agxCollide Namespace Reference

This namespace consists of a set of classes for handling geometric intersection tests including boolean tests, penetration and contact sets. More...

Namespaces
namespace	agxGeometryQueries
	Implementations.
namespace	deprecated
namespace	ElasticRestLengthCalculator

Classes
class	BoundingAABB
	Axis aligned bounding box implementation. More...
class	Box
	A box shape for geometric intersection tests. More...
class	Capsule
	Implements a Capsule shape for geometric intersection tests. More...
class	ColliderTable
class	ColliderTableCleanup
class	CollisionGroupManager
class	CollisionMeshData
	Class for data sharing only to be used by Mesh, its internal classes and children. More...
class	Cone
	A right circular cone shape for geometric intersection tests. More...
class	ContactPoint
	A contact point in a contact data. More...
class	ContactReducer
	Class for contact reduction. More...
class	ContactRegionManager
	Class for merging contact regions and computing their normals. More...
class	Convex
	A convex class for geometric intersection tests. More...
class	ConvexFactory
	Class for creating convex meshes from a set of vertices and indices. More...
class	Cylinder
	A cylinder shape for geometric intersection tests. More...
class	DisabledCollisionsState
	Complete disabled collisions state in a simulation including disabled given name, group id (integer) and geometry pair. More...
class	FallbackConvexCollider
	This template class can be instantiated to use Convex-Convex for shape pairs where no explicit collider exists. More...
class	Geometry
	The geometry representation used by the collision detection engine. More...
class	GeometryCollider
	The geometry collider is responsible for finding contacts between two geometries. More...
class	GeometryContact
	A contact between two geometries. More...
struct	GeometryPtrPair
class	GroupIdCollection
	Collection of geometry group names and id's. More...
struct	GroupIdPair
class	HeightField
	A HeightField is a collision shape that can be created from a grid structure, like an image. More...
class	HeightFieldMeshData
	Class for data sharing only to be used by HeightField. More...
class	HierarchicalGrid
class	HollowCone
	A right circular hollow cone shape for geometric intersection tests. More...
class	HollowCylinder
	A hollow cylinder shape for geometric intersection tests. More...
class	Line
	A line shape for intersection tests, mostly for depth sensing and picking. More...
class	LineSegmentIntersectionFinder
class	LocalContactPoint
class	LocalGeometryContact
class	LocalParticleGeometryContact
class	LocalParticlePairContact
class	Mesh
	Mesh is a common base class for triangle meshes, such as Mesh or HeightField. More...
class	MeshData
	Stores triangle mesh data as triangle lists, i.e. More...
struct	NamePair
class	Plane
class	Polynomial
class	RegressionPlane
	A plane created from points using least squares minimization. More...
class	RenderData
	Class for storing rendering information for a Shape. More...
class	RenderMaterial
	Class for storing rendering material. More...
class	Shape
	Base class for a shape. More...
class	Space
	This class contains all Geometries and performs Broad Phase and Narrow Phase collision detection to calculate overlapping Geometry pairs. More...
class	SpaceListener
	Class for listening for add/remove geometry events for an associated Space. More...
class	Sphere
	A sphere class for geometric intersection tests. More...
class	SweepAndPrune
class	TriangleVoronoiRegion
	Class containing the Voronoi region of a triangle as an uint8_t. More...
class	Trimesh
	Triangle mesh for geometric intersection tests. More...
class	VoronoiGenerator
class	WireShape
	Internal class used by agxWire::Wire. More...

