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SurgSim::Physics::DeformableCollisionRepresentation Class Reference

A collision representation that can be attached to a deformable, when this contains a mesh with the same number of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in the deformable. More...

#include <SurgSim/Physics/DeformableCollisionRepresentation.h>

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Public Member Functions

 DeformableCollisionRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~DeformableCollisionRepresentation ()
 Destructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Physics::DeformableCollisionRepresentation)
 
void setMesh (std::shared_ptr< SurgSim::DataStructures::TriangleMesh > mesh)
 Set the mesh to be used in this collision representation the vertices in the mesh need to be the same number as the vertices in the deformable representation. More...
 
std::shared_ptr
< SurgSim::DataStructures::TriangleMesh
getMesh () const
 
void setShape (std::shared_ptr< SurgSim::Math::Shape > shape)
 Set the shape for this collision representation, has to be a SurgSim::Math::MeshShape. More...
 
virtual const std::shared_ptr
< SurgSim::Math::Shape
getShape () const override
 Get the shape. More...
 
void setDeformableRepresentation (std::shared_ptr< SurgSim::Physics::DeformableRepresentation > representation)
 Sets the deformable to which this collision representation is connected. More...
 
const std::shared_ptr
< SurgSim::Physics::DeformableRepresentation
getDeformableRepresentation () const
 
virtual int getShapeType () const override
 Get the shape type id. More...
 
virtual void update (const double &dt) override
 Update the representation. More...
 
- Public Member Functions inherited from SurgSim::Collision::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
SurgSim::DataStructures::BufferedValue
< ContactMapType > & 
getCollisions ()
 A map between collision representations and contacts. More...
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual void setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
 Set the pose of the representation with respect to the Scene Element. More...
 
virtual
SurgSim::Math::RigidTransform3d 
getLocalPose () const
 Get the pose of the representation with respect to the Scene Element. More...
 
virtual
SurgSim::Math::RigidTransform3d 
getPose () const
 Get the pose of the representation in world coordinates. More...
 
- Public Member Functions inherited from SurgSim::Framework::Component
 Component (const std::string &name)
 Constructor. More...
 
virtual ~Component ()
 Destructor. More...
 
std::string getName () const
 Gets component name. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
bool isInitialized () const
 
bool initialize (const std::weak_ptr< Runtime > &runtime)
 Initialize this component, this needs to be called before wakeUp() can be called. More...
 
bool isAwake () const
 
bool wakeUp ()
 Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
 
void setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const
SceneElement
getSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () const
 Get the runtime which contains this component. More...
 
virtual std::string getClassName () const
 The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
 
std::shared_ptr< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
bool isActive () const
 
virtual void setLocalActive (bool val)
 Set the component's active state. More...
 
bool isLocalActive () const
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class T >
getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
template<class T >
bool getValue (const std::string &name, T *value) const
 Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
void forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
 Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node)
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 

Private Member Functions

virtual bool doInitialize () override
 Interface to be implemented by derived classes. More...
 
virtual bool doWakeUp () override
 Interface to be implemented by derived classes. More...
 

Private Attributes

std::shared_ptr
< SurgSim::Math::MeshShape
m_shape
 Shape used for collision detection. More...
 
std::shared_ptr
< SurgSim::DataStructures::TriangleMesh
m_mesh
 Mesh used for collision detection. More...
 
std::weak_ptr
< SurgSim::Physics::DeformableRepresentation
m_deformable
 Reference to the deformable driving changes to this mesh. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef
SurgSim::Framework::ObjectFactory1
< SurgSim::Framework::Component,
std::string > 
FactoryType
 
- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function
< boost::any(void)> 
GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function
< YAML::Node(void)> 
EncoderType
 
typedef std::function< void(const
YAML::Node *)> 
DecoderType
 
- Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryTypegetFactory ()
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr
< PoseComponent
getPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const
PoseComponent
getPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 
- Protected Attributes inherited from SurgSim::Collision::Representation
SurgSim::DataStructures::BufferedValue
< ContactMapType
m_collisions
 A map which associates a list of contacts with each collision representation. More...
 

