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[SofaMeshCollision] Fix TriangleModel to handle topology changes #903

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Merged
damienmarchal merged 11 commits into from
Feb 13, 2019
Merged

[SofaMeshCollision] Fix TriangleModel to handle topology changes #903

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69920cb
[SofaMeshCollision] Replace serr/sout by msg_ macros in TriangleModel
epernod Jan 21, 2019
99428b9
[SofaMeshCollision] Add member parameters prefix in TriangleModel
epernod Jan 21, 2019
da1fa34
[SofaMeshCollision] Add some doxygen comments and reorder parameter d…
epernod Jan 22, 2019
2454e18
[SofaMeshCollision] Rewritte init and updateFromTopology methods in T…
epernod Jan 22, 2019
5327f7f
[SofaMeshCollision] Remove the handleTopologyChange method from Trian…
epernod Jan 22, 2019
80a0b60
[Examples] Add TriangleModel in Removing and Adding TrianglesProcess …
epernod Jan 22, 2019
c118f62
[SofaMeshCollision]Update TriangleModel test on topology. Always upda…
epernod Jan 23, 2019
be087fa
[SofaMeshCollision] Change name and prefix of TriangleModel internal …
epernod Jan 30, 2019
ba56219
[SceneChecker_test] Fix checkusingAlias as triangleModel send now an …
epernod Jan 30, 2019
57598f2
[SofaMeshCollision] Add prefix to some Data and members of TriangleMo…
epernod Jan 30, 2019
ddf6fd3
[SofaMeshCollision] Fix triangleModel was not resized when topology i…
epernod Jan 31, 2019
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95 changes: 54 additions & 41 deletions SofaKernel/modules/SofaMeshCollision/TriangleModel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,11 @@ class TTriangle : public core::TCollisionElementIterator< TTriangleModel<TDataTy
}
};

/**
* This class will create collision elements based on a triangle and/or quad mesh.
* It uses directly the information of the topology and the dof to compute the triangle normals, BB and BoundingTree.
* The class \sa TTriangle is used to access specific triangle of this collision Model.
*/
template<class TDataTypes>
class SOFA_MESH_COLLISION_API TTriangleModel : public core::CollisionModel
{
Expand Down Expand Up @@ -133,33 +138,39 @@ class SOFA_MESH_COLLISION_API TTriangleModel : public core::CollisionModel

enum { NBARY = 2 };

Data<bool> bothSide; ///< to activate collision on both side of the triangle model
protected:
VecDeriv normals;
Data<bool> d_bothSide; ///< to activate collision on both side of the triangle model
Data<bool> d_computeNormals; ///< set to false to disable computation of triangles normal

const sofa::core::topology::BaseMeshTopology::SeqTriangles* triangles;
protected:
core::behavior::MechanicalState<DataTypes>* m_mstate; ///< Pointer to the corresponding MechanicalState
sofa::core::topology::BaseMeshTopology* m_topology; ///< Pointer to the corresponding Topology

sofa::core::topology::BaseMeshTopology::SeqTriangles mytriangles;
VecDeriv m_normals; ///< Vector of normal direction per triangle.

bool needsUpdate;
virtual void updateFromTopology();
virtual void updateFlags(int ntri=-1);
virtual void updateNormals();
int getTriangleFlags(sofa::core::topology::BaseMeshTopology::TriangleID i);
/** Pointer to the triangle array of this collision model.
* Will point directly to the topology triangle buffer if only triangles are present. If topology is using/mixing quads and triangles,
* This pointer will target \sa m_internalTriangles
* @brief m_triangles
*/
const sofa::core::topology::BaseMeshTopology::SeqTriangles* m_triangles;

core::behavior::MechanicalState<DataTypes>* mstate;
Data<bool> computeNormals; ///< set to false to disable computation of triangles normal
int meshRevision;
sofa::core::topology::BaseMeshTopology::SeqTriangles m_internalTriangles; ///< Internal Buffer of triangles to combine quads splitted and other triangles.

sofa::core::topology::BaseMeshTopology* _topology;
bool m_needsUpdate; ///< parameter storing the info boundingTree has to be recomputed.
int m_topologyRevision; ///< internal revision number to check if topology has changed.