Typedefs
typedef agx::observer_ptr< const Box >	BoxConstObserver
typedef agx::ref_ptr< const Box >	BoxConstRef
typedef agx::observer_ptr< Box >	BoxObserver
typedef agx::ref_ptr< Box >	BoxRef
typedef agx::Vector< agx::Physics::BroadPhasePairPtr, agxData::BufferProxyAllocator >	BroadPhasePairVector
typedef agx::observer_ptr< const Capsule >	CapsuleConstObserver
typedef agx::ref_ptr< const Capsule >	CapsuleConstRef
typedef agx::observer_ptr< Capsule >	CapsuleObserver
typedef agx::ref_ptr< Capsule >	CapsuleRef
typedef agx::observer_ptr< const CollisionGroupManager >	CollisionGroupManagerConstObserver
typedef agx::ref_ptr< const CollisionGroupManager >	CollisionGroupManagerConstRef
typedef agx::observer_ptr< CollisionGroupManager >	CollisionGroupManagerObserver
typedef agx::ref_ptr< CollisionGroupManager >	CollisionGroupManagerRef
typedef agx::ref_ptr< CollisionMeshData >	CollisionMeshDataRef
typedef agx::observer_ptr< const Cone >	ConeConstObserver
typedef agx::ref_ptr< const Cone >	ConeConstRef
typedef agx::observer_ptr< Cone >	ConeObserver
typedef agx::ref_ptr< Cone >	ConeRef
typedef agx::ref_ptr< const CollisionMeshData >	ConstCollisionMeshDataRef
typedef agx::ref_ptr< const HeightFieldMeshData >	ConstHeightFieldMeshDataRef
typedef agx::ref_ptr< const MeshData >	ConstMeshDataRef
typedef agxData::Array< ContactPoint >	ContactPointVector
typedef agx::observer_ptr< const Convex >	ConvexConstObserver
typedef agx::ref_ptr< const Convex >	ConvexConstRef
typedef agx::observer_ptr< const ConvexFactory >	ConvexFactoryConstObserver
typedef agx::ref_ptr< const ConvexFactory >	ConvexFactoryConstRef
typedef agx::observer_ptr< ConvexFactory >	ConvexFactoryObserver
typedef agx::ref_ptr< ConvexFactory >	ConvexFactoryRef
typedef agx::observer_ptr< Convex >	ConvexObserver
typedef agx::ref_ptr< Convex >	ConvexRef
typedef agx::Vector< agxCollide::ConvexRef >	ConvexRefVector
typedef agx::observer_ptr< const Cylinder >	CylinderConstObserver
typedef agx::ref_ptr< const Cylinder >	CylinderConstRef
typedef agx::observer_ptr< Cylinder >	CylinderObserver
typedef agx::ref_ptr< Cylinder >	CylinderRef
typedef agx::observer_ptr< const Geometry >	GeometryConstObserver
typedef agx::ref_ptr< const Geometry >	GeometryConstRef
typedef agx::VectorPOD< GeometryContact * >	GeometryContactPtrVector
typedef agx::Vector< GeometryContact >	GeometryContactVector
typedef agx::HashSet< const Geometry * >	GeometryHashSet
typedef agx::HashVector< const Geometry *, agx::observer_ptr< const Geometry > >	GeometryHashVector
typedef agx::observer_ptr< Geometry >	GeometryObserver
typedef agx::Vector< GeometryObserver >	GeometryObserverVector
typedef agx::Vector< agxCollide::GeometryPair >	GeometryPairVector
typedef agx::Vector< GeometryPtrPair >	GeometryPtrPairVector
typedef agx::VectorPOD< Geometry * >	GeometryPtrVector
typedef agx::ref_ptr< Geometry >	GeometryRef
typedef agx::SetVector< agx::ref_ptr< agxCollide::Geometry > >	GeometryRefSetVector
typedef agx::Vector< agx::ref_ptr< Geometry > >	GeometryRefVector
typedef agx::HashTable< agxCollide::Geometry *, agx::ref_ptr< Geometry > >	GeometryTable
typedef agx::Vector< GroupIdPair >	GroupIdPairVector
typedef agx::Vector< agx::Name >	GroupNameVector
typedef agx::observer_ptr< const HeightField >	HeightFieldConstObserver
typedef agx::ref_ptr< const HeightField >	HeightFieldConstRef
typedef agx::ref_ptr< HeightFieldMeshData >	HeightFieldMeshDataRef
typedef agx::observer_ptr< HeightField >	HeightFieldObserver
typedef agx::ref_ptr< HeightField >	HeightFieldRef
typedef agx::observer_ptr< const HierarchicalGrid >	HierarchicalGridConstObserver
typedef agx::ref_ptr< const HierarchicalGrid >	HierarchicalGridConstRef
typedef agx::observer_ptr< HierarchicalGrid >	HierarchicalGridObserver
typedef agx::ref_ptr< HierarchicalGrid >	HierarchicalGridRef
typedef agx::observer_ptr< const HollowCone >	HollowConeConstObserver
typedef agx::ref_ptr< const HollowCone >	HollowConeConstRef
typedef agx::observer_ptr< HollowCone >	HollowConeObserver
typedef agx::ref_ptr< HollowCone >	HollowConeRef
typedef agx::observer_ptr< const HollowCylinder >	HollowCylinderConstObserver
typedef agx::ref_ptr< const HollowCylinder >	HollowCylinderConstRef
typedef agx::observer_ptr< HollowCylinder >	HollowCylinderObserver
typedef agx::ref_ptr< HollowCylinder >	HollowCylinderRef
typedef agx::observer_ptr< const Line >	LineConstObserver
typedef agx::ref_ptr< const Line >	LineConstRef
typedef agx::observer_ptr< Line >	LineObserver
typedef agx::ref_ptr< Line >	LineRef
typedef agx::VectorPOD< LocalContactPoint >	LocalContactPointVector
typedef agx::Vector< LocalGeometryContact >	LocalGeometryContactVector
typedef agx::Vector< LocalParticleGeometryContact >	LocalParticleGeometryContactVector
typedef agx::Vector< LocalParticlePairContact >	LocalParticlePairContactVector
typedef agx::Vector< agx::Physics::GeometryPairPtr >	LocalSeparationPairVector
typedef agx::observer_ptr< const Mesh >	MeshConstObserver
typedef agx::ref_ptr< const Mesh >	MeshConstRef
typedef agx::ref_ptr< MeshData >	MeshDataRef
typedef agx::observer_ptr< Mesh >	MeshObserver
typedef agx::ref_ptr< Mesh >	MeshRef
typedef agx::Vector< NamePair >	NamePairVector
typedef agx::Vector< agx::Physics::ParticleGeometryContactPtr >	ParticleGeometryContactVector
typedef std::pair< agx::Physics::ParticlePtr, agx::Physics::GeometryPtr >	ParticleGeometryPair
typedef agx::Vector< ParticleGeometryPair >	ParticleGeometryPairVector
typedef agx::Vector< agx::Physics::ParticlePairContactPtr >	ParticlePairContactVector
typedef agx::observer_ptr< const Plane >	PlaneConstObserver
typedef agx::ref_ptr< const Plane >	PlaneConstRef
typedef agx::observer_ptr< Plane >	PlaneObserver
typedef agx::ref_ptr< Plane >	PlaneRef
typedef agx::observer_ptr< const RenderData >	RenderDataConstObserver
typedef agx::ref_ptr< const RenderData >	RenderDataConstRef
typedef agx::observer_ptr< RenderData >	RenderDataObserver
typedef agx::ref_ptr< RenderData >	RenderDataRef
typedef agx::observer_ptr< const RenderMaterial >	RenderMaterialConstObserver
typedef agx::ref_ptr< const RenderMaterial >	RenderMaterialConstRef
typedef agx::observer_ptr< RenderMaterial >	RenderMaterialObserver
typedef agx::ref_ptr< RenderMaterial >	RenderMaterialRef
typedef agx::HashTable< agx::UInt32, RenderMaterialRef >	RenderMaterialValueHashTable
typedef agx::Vector< agx::Physics::GeometryPairPtr, agxData::BufferProxyAllocator >	SeparationPairVector
typedef agx::observer_ptr< const Shape >	ShapeConstObserver
typedef agx::ref_ptr< const Shape >	ShapeConstRef
typedef agx::observer_ptr< const ShapeGroup >	ShapeGroupConstObserver
typedef agx::ref_ptr< const ShapeGroup >	ShapeGroupConstRef
typedef agx::observer_ptr< ShapeGroup >	ShapeGroupObserver
typedef agx::ref_ptr< ShapeGroup >	ShapeGroupRef
typedef agx::observer_ptr< Shape >	ShapeObserver
typedef agx::Vector< ShapeObserver >	ShapeObserverVector
typedef agx::VectorPOD< Shape * >	ShapePtrVector
typedef agx::ref_ptr< Shape >	ShapeRef
typedef agx::Vector< agx::ref_ptr< Shape > >	ShapeRefVector
typedef agx::observer_ptr< const Space >	SpaceConstObserver
typedef agx::ref_ptr< const Space >	SpaceConstRef
typedef agx::observer_ptr< Space >	SpaceObserver
typedef agx::ref_ptr< Space >	SpaceRef
typedef agx::observer_ptr< const Sphere >	SphereConstObserver
typedef agx::ref_ptr< const Sphere >	SphereConstRef
typedef agx::observer_ptr< Sphere >	SphereObserver
typedef agx::ref_ptr< Sphere >	SphereRef
typedef agx::observer_ptr< const SweepAndPrune >	SweepAndPruneConstObserver
typedef agx::ref_ptr< const SweepAndPrune >	SweepAndPruneConstRef
typedef agx::observer_ptr< SweepAndPrune >	SweepAndPruneObserver
typedef agx::ref_ptr< SweepAndPrune >	SweepAndPruneRef
typedef agx::observer_ptr< const Trimesh >	TrimeshConstObserver
typedef agx::ref_ptr< const Trimesh >	TrimeshConstRef
typedef agx::observer_ptr< Trimesh >	TrimeshObserver
typedef agx::ref_ptr< Trimesh >	TrimeshRef
typedef agx::observer_ptr< const VoronoiGenerator >	VoronoiGeneratorConstObserver
typedef agx::ref_ptr< const VoronoiGenerator >	VoronoiGeneratorConstRef
typedef agx::observer_ptr< VoronoiGenerator >	VoronoiGeneratorObserver
typedef agx::ref_ptr< VoronoiGenerator >	VoronoiGeneratorRef
typedef agx::observer_ptr< const WireShape >	WireShapeConstObserver
typedef agx::ref_ptr< const WireShape >	WireShapeConstRef
typedef agx::observer_ptr< WireShape >	WireShapeObserver
typedef agx::ref_ptr< WireShape >	WireShapeRef

