From 0cc166ea25d58781ca2c1bb9dff5a86ac32fe346 Mon Sep 17 00:00:00 2001
From: Mohit Tyagi <mohit.tyagi@kitware.com>
Date: Fri, 7 Apr 2017 11:26:36 -0400
Subject: [PATCH] ENH:Class for unidirectional plane to sphere collision
detection(eg. in virtual coupling)
---
.../imstkCollisionDetection.cpp | 16 ++++
.../imstkCollisionDetection.h | 1 +
.../imstkUnidirectionalPlaneToSphereCD.cpp | 67 +++++++++++++++++
.../imstkUnidirectionalPlaneToSphereCD.h | 74 +++++++++++++++++++
4 files changed, 158 insertions(+)
create mode 100644 Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp
create mode 100644 Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h
diff --git a/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp b/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp
index 8e46d6a29..a25ab2995 100644
--- a/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp
+++ b/Base/Collision/CollisionDetection/imstkCollisionDetection.cpp
@@ -21,6 +21,7 @@
#include "imstkCollisionDetection.h"
+#include "imstkUnidirectionalPlaneToSphereCD.h"
#include "imstkPlaneToSphereCD.h"
#include "imstkSphereToSphereCD.h"
#include "imstkMeshToSphereCD.h"
@@ -45,6 +46,21 @@ CollisionDetection::make_collision_detection(const Type& type,
{
switch (type)
{
+ case Type::UnidirectionalPlaneToSphere:
+ {
+ auto plane = std::dynamic_pointer_cast<Plane>(objA->getCollidingGeometry());
+ auto sphere = std::dynamic_pointer_cast<Sphere>(objB->getCollidingGeometry());
+
+ // Geometries check
+ if (plane == nullptr || sphere == nullptr)
+ {
+ LOG(WARNING) << "CollisionDetection::make_collision_detection error: "
+ << "invalid object geometries for UnidirectionalPlaneToSphere collision detection.";
+ return nullptr;
+ }
+ return std::make_shared<UnidirectionalPlaneToSphereCD>(plane, sphere, colData);
+ }
+ break;
case Type::PlaneToSphere:
{
auto plane = std::dynamic_pointer_cast<Plane>(objA->getCollidingGeometry());
diff --git a/Base/Collision/CollisionDetection/imstkCollisionDetection.h b/Base/Collision/CollisionDetection/imstkCollisionDetection.h
index 0621d7b1a..769ae8163 100644
--- a/Base/Collision/CollisionDetection/imstkCollisionDetection.h
+++ b/Base/Collision/CollisionDetection/imstkCollisionDetection.h
@@ -44,6 +44,7 @@ public:
///
enum class Type
{
+ UnidirectionalPlaneToSphere,
PlaneToSphere,
SphereToSphere,
MeshToSphere,
diff --git a/Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp b/Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp
new file mode 100644
index 000000000..f029f6d14
--- /dev/null
+++ b/Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp
@@ -0,0 +1,67 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+ =========================================================================*/
+
+#include "imstkUnidirectionalPlaneToSphereCD.h"
+
+#include "imstkCollidingObject.h"
+#include "imstkCollisionData.h"
+#include "imstkPlane.h"
+#include "imstkSphere.h"
+
+#include <g3log/g3log.hpp>
+
+namespace imstk {
+
+void
+UnidirectionalPlaneToSphereCD::computeCollisionData()
+{
+ // Clear collisionData
+ m_colData.clearAll();
+
+ // Get geometry properties
+ const Vec3d sphereBPos = m_sphereB->getPosition();
+ const double r = m_sphereB->getRadius() * m_sphereB->getScaling();
+ const Vec3d planeAPos = m_planeA->getPosition();
+ const Vec3d n = m_planeA->getNormal();
+
+ // Compute shortest distance
+ double d = (sphereBPos-planeAPos).dot(n);
+
+ // Compute penetration depth
+ // Half-space defined by the normal of the plane is considered as "outside".
+ double penetrationDepth = r-d;
+ if (penetrationDepth <= 0.0)
+ {
+ return;
+ }
+
+ // Compute collision points
+ Vec3d planeAColPt = sphereBPos - n*d;
+ Vec3d sphereBColPt = sphereBPos - n*r;
+
+ // Compute the direction from plane to sphere
+ Vec3d dirAtoB = (d > 0.0 ? 1.0 : -1.0)*n;
+
+ // Set collisionData
+ m_colData.PDColData.push_back({planeAColPt, sphereBColPt, dirAtoB, penetrationDepth});
+}
+
+} //iMSTK
diff --git a/Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h b/Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h
new file mode 100644
index 000000000..ebb076d9f
--- /dev/null
+++ b/Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h
@@ -0,0 +1,74 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+ =========================================================================*/
+
+#ifndef imstkUnidirectionalPlaneToSphereCD_h
+#define imstkUnidirectionalPlaneToSphereCD_h
+
+#include <memory>
+
+#include "imstkCollisionDetection.h"
+
+namespace imstk
+{
+
+class Plane;
+class Sphere;
+class CollisionData;
+
+///
+/// \class PlaneToSphereCD
+///
+/// \brief Plane to sphere collision detection
+///
+class UnidirectionalPlaneToSphereCD : public CollisionDetection
+{
+public:
+
+ ///
+ /// \brief Constructor
+ ///
+ UnidirectionalPlaneToSphereCD(std::shared_ptr<Plane> planeA,
+ std::shared_ptr<Sphere> sphereB,
+ CollisionData& colData) :
+ CollisionDetection(CollisionDetection::Type::UnidirectionalPlaneToSphere, colData),
+ m_planeA(planeA),
+ m_sphereB(sphereB)
+ {}
+
+ ///
+ /// \brief Destructor
+ ///
+ ~UnidirectionalPlaneToSphereCD() = default;
+
+ ///
+ /// \brief Detect collision and compute collision data
+ ///
+ void computeCollisionData() override;
+
+private:
+
+ std::shared_ptr<Plane> m_planeA; ///>
+ std::shared_ptr<Sphere> m_sphereB; ///>
+};
+
+}
+
+#endif // ifndef imstkUnidirectionalToSphereCD_h
--
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