Detailed Description

A collision representation that can be attached to a deformable, when this contains a mesh with the same number of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in the deformable.

Constructor & Destructor Documentation

SurgSim::Physics::DeformableCollisionRepresentation::DeformableCollisionRepresentation ( const std::string &  name)
explicit

Constructor.

Parameters
nameName of the Representation
SurgSim::Physics::DeformableCollisionRepresentation::~DeformableCollisionRepresentation ( )
virtual

Destructor.

Member Function Documentation

bool SurgSim::Physics::DeformableCollisionRepresentation::doInitialize ( )
overrideprivatevirtual

Interface to be implemented by derived classes.

Returns
True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

bool SurgSim::Physics::DeformableCollisionRepresentation::doWakeUp ( )
overrideprivatevirtual

Interface to be implemented by derived classes.

Returns
True if component is woken up successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

const std::shared_ptr< SurgSim::Physics::DeformableRepresentation > SurgSim::Physics::DeformableCollisionRepresentation::getDeformableRepresentation ( ) const
Returns
The deformable that is used to update the contained mesh
std::shared_ptr< SurgSim::DataStructures::TriangleMesh > SurgSim::Physics::DeformableCollisionRepresentation::getMesh ( ) const
Returns
The mesh that is part of this representation
const std::shared_ptr< SurgSim::Math::Shape > SurgSim::Physics::DeformableCollisionRepresentation::getShape ( ) const
overridevirtual

Get the shape.

Returns
The actual shape used for collision.

Implements SurgSim::Collision::Representation.

int SurgSim::Physics::DeformableCollisionRepresentation::getShapeType ( ) const
overridevirtual

Get the shape type id.

Returns
The unique type of the shape, used to determine which calculation to use.

Implements SurgSim::Collision::Representation.

void SurgSim::Physics::DeformableCollisionRepresentation::setDeformableRepresentation ( std::shared_ptr< SurgSim::Physics::DeformableRepresentation representation)

Sets the deformable to which this collision representation is connected.

Parameters
representationThe deformable that will be used to update the contained mesh
void SurgSim::Physics::DeformableCollisionRepresentation::setMesh ( std::shared_ptr< SurgSim::DataStructures::TriangleMesh mesh)

Set the mesh to be used in this collision representation the vertices in the mesh need to be the same number as the vertices in the deformable representation.

Parameters
meshThe mesh to be used for the collision calculation and updates
Note
The shape held by this deformable collision representation will be updated as well.
void SurgSim::Physics::DeformableCollisionRepresentation::setShape ( std::shared_ptr< SurgSim::Math::Shape shape)

Set the shape for this collision representation, has to be a SurgSim::Math::MeshShape.

Parameters
shapeThe shape to be used.
Note
The mesh held by this deformable collision representation will be updated as well.
SurgSim::Physics::DeformableCollisionRepresentation::SURGSIM_CLASSNAME ( SurgSim::Physics::DeformableCollisionRepresentation  )
void SurgSim::Physics::DeformableCollisionRepresentation::update ( const double &  dt)
overridevirtual

Update the representation.

Parameters
dtthe time passed from the last update.

Reimplemented from SurgSim::Collision::Representation.

Member Data Documentation

std::weak_ptr<SurgSim::Physics::DeformableRepresentation> SurgSim::Physics::DeformableCollisionRepresentation::m_deformable
private

Reference to the deformable driving changes to this mesh.

std::shared_ptr<SurgSim::DataStructures::TriangleMesh> SurgSim::Physics::DeformableCollisionRepresentation::m_mesh
private

Mesh used for collision detection.

std::shared_ptr<SurgSim::Math::MeshShape> SurgSim::Physics::DeformableCollisionRepresentation::m_shape
private

Shape used for collision detection.


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