Enumerations
enum class	ShapeDistanceResult : std::uint8_t { SUCCESS , OVERLAPPING_SHAPES , UNSUPPORTED_SHAPE_TYPES , FAILURE }
	Status values that can be returned when performing shape-shape distance computation. More...

Functions
	AGX_DECLARE_POINTER_TYPES (SpaceListener)
	AGX_STATIC_ASSERT (sizeof(ContactPoint)==sizeof(agx::Physics::ContactPointPtr))
AGXPHYSICS_EXPORT void	collideConvexConvex (const Shape *convexShape1, const Shape *convexShape2, const agx::AffineMatrix4x4 &transform1, const agx::AffineMatrix4x4 &transform2, ShapeCollider::LocalContactPointVector &result, const agx::Real epaAccuracy=agx::AGX_EQUIVALENT_EPSILON)
	Collides two convex shapes (Box, Capsule, Convex, Cylinder, Sphere).
AGXPHYSICS_EXPORT agxCollide::ShapeDistanceResult	computeGeometryDistance (const agxCollide::Geometry *geometry1, const agx::AffineMatrix4x4 &transform1, const agxCollide::Geometry *geometry2, const agx::AffineMatrix4x4 &transform2, agx::Vec3 &point1, agx::Vec3 &point2)
	Utility method to perform shape-shape minimum distance test between all compatible shape pairs, where one shape is taken from each geometry.
AGXPHYSICS_EXPORT agxCollide::ShapeDistanceResult	computeShapeDistance (const agxCollide::Shape *shape1, const agx::AffineMatrix4x4 &transform1, const agxCollide::Shape *shape2, const agx::AffineMatrix4x4 &transform2, agx::Vec3 &point1, agx::Vec3 &point2)
	Utility function to compute the minimum distance between two shapes.
template void	copyContactPoint (const agx::Physics::ContactPointPtr &, LocalContactPoint &)
template void	copyContactPoint (const ContactPoint &, LocalContactPoint &)
template void	copyContactPoint (const LocalContactPoint &, agx::Physics::ContactPointPtr &)
template void	copyContactPoint (const LocalContactPoint &, ContactPoint &)
template<typename T1 , typename T2 >
void	copyContactPoint (const T1 &from, T2 &to)
	Copy between the different kinds of contact points.
AGXPHYSICS_EXPORT void	createSupportContactPoints (const agxCollide::Shape *shape1, const agxCollide::Shape *shape2, const agx::AffineMatrix4x4 &transform1, const agx::AffineMatrix4x4 &transform2, const agx::Vec3 &point, const agx::Vec3 &normal, const agx::Real deepestDepth, agxCollide::ShapeCollider::LocalContactPointVector &result, bool &keepOriginalPoint)
	Given 2 convex shapes and 1 contact point (which is assumed to be the deepest possible point) this function will create extra contact points.
AGXPHYSICS_EXPORT bool	isPointInsideConvex (const agx::Vec3 &point, const agxCollide::Convex *convex)
	Check if a point in world coordinates is inside a given convex.
AGXPHYSICS_EXPORT std::ostream &	operator<< (std::ostream &output, const agx::Physics::CollisionGroupPtr &group)
AGXPHYSICS_EXPORT std::ostream &	operator<< (std::ostream &output, const agx::Physics::CollisionGroupSetPtr &set)
std::ostream &	operator<< (std::ostream &output, const BoundingAABB &bound)
std::ostream &	operator<< (std::ostream &output, const DisabledCollisionsState &state)

Detailed Description

This namespace consists of a set of classes for handling geometric intersection tests including boolean tests, penetration and contact sets.

Typedef Documentation

BoxConstObserver

typedef agx::observer_ptr< const Box > agxCollide::BoxConstObserver

Definition at line 26 of file Box.h.

BoxConstRef

typedef agx::ref_ptr< const Box > agxCollide::BoxConstRef

Definition at line 26 of file Box.h.

