is not modified since it is acquired.

Parameters

contact - iterator taken from the getGeometryContacts() at the same time step.

◆ removeListener()

bool agxCollide::Space::removeListener ( agxCollide::SpaceListener * listener )

Remove a listener from Space.

Returns: true if removal was successful

◆ removeOverlap()

void agxCollide::Space::removeOverlap	(	agxCollide::Geometry *	geometry1,
		agxCollide::Geometry *	geometry2
	)

Remove a (Sweep and Prune) bounding overlap, if it exists, between geometry1 and geoemtry2.

It doesn't matter in which order the two geometries are passed to this method.

Parameters

geometry1	- first geometry
geometry2	- second geometry

Definition at line 985 of file Space.h.

◆ reportOverlap()

void agxCollide::Space::reportOverlap	(	agxCollide::Geometry *	geometry1,
		agxCollide::Geometry *	geometry2
	)

Add an explicit bounding volume overlap between the two specified geometries.

Parameters

geometry1,geometry2 - The two geometries in the new Broad phase overlap.

Definition at line 977 of file Space.h.

References agxCollide::Geometry::isEnabled().

◆ resetGeometryCellAssignments()

void agxCollide::Space::resetGeometryCellAssignments ( agxCollide::Geometry * geometry )

◆ resetParticleCellAssignments()

void agxCollide::Space::resetParticleCellAssignments ( )

◆ setBroadPhaseAlgorithm()

bool agxCollide::Space::setBroadPhaseAlgorithm ( BroadPhaseAlgorithm algorithm )

Specify a new broad phase algorithm implementation.

Returns: false if the algorithm can't be changed, eg if using ParallelPGS solver, or particle system, which both require the HIERARCHICAL_GRID

◆ setContactReductionBinResolution()

void agxCollide::Space::setContactReductionBinResolution ( agx::UInt binResolution )

Specify the default (for this Simulation) resolution used when evaluating contacts for reduction between geometry-geometry contacts.

A high value will keep more contacts, lower will result in more aggressive reduction the default. If no resolution is specified per material this value will be used. Commonly a value of 2-3 will give good results. Values from 1 to 10 are valid. This value will be used for all geometry contacts where either no contact material is set, or where the ContactReductionBinResolution of the contact material is 0.

Parameters

binResolution - parameter to ContactReducer.

◆ setContactReductionThreshold()

void agxCollide::Space::setContactReductionThreshold ( agx::UInt threshold )

Specify the lower threshold for the number of contact points needed per geometry contact in order to do contact reduction per geometry contact.

Parameters

threshold - Lower threshold for number of contact points in a geometry contact in order run contact reduction on it.

◆ setEnableCollisions()

void agxCollide::Space::setEnableCollisions	(	const Geometry *	g1,
		const Geometry *	g2,
		bool	flag
	)

Explicitly disable/enable a geometry pair.

◆ setEnableContactReduction()

void agxCollide::Space::setEnableContactReduction ( bool flag )

Enable/Disable contact reduction between pairs of geometries.

Parameters

flag	- if true, contact reduction is enabled.

◆ setEnableGeometry()

void agxCollide::Space::setEnableGeometry	(	Geometry *	geometry,
		bool	flag
	)

◆ setEnablePair() [1/2]

void agxCollide::Space::setEnablePair	(	agx::UInt32	group1,
		agx::UInt32	group2,
		bool	flag
	)

Enable/disable collisions between two geometry group ID:s.

This can be used to group Geometries into separate collision groups, where collisions can be enabled/disabled between the different GeometryID groups.

The largest number for a group ID is defined to be 2^31 - 1 (2 147 483 647), the rest are reserved by space and can be accessed via getUniqueGroupID().

Parameters

group1	- First group id
group2	- Second group id
flag	- If true, the geometries in groupID1 and groupID2 can collide, otherwise not.

◆ setEnablePair() [2/2]

void agxCollide::Space::setEnablePair	(	const agx::Name &	group1,
		const agx::Name &	group2,
		bool	flag
	)

◆ setOrientedBoundsThreshold()

void agxCollide::Space::setOrientedBoundsThreshold ( agx::Real threshold )

Sets the threshold where oriented bounds are created for Geometries.

Changing the value will create or destroy oriented bounds as necessary for already created Geometries.

