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

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());

Base/Collision/CollisionDetection/imstkCollisionDetection.h

@@ -44,6 +44,7 @@ public:
     ///
     enum class Type
     {
+        UnidirectionalPlaneToSphere,
         PlaneToSphere,
         SphereToSphere,
         MeshToSphere,

Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp

+/*=========================================================================
+
+   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

Base/Collision/CollisionDetection/imstkUnidirectionalPlaneToSphereCD.h

+/*=========================================================================
+
+   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