BoxObserver

typedef agx::observer_ptr< Box > agxCollide::BoxObserver

Definition at line 26 of file Box.h.

BoxRef

typedef agx::ref_ptr< Box > agxCollide::BoxRef

Definition at line 26 of file Box.h.

BroadPhasePairVector

typedef agx::Vector<agx::Physics::BroadPhasePairPtr, agxData::BufferProxyAllocator> agxCollide::BroadPhasePairVector

Definition at line 65 of file Space.h.

CapsuleConstObserver

typedef agx::observer_ptr< const Capsule > agxCollide::CapsuleConstObserver

Definition at line 27 of file Capsule.h.

CapsuleConstRef

typedef agx::ref_ptr< const Capsule > agxCollide::CapsuleConstRef

Definition at line 27 of file Capsule.h.

CapsuleObserver

typedef agx::observer_ptr< Capsule > agxCollide::CapsuleObserver

Definition at line 27 of file Capsule.h.

CapsuleRef

typedef agx::ref_ptr< Capsule > agxCollide::CapsuleRef

Definition at line 27 of file Capsule.h.

CollisionGroupManagerConstObserver

typedef agx::observer_ptr< const CollisionGroupManager > agxCollide::CollisionGroupManagerConstObserver

Definition at line 29 of file CollisionGroupManager.h.

CollisionGroupManagerConstRef

typedef agx::ref_ptr< const CollisionGroupManager > agxCollide::CollisionGroupManagerConstRef

Definition at line 29 of file CollisionGroupManager.h.

CollisionGroupManagerObserver

typedef agx::observer_ptr< CollisionGroupManager > agxCollide::CollisionGroupManagerObserver

Definition at line 29 of file CollisionGroupManager.h.

CollisionGroupManagerRef

typedef agx::ref_ptr< CollisionGroupManager > agxCollide::CollisionGroupManagerRef

Definition at line 29 of file CollisionGroupManager.h.

CollisionMeshDataRef

typedef agx::ref_ptr<CollisionMeshData> agxCollide::CollisionMeshDataRef

Definition at line 136 of file MeshData.h.

ConeConstObserver

typedef agx::observer_ptr< const Cone > agxCollide::ConeConstObserver

Definition at line 29 of file Cone.h.

ConeConstRef

typedef agx::ref_ptr< const Cone > agxCollide::ConeConstRef

Definition at line 29 of file Cone.h.

ConeObserver

typedef agx::observer_ptr< Cone > agxCollide::ConeObserver

Definition at line 29 of file Cone.h.

ConeRef

typedef agx::ref_ptr< Cone > agxCollide::ConeRef

Definition at line 29 of file Cone.h.

ConstCollisionMeshDataRef

typedef agx::ref_ptr<const CollisionMeshData> agxCollide::ConstCollisionMeshDataRef

Definition at line 137 of file MeshData.h.

ConstHeightFieldMeshDataRef

typedef agx::ref_ptr<const HeightFieldMeshData> agxCollide::ConstHeightFieldMeshDataRef

Definition at line 173 of file MeshData.h.

ConstMeshDataRef

typedef agx::ref_ptr<const MeshData> agxCollide::ConstMeshDataRef

Definition at line 71 of file MeshData.h.

ContactPointVector

typedef agxData::Array<ContactPoint> agxCollide::ContactPointVector

Definition at line 265 of file Contacts.h.

ConvexConstObserver

typedef agx::observer_ptr< const Convex > agxCollide::ConvexConstObserver

Definition at line 31 of file Convex.h.

ConvexConstRef

typedef agx::ref_ptr< const Convex > agxCollide::ConvexConstRef

Definition at line 31 of file Convex.h.

ConvexFactoryConstObserver

typedef agx::observer_ptr< const ConvexFactory > agxCollide::ConvexFactoryConstObserver

Definition at line 32 of file ConvexFactory.h.

ConvexFactoryConstRef

typedef agx::ref_ptr< const ConvexFactory > agxCollide::ConvexFactoryConstRef

Definition at line 32 of file ConvexFactory.h.

ConvexFactoryObserver

typedef agx::observer_ptr< ConvexFactory > agxCollide::ConvexFactoryObserver

Definition at line 32 of file ConvexFactory.h.

ConvexFactoryRef

typedef agx::ref_ptr< ConvexFactory > agxCollide::ConvexFactoryRef

Definition at line 32 of file ConvexFactory.h.

ConvexObserver

typedef agx::observer_ptr< Convex > agxCollide::ConvexObserver

Definition at line 31 of file Convex.h.

ConvexRef

typedef agx::ref_ptr< Convex > agxCollide::ConvexRef

Definition at line 31 of file Convex.h.

ConvexRefVector

typedef agx::Vector< agxCollide::ConvexRef > agxCollide::ConvexRefVector

Definition at line 30 of file ConvexFactory.h.

CylinderConstObserver

typedef agx::observer_ptr< const Cylinder > agxCollide::CylinderConstObserver

Definition at line 31 of file Cylinder.h.

CylinderConstRef

typedef agx::ref_ptr< const Cylinder > agxCollide::CylinderConstRef

Definition at line 31 of file Cylinder.h.

CylinderObserver

typedef agx::observer_ptr< Cylinder > agxCollide::CylinderObserver

Definition at line 31 of file Cylinder.h.

CylinderRef

typedef agx::ref_ptr< Cylinder > agxCollide::CylinderRef

Definition at line 31 of file Cylinder.h.

GeometryConstObserver

typedef agx::observer_ptr< const Geometry > agxCollide::GeometryConstObserver

Definition at line 78 of file Geometry.h.

GeometryConstRef

typedef agx::ref_ptr< const Geometry > agxCollide::GeometryConstRef

Definition at line 78 of file Geometry.h.

GeometryContactPtrVector

typedef agx::VectorPOD<GeometryContact *> agxCollide::GeometryContactPtrVector

Definition at line 40 of file agxcollide_vector_types.h.

GeometryContactVector

typedef agx::Vector<GeometryContact> agxCollide::GeometryContactVector

Definition at line 41 of file agxcollide_vector_types.h.