◆ testBoundingVolumeOverlap()

bool agxCollide::Space::testBoundingVolumeOverlap	(	GeometryPtrVector &	testGeometries,
		GeometryPairVector &	geometryPairs,
		ParticleGeometryPairVector &	particleGeometryPairs,
		bool	skip = `true`
	)

Tests a number of geometries for bounding volume overlaps without changing the geometries already in space besides from updating bounding volumes.

Parameters

testGeometries	- The vector with geometries that should be tested for overlaps. These may be rearranged to speed up testing.
geometryPairs	- The geometry pairs which have overlapping bounding volumes
particleGeometryPairs	- The particle-geometry pairs which have overlapping bounding volumes
skip	- If true, skip collisions between geometries that both are in the testGeometries vector. Useful when some geometries are already added to space.

Returns: true if any overlaps were found.

◆ testGeometryOverlap()

bool agxCollide::Space::testGeometryOverlap	(	GeometryPtrVector &	testGeometries,
		LocalGeometryContactVector &	geometryContacts,
		LocalParticleGeometryContactVector &	particleGeometryContacts,
		bool	skip = `true`
	)

Test if a number of geometries collides with something already present in space without changing space, besides from updating some bounding volumes.

Parameters

testGeometries	The vector with geometries that should be tested for overlaps. These may be rearranged to speed up testing.
geometryContacts	- The geometry contacts that were found
particleGeometryContacts	- The particle-geometry contacts that were found
skip	- If true, skip collisions between geometries that both are in the testGeometries vector. Useful when some geometries are already added to space.

Returns: True if any overlaps were found.

◆ update()

void agxCollide::Space::update ( )

Update the contact state of the entire space including Broad Phase and narrow phase.

◆ updateBroadPhase()

void agxCollide::Space::updateBroadPhase ( )

Update the broad-phase state of the space.

◆ updateNarrowPhase()

void agxCollide::Space::updateNarrowPhase ( )

Update the narrow phase state, calculating contact data for all overlapping geometry pairs.

i.e. check all current bounding box overlaps for possible contacts

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

Space.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GeometryPairHash

Member Enumeration Documentation

◆ BroadPhaseAlgorithm

Constructor & Destructor Documentation

◆ Space() [1/2]

◆ Space() [2/2]

◆ ~Space()

Member Function Documentation

◆ add()

◆ addGeometryContacts()

◆ addListener()

◆ canCollide()

◆ cleanup()

◆ commitRemovedContacts()

◆ computeNumberOfEnabledContactPoints()

◆ disableForContacts()

◆ enableForContacts()

◆ eraseDisabledGroupPair()

◆ findDisabledCollisionsState()

◆ getBroadPhaseAlgorithm()

◆ getBroadPhasePairs()

◆ getContact()

◆ getContactReductionBinResolution()

◆ getContactReductionThreshold()

◆ getDisabledPairs()

◆ getEnableContactReduction()

◆ getEnablePair() [1/2]

◆ getEnablePair() [2/2]

◆ getGeometries()

◆ getGeometry() [1/4]

◆ getGeometry() [2/4]

◆ getGeometry() [3/4]

◆ getGeometry() [4/4]

◆ getGeometryContacts() [1/3]

◆ getGeometryContacts() [2/3]

◆ getGeometryContacts() [3/3]

◆ getGeometryWithEntityId() [1/2]

◆ getGeometryWithEntityId() [2/2]

◆ getHierarchicalGrid()

◆ getOrientedBoundsThreshold()

◆ getParticleGeometryContacts()

◆ getParticleParticleContacts()

◆ getSeparationPairs() [1/3]

◆ getSeparationPairs() [2/3]

◆ getSeparationPairs() [3/3]

◆ getSweepAndPrune()

◆ getUniqueGroupID()

◆ insertDisabledGroupPair()

◆ intersect()

◆ remove()

◆ removeContact() [1/2]

◆ removeContact() [2/2]

◆ removeListener()

◆ removeOverlap()

◆ reportOverlap()

◆ resetGeometryCellAssignments()

◆ resetParticleCellAssignments()

◆ setBroadPhaseAlgorithm()

◆ setContactReductionBinResolution()

◆ setContactReductionThreshold()

◆ setEnableCollisions()

◆ setEnableContactReduction()

◆ setEnableGeometry()

◆ setEnablePair() [1/2]

◆ setEnablePair() [2/2]

◆ setOrientedBoundsThreshold()

◆ testBoundingVolumeOverlap()

◆ testGeometryOverlap()

◆ update()

◆ updateBroadPhase()

◆ updateNarrowPhase()