Commit 0cc166ea authored by mohitTyagi's avatar mohitTyagi
Browse files

ENH:Class for unidirectional plane to sphere collision detection(eg. in virtual coupling)

parent 6edeb334
......@@ -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());
......
......@@ -44,6 +44,7 @@ public:
///
enum class Type
{
UnidirectionalPlaneToSphere,
PlaneToSphere,
SphereToSphere,
MeshToSphere,
......
/*=========================================================================
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
/*=========================================================================
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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