GeometryHashSet

typedef agx::HashSet<const Geometry * > agxCollide::GeometryHashSet

Definition at line 81 of file Geometry.h.

GeometryHashVector

typedef agx::HashVector<const Geometry *, agx::observer_ptr<const Geometry> > agxCollide::GeometryHashVector

Definition at line 80 of file Geometry.h.

GeometryObserver

typedef agx::observer_ptr< Geometry > agxCollide::GeometryObserver

Definition at line 78 of file Geometry.h.

GeometryObserverVector

typedef agx::Vector< GeometryObserver> agxCollide::GeometryObserverVector

Definition at line 79 of file Geometry.h.

GeometryPairVector

typedef agx::Vector<agxCollide::GeometryPair > agxCollide::GeometryPairVector

Definition at line 37 of file agxcollide_vector_types.h.

GeometryPtrPairVector

typedef agx::Vector<GeometryPtrPair> agxCollide::GeometryPtrPairVector

Definition at line 45 of file DisabledCollisionsState.h.

GeometryPtrVector

typedef agx::VectorPOD< Geometry * > agxCollide::GeometryPtrVector

Definition at line 36 of file agxcollide_vector_types.h.

GeometryRef

typedef agx::ref_ptr< Geometry > agxCollide::GeometryRef

Definition at line 78 of file Geometry.h.

GeometryRefSetVector

typedef agx::SetVector< agx::ref_ptr<agxCollide::Geometry> > agxCollide::GeometryRefSetVector

Definition at line 82 of file Geometry.h.

GeometryRefVector

typedef agx::Vector< GeometryRef > agxCollide::GeometryRefVector

Definition at line 38 of file agxcollide_vector_types.h.

GeometryTable

typedef agx::HashTable< agxCollide::Geometry *, agx::ref_ptr<Geometry> > agxCollide::GeometryTable

Definition at line 27 of file agxcollide_hash_types.h.

GroupIdPairVector

typedef agx::Vector<GroupIdPair> agxCollide::GroupIdPairVector

Definition at line 38 of file DisabledCollisionsState.h.

GroupNameVector

typedef agx::Vector<agx::Name> agxCollide::GroupNameVector

Definition at line 24 of file GroupIdCollection.h.

HeightFieldConstObserver

typedef agx::observer_ptr< const HeightField > agxCollide::HeightFieldConstObserver

Definition at line 38 of file agxCollide/HeightField.h.

HeightFieldConstRef

typedef agx::ref_ptr< const HeightField > agxCollide::HeightFieldConstRef

Definition at line 38 of file agxCollide/HeightField.h.

HeightFieldMeshDataRef

typedef agx::ref_ptr<HeightFieldMeshData> agxCollide::HeightFieldMeshDataRef

Definition at line 172 of file MeshData.h.

HeightFieldObserver

typedef agx::observer_ptr< HeightField > agxCollide::HeightFieldObserver

Definition at line 38 of file agxCollide/HeightField.h.

HeightFieldRef

typedef agx::ref_ptr< HeightField > agxCollide::HeightFieldRef

Definition at line 38 of file agxCollide/HeightField.h.

HierarchicalGridConstObserver

typedef agx::observer_ptr< const HierarchicalGrid > agxCollide::HierarchicalGridConstObserver

Definition at line 29 of file HierarchicalGrid.h.

HierarchicalGridConstRef

typedef agx::ref_ptr< const HierarchicalGrid > agxCollide::HierarchicalGridConstRef

Definition at line 29 of file HierarchicalGrid.h.

HierarchicalGridObserver

typedef agx::observer_ptr< HierarchicalGrid > agxCollide::HierarchicalGridObserver

Definition at line 29 of file HierarchicalGrid.h.

HierarchicalGridRef

typedef agx::ref_ptr< HierarchicalGrid > agxCollide::HierarchicalGridRef

Definition at line 29 of file HierarchicalGrid.h.

HollowConeConstObserver

typedef agx::observer_ptr< const HollowCone > agxCollide::HollowConeConstObserver

Definition at line 29 of file HollowCone.h.

HollowConeConstRef

typedef agx::ref_ptr< const HollowCone > agxCollide::HollowConeConstRef

Definition at line 29 of file HollowCone.h.

HollowConeObserver

typedef agx::observer_ptr< HollowCone > agxCollide::HollowConeObserver

Definition at line 29 of file HollowCone.h.

HollowConeRef

typedef agx::ref_ptr< HollowCone > agxCollide::HollowConeRef

Definition at line 29 of file HollowCone.h.

HollowCylinderConstObserver

typedef agx::observer_ptr< const HollowCylinder > agxCollide::HollowCylinderConstObserver

Definition at line 29 of file HollowCylinder.h.

HollowCylinderConstRef

typedef agx::ref_ptr< const HollowCylinder > agxCollide::HollowCylinderConstRef

Definition at line 29 of file HollowCylinder.h.

HollowCylinderObserver

typedef agx::observer_ptr< HollowCylinder > agxCollide::HollowCylinderObserver

Definition at line 29 of file HollowCylinder.h.

HollowCylinderRef

typedef agx::ref_ptr< HollowCylinder > agxCollide::HollowCylinderRef

Definition at line 29 of file HollowCylinder.h.

LineConstObserver

typedef agx::observer_ptr< const Line > agxCollide::LineConstObserver

Definition at line 28 of file agxCollide/Line.h.

LineConstRef

typedef agx::ref_ptr< const Line > agxCollide::LineConstRef

Definition at line 28 of file agxCollide/Line.h.

LineObserver

typedef agx::observer_ptr< Line > agxCollide::LineObserver

Definition at line 28 of file agxCollide/Line.h.

LineRef

typedef agx::ref_ptr< Line > agxCollide::LineRef

Definition at line 28 of file agxCollide/Line.h.

LocalContactPointVector

typedef agx::VectorPOD<LocalContactPoint> agxCollide::LocalContactPointVector

Definition at line 207 of file LocalContactPoint.h.

LocalGeometryContactVector

typedef agx::Vector<LocalGeometryContact> agxCollide::LocalGeometryContactVector

Definition at line 300 of file LocalContactPoint.h.

LocalParticleGeometryContactVector

typedef agx::Vector<LocalParticleGeometryContact> agxCollide::LocalParticleGeometryContactVector

Definition at line 324 of file LocalContactPoint.h.

LocalParticlePairContactVector

typedef agx::Vector<LocalParticlePairContact> agxCollide::LocalParticlePairContactVector

Definition at line 349 of file LocalContactPoint.h.

LocalSeparationPairVector

typedef agx::Vector<agx::Physics::GeometryPairPtr> agxCollide::LocalSeparationPairVector

Definition at line 67 of file Space.h.

MeshConstObserver

typedef agx::observer_ptr< const Mesh > agxCollide::MeshConstObserver

Definition at line 36 of file Mesh.h.

MeshConstRef

typedef agx::ref_ptr< const Mesh > agxCollide::MeshConstRef

Definition at line 36 of file Mesh.h.

MeshDataRef

typedef agx::ref_ptr<MeshData> agxCollide::MeshDataRef

Definition at line 70 of file MeshData.h.

MeshObserver

typedef agx::observer_ptr< Mesh > agxCollide::MeshObserver

Definition at line 36 of file Mesh.h.

MeshRef

typedef agx::ref_ptr< Mesh > agxCollide::MeshRef

Definition at line 36 of file Mesh.h.

NamePairVector

typedef agx::Vector<NamePair> agxCollide::NamePairVector

Definition at line 31 of file DisabledCollisionsState.h.

ParticleGeometryContactVector

typedef agx::Vector<agx::Physics::ParticleGeometryContactPtr> agxCollide::ParticleGeometryContactVector

Definition at line 71 of file Space.h.

ParticleGeometryPair

typedef std::pair<agx::Physics::ParticlePtr, agx::Physics::GeometryPtr> agxCollide::ParticleGeometryPair

Definition at line 68 of file Space.h.

ParticleGeometryPairVector

typedef agx::Vector<ParticleGeometryPair> agxCollide::ParticleGeometryPairVector

Definition at line 69 of file Space.h.

ParticlePairContactVector

typedef agx::Vector<agx::Physics::ParticlePairContactPtr> agxCollide::ParticlePairContactVector

Definition at line 72 of file Space.h.

PlaneConstObserver

typedef agx::observer_ptr< const Plane > agxCollide::PlaneConstObserver

Definition at line 33 of file agxCollide/Plane.h.

PlaneConstRef

typedef agx::ref_ptr< const Plane > agxCollide::PlaneConstRef

Definition at line 33 of file agxCollide/Plane.h.

PlaneObserver

typedef agx::observer_ptr< Plane > agxCollide::PlaneObserver

Definition at line 33 of file agxCollide/Plane.h.

PlaneRef

typedef agx::ref_ptr< Plane > agxCollide::PlaneRef

Definition at line 33 of file agxCollide/Plane.h.

RenderDataConstObserver

typedef agx::observer_ptr< const RenderData > agxCollide::RenderDataConstObserver

Definition at line 30 of file RenderData.h.

RenderDataConstRef

typedef agx::ref_ptr< const RenderData > agxCollide::RenderDataConstRef

Definition at line 30 of file RenderData.h.

RenderDataObserver

typedef agx::observer_ptr< RenderData > agxCollide::RenderDataObserver

Definition at line 30 of file RenderData.h.

RenderDataRef

typedef agx::ref_ptr< RenderData > agxCollide::RenderDataRef

Definition at line 30 of file RenderData.h.

RenderMaterialConstObserver

typedef agx::observer_ptr< const RenderMaterial > agxCollide::RenderMaterialConstObserver

Definition at line 27 of file RenderMaterial.h.

RenderMaterialConstRef

typedef agx::ref_ptr< const RenderMaterial > agxCollide::RenderMaterialConstRef

Definition at line 27 of file RenderMaterial.h.

RenderMaterialObserver

typedef agx::observer_ptr< RenderMaterial > agxCollide::RenderMaterialObserver

Definition at line 27 of file RenderMaterial.h.

RenderMaterialRef

typedef agx::ref_ptr< RenderMaterial > agxCollide::RenderMaterialRef

Definition at line 27 of file RenderMaterial.h.

RenderMaterialValueHashTable

typedef agx::HashTable<agx::UInt32, RenderMaterialRef> agxCollide::RenderMaterialValueHashTable

Definition at line 188 of file RenderMaterial.h.

SeparationPairVector

typedef agx::Vector<agx::Physics::GeometryPairPtr, agxData::BufferProxyAllocator> agxCollide::SeparationPairVector

Definition at line 66 of file Space.h.

ShapeConstObserver

typedef agx::observer_ptr< const Shape > agxCollide::ShapeConstObserver

Definition at line 46 of file Shape.h.

ShapeConstRef

typedef agx::ref_ptr< const Shape > agxCollide::ShapeConstRef

Definition at line 46 of file Shape.h.

ShapeGroupConstObserver

typedef agx::observer_ptr< const ShapeGroup > agxCollide::ShapeGroupConstObserver

Definition at line 48 of file Shape.h.

ShapeGroupConstRef

typedef agx::ref_ptr< const ShapeGroup > agxCollide::ShapeGroupConstRef

Definition at line 48 of file Shape.h.

ShapeGroupObserver

typedef agx::observer_ptr< ShapeGroup > agxCollide::ShapeGroupObserver

Definition at line 48 of file Shape.h.

ShapeGroupRef

typedef agx::ref_ptr< ShapeGroup > agxCollide::ShapeGroupRef

Definition at line 48 of file Shape.h.

ShapeObserver

typedef agx::observer_ptr< Shape > agxCollide::ShapeObserver

Definition at line 46 of file Shape.h.

ShapeObserverVector

typedef agx::Vector< ShapeObserver> agxCollide::ShapeObserverVector

Definition at line 47 of file Shape.h.

ShapePtrVector

typedef agx::VectorPOD< Shape *> agxCollide::ShapePtrVector

Definition at line 47 of file Shape.h.

ShapeRef

typedef agx::ref_ptr< Shape > agxCollide::ShapeRef

Definition at line 46 of file Shape.h.

ShapeRefVector

typedef agx::Vector< ShapeRef > agxCollide::ShapeRefVector

Definition at line 39 of file agxcollide_vector_types.h.

SpaceConstObserver

typedef agx::observer_ptr< const Space > agxCollide::SpaceConstObserver

Definition at line 74 of file Space.h.

SpaceConstRef

typedef agx::ref_ptr< const Space > agxCollide::SpaceConstRef

Definition at line 74 of file Space.h.

SpaceObserver

typedef agx::observer_ptr< Space > agxCollide::SpaceObserver

Definition at line 74 of file Space.h.

SpaceRef

typedef agx::ref_ptr< Space > agxCollide::SpaceRef

Definition at line 74 of file Space.h.

SphereConstObserver

typedef agx::observer_ptr< const Sphere > agxCollide::SphereConstObserver

Definition at line 27 of file Sphere.h.

SphereConstRef

typedef agx::ref_ptr< const Sphere > agxCollide::SphereConstRef

Definition at line 27 of file Sphere.h.

SphereObserver

typedef agx::observer_ptr< Sphere > agxCollide::SphereObserver

Definition at line 27 of file Sphere.h.

SphereRef

typedef agx::ref_ptr< Sphere > agxCollide::SphereRef

Definition at line 27 of file Sphere.h.

SweepAndPruneConstObserver

typedef agx::observer_ptr< const SweepAndPrune > agxCollide::SweepAndPruneConstObserver

Definition at line 35 of file SweepAndPrune.h.

SweepAndPruneConstRef

typedef agx::ref_ptr< const SweepAndPrune > agxCollide::SweepAndPruneConstRef

Definition at line 35 of file SweepAndPrune.h.

SweepAndPruneObserver

typedef agx::observer_ptr< SweepAndPrune > agxCollide::SweepAndPruneObserver

Definition at line 35 of file SweepAndPrune.h.

SweepAndPruneRef

typedef agx::ref_ptr< SweepAndPrune > agxCollide::SweepAndPruneRef

Definition at line 35 of file SweepAndPrune.h.

TrimeshConstObserver

typedef agx::observer_ptr< const Trimesh > agxCollide::TrimeshConstObserver

Definition at line 36 of file Trimesh.h.

TrimeshConstRef

typedef agx::ref_ptr< const Trimesh > agxCollide::TrimeshConstRef

Definition at line 36 of file Trimesh.h.

TrimeshObserver

typedef agx::observer_ptr< Trimesh > agxCollide::TrimeshObserver

Definition at line 36 of file Trimesh.h.

TrimeshRef

typedef agx::ref_ptr< Trimesh > agxCollide::TrimeshRef

Definition at line 36 of file Trimesh.h.

VoronoiGeneratorConstObserver

typedef agx::observer_ptr< const VoronoiGenerator > agxCollide::VoronoiGeneratorConstObserver

Definition at line 33 of file VoronoiGenerator.h.

VoronoiGeneratorConstRef

typedef agx::ref_ptr< const VoronoiGenerator > agxCollide::VoronoiGeneratorConstRef

Definition at line 33 of file VoronoiGenerator.h.

VoronoiGeneratorObserver

typedef agx::observer_ptr< VoronoiGenerator > agxCollide::VoronoiGeneratorObserver

Definition at line 33 of file VoronoiGenerator.h.

VoronoiGeneratorRef

typedef agx::ref_ptr< VoronoiGenerator > agxCollide::VoronoiGeneratorRef

Definition at line 33 of file VoronoiGenerator.h.

WireShapeConstObserver

typedef agx::observer_ptr< const WireShape > agxCollide::WireShapeConstObserver

Definition at line 27 of file WireShape.h.

WireShapeConstRef

typedef agx::ref_ptr< const WireShape > agxCollide::WireShapeConstRef

Definition at line 27 of file WireShape.h.

WireShapeObserver

typedef agx::observer_ptr< WireShape > agxCollide::WireShapeObserver

Definition at line 27 of file WireShape.h.

WireShapeRef

typedef agx::ref_ptr< WireShape > agxCollide::WireShapeRef

Definition at line 27 of file WireShape.h.

Enumeration Type Documentation

ShapeDistanceResult

enum class agxCollide::ShapeDistanceResult : std::uint8_t

strong

Status values that can be returned when performing shape-shape distance computation.

Enumerator
SUCCESS	Distance measurement successful.
OVERLAPPING_SHAPES	Shapes overlap.
UNSUPPORTED_SHAPE_TYPES	One or more input shapes is of a non-supported type (Shape::hasSupportFunction() returns false)
FAILURE	Generic error, e.g supported shapes but invalid values such as some negative shape size.

Definition at line 35 of file ShapeDistance.h.

Function Documentation

AGX_DECLARE_POINTER_TYPES()

agxCollide::AGX_DECLARE_POINTER_TYPES

(

SpaceListener

)

AGX_STATIC_ASSERT()

agxCollide::AGX_STATIC_ASSERT

(

sizeof(ContactPoint)

= =sizeof(agx::Physics::ContactPointPtr)

)

collideConvexConvex()

AGXPHYSICS_EXPORT void agxCollide::collideConvexConvex	(	const Shape *	convexShape1,
		const Shape *	convexShape2,
		const agx::AffineMatrix4x4 &	transform1,
		const agx::AffineMatrix4x4 &	transform2,
		ShapeCollider::LocalContactPointVector &	result,
		const agx::Real	epaAccuracy = agx::AGX_EQUIVALENT_EPSILON
	)

Collides two convex shapes (Box, Capsule, Convex, Cylinder, Sphere).

Parameters

convexShape1	The first convex shape.
convexShape2	The second convex shape.
transform1	The transformation matrix from the first convex shape's local frame to world frame.
transform2	The transformation matrix from the second convex shape's local frame to world frame.
result	The contact point vector (probably non-empty from start) where resulting contact points get added.
epaAccuracy	Which accuracy does EPA have to reach in order to accept the found point as the deepest one?

Referenced by agxCollide::FallbackConvexCollider< ShapeType1, ShapeType2 >::_calculateContacts().

computeGeometryDistance()

AGXPHYSICS_EXPORT agxCollide::ShapeDistanceResult agxCollide::computeGeometryDistance	(	const agxCollide::Geometry *	geometry1,
		const agx::AffineMatrix4x4 &	transform1,
		const agxCollide::Geometry *	geometry2,
		const agx::AffineMatrix4x4 &	transform2,
		agx::Vec3 &	point1,
		agx::Vec3 &	point2
	)

Utility method to perform shape-shape minimum distance test between all compatible shape pairs, where one shape is taken from each geometry.

The tests will use computeShapeDistance and the smallest distance will be returned in point1 and point2 if the return status is SUCCESS.

Note

: The transformation of the Geometry (geometry->getTransform) will NOT be used in this method. Reason being that the geometry might not be enabled (or even part of a Simulation) and hence might not be updated correctly. So if you explicitly set the transformation of any of the geometries you can use geometry1->getTransform() as your transform argument.

Parameters

geometry1	- First geometry (with shapes) to be tested
transform1	- Transform that transform the first geometry to the world coordinate system
geometry2	- Second geometry (with shapes) to be tested
transform2	- Transform that transform the second geometry to the world coordinate system
point1	- The closest point on shape1
point2	- The closest point on shape2

Returns

The result of the computation. See ShapeDistanceResult.

computeShapeDistance()

AGXPHYSICS_EXPORT agxCollide::ShapeDistanceResult agxCollide::computeShapeDistance	(	const agxCollide::Shape *	shape1,
		const agx::AffineMatrix4x4 &	transform1,
		const agxCollide::Shape *	shape2,
		const agx::AffineMatrix4x4 &	transform2,
		agx::Vec3 &	point1,
		agx::Vec3 &	point2
	)

Utility function to compute the minimum distance between two shapes.

This method supports convex shapes for which Shape::hasSupportFunction() returns true. The function works directly on the shapes and does not need for the shapes to be part of agxCollide::Space or that e.g. BoundingBoxes are updated.

When the shapes do not overlap, SUCCESS IS returned and the position on each shape in global coordinates are written to point1 and point2. The distance is the magnitude of the vector between point1 and point2.

If the shapes do overlap, OVERLAPPING_SHAPES is returned and point1 and point2 are unchanged. More detailed contact information for this case, use the regular collision detection via Space.

For unsupported shape types or an unspecified error, two other return codes are also possible.

Parameters

shape1	- First shape to be tested
transform1	- Transform that transform the first shape to the world coordinate system
shape2	- Second shape to be tested
transform2	- Transform that transform the second shape to the world coordinate system
point1	- The closest point on shape1
point2	- The closest point on shape2

Returns

The result of the computation. See ShapeDistanceResult.

copyContactPoint() [1/5]

template void agxCollide::copyContactPoint	(	const agx::Physics::ContactPointPtr &	,
		LocalContactPoint &
	)

copyContactPoint() [2/5]

template void agxCollide::copyContactPoint	(	const ContactPoint &	,
		LocalContactPoint &
	)

copyContactPoint() [3/5]

template void agxCollide::copyContactPoint	(	const LocalContactPoint &	,
		agx::Physics::ContactPointPtr &
	)

copyContactPoint() [4/5]

template void agxCollide::copyContactPoint	(	const LocalContactPoint &	,
		ContactPoint &
	)

copyContactPoint() [5/5]

template<typename T1 , typename T2 >

void agxCollide::copyContactPoint	(	const T1 &	from,
		T2 &	to
	)

Copy between the different kinds of contact points.

Note that only the common members between all 3 classes are copied (so not e.g. material or localForce).

Definition at line 236 of file Contacts.h.

createSupportContactPoints()

AGXPHYSICS_EXPORT void agxCollide::createSupportContactPoints	(	const agxCollide::Shape *	shape1,
		const agxCollide::Shape *	shape2,
		const agx::AffineMatrix4x4 &	transform1,
		const agx::AffineMatrix4x4 &	transform2,
		const agx::Vec3 &	point,
		const agx::Vec3 &	normal,
		const agx::Real	deepestDepth,
		agxCollide::ShapeCollider::LocalContactPointVector &	result,
		bool &	keepOriginalPoint
	)

Given 2 convex shapes and 1 contact point (which is assumed to be the deepest possible point) this function will create extra contact points.

Parameters

shape1	The first convex shape.
shape2	The second convex shape.
transform1	The transformation matrix from the first convex shape's local frame to world frame.
transform2	The transformation matrix from the second convex shape's local frame to world frame.
point	The first, deepest contact point.
normal	The contact normal belonging to the first, deepest contact point.
deepestDepth	The depth belonging to the first, deepest contact point.
result	The contact point vector (probably non-empty from start) where resulting contact points get added.
keepOriginalPoint	Result: Should the original point be kept, or have we found better ones?

isPointInsideConvex()

AGXPHYSICS_EXPORT bool agxCollide::isPointInsideConvex	(	const agx::Vec3 &	point,
		const agxCollide::Convex *	convex
	)

Check if a point in world coordinates is inside a given convex.

Parameters

point	The point in world coordinates.
convex	The convex.

operator<<() [1/4]

AGXPHYSICS_EXPORT std::ostream & agxCollide::operator<<	(	std::ostream &	output,
		const agx::Physics::CollisionGroupPtr &	group
	)

operator<<() [2/4]

AGXPHYSICS_EXPORT std::ostream & agxCollide::operator<<	(	std::ostream &	output,
		const agx::Physics::CollisionGroupSetPtr &	set
	)

operator<<() [3/4]

std::ostream & agxCollide::operator<< ( std::ostream &  output, const BoundingAABB &  bound  )

inline

Definition at line 224 of file BoundingAABB.h.

References agx::BoundT< T >::max(), and agx::BoundT< T >::min().

operator<<() [4/4]

std::ostream & agxCollide::operator<<	(	std::ostream &	output,
		const DisabledCollisionsState &	state
	)