PointModel* mpoints;
PointModel* m_pointModels;

TriangleLocalMinDistanceFilter *m_lmdFilter;

protected:

TTriangleModel();

virtual void updateFromTopology();
virtual void updateFlags(int ntri=-1);
virtual void updateNormals();

public:
virtual void init() override;

Expand All @@ -177,14 +188,13 @@ class SOFA_MESH_COLLISION_API TTriangleModel : public core::CollisionModel

virtual bool canCollideWithElement(int index, CollisionModel* model2, int index2) override;

virtual void handleTopologyChange() override;

core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return mstate; }
const core::behavior::MechanicalState<DataTypes>* getMechanicalState() const { return mstate; }
core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return m_mstate; }
const core::behavior::MechanicalState<DataTypes>* getMechanicalState() const { return m_mstate; }

const VecCoord& getX() const { return(getMechanicalState()->read(core::ConstVecCoordId::position())->getValue()); }
const sofa::core::topology::BaseMeshTopology::SeqTriangles& getTriangles() const { return *triangles; }
const VecDeriv& getNormals() const { return normals; }
const sofa::core::topology::BaseMeshTopology::SeqTriangles& getTriangles() const { return *m_triangles; }
const VecDeriv& getNormals() const { return m_normals; }
int getTriangleFlags(sofa::core::topology::BaseMeshTopology::TriangleID i);

TriangleLocalMinDistanceFilter *getFilter() const;

Expand Down Expand Up @@ -216,6 +226,9 @@ class SOFA_MESH_COLLISION_API TTriangleModel : public core::CollisionModel
virtual void computeBBox(const core::ExecParams* params, bool onlyVisible=false) override;
};




template<class DataTypes>
inline TTriangle<DataTypes>::TTriangle(ParentModel* model, int index)
: core::TCollisionElementIterator<ParentModel>(model, index)
Expand All @@ -232,57 +245,57 @@ inline TTriangle<DataTypes>::TTriangle(ParentModel* model, int index, helper::Re
{}

template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p1() const { return this->model->mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->triangles))[this->index][0]]; }
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p1() const { return this->model->m_mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->m_triangles))[this->index][0]]; }
template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p2() const { return this->model->mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->triangles))[this->index][1]]; }
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p2() const { return this->model->m_mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->m_triangles))[this->index][1]]; }
template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p3() const { return this->model->mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->triangles))[this->index][2]]; }
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p3() const { return this->model->m_mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->m_triangles))[this->index][2]]; }
template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p(int i) const {
return this->model->mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->triangles))[this->index][i]];
return this->model->m_mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->m_triangles))[this->index][i]];
}
template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::operator[](int i) const {
return this->model->mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->triangles))[this->index][i]];
return this->model->m_mstate->read(core::ConstVecCoordId::position())->getValue()[(*(this->model->m_triangles))[this->index][i]];
}

template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p1Free() const { return (*this->model->mstate->read(sofa::core::ConstVecCoordId::freePosition())->getValue())[(*(this->model->triangles))[this->index][0]]; }
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p1Free() const { return (*this->model->m_mstate->read(sofa::core::ConstVecCoordId::freePosition())->getValue())[(*(this->model->m_triangles))[this->index][0]]; }
template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p2Free() const { return (*this->model->mstate->read(sofa::core::ConstVecCoordId::freePosition())->getValue())[(*(this->model->triangles))[this->index][1]]; }
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p2Free() const { return (*this->model->m_mstate->read(sofa::core::ConstVecCoordId::freePosition())->getValue())[(*(this->model->m_triangles))[this->index][1]]; }
template<class DataTypes>
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p3Free() const { return (*this->model->mstate->read(sofa::core::ConstVecCoordId::freePosition())->getValue())[(*(this->model->triangles))[this->index][2]]; }
inline const typename DataTypes::Coord& TTriangle<DataTypes>::p3Free() const { return (*this->model->m_mstate->read(sofa::core::ConstVecCoordId::freePosition())->getValue())[(*(this->model->m_triangles))[this->index][2]]; }

template<class DataTypes>
inline int TTriangle<DataTypes>::p1Index() const { return (*(this->model->triangles))[this->index][0]; }
inline int TTriangle<DataTypes>::p1Index() const { return (*(this->model->m_triangles))[this->index][0]; }
template<class DataTypes>
inline int TTriangle<DataTypes>::p2Index() const { return (*(this->model->triangles))[this->index][1]; }
inline int TTriangle<DataTypes>::p2Index() const { return (*(this->model->m_triangles))[this->index][1]; }
template<class DataTypes>
inline int TTriangle<DataTypes>::p3Index() const { return (*(this->model->triangles))[this->index][2]; }
inline int TTriangle<DataTypes>::p3Index() const { return (*(this->model->m_triangles))[this->index][2]; }

template<class DataTypes>
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v1() const { return (this->model->mstate->read(core::ConstVecDerivId::velocity())->getValue())[(*(this->model->triangles))[this->index][0]]; }
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v1() const { return (this->model->m_mstate->read(core::ConstVecDerivId::velocity())->getValue())[(*(this->model->m_triangles))[this->index][0]]; }
template<class DataTypes>
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v2() const { return this->model->mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(this->model->triangles))[this->index][1]]; }
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v2() const { return this->model->m_mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(this->model->m_triangles))[this->index][1]]; }
template<class DataTypes>
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v3() const { return this->model->mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(this->model->triangles))[this->index][2]]; }
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v3() const { return this->model->m_mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(this->model->m_triangles))[this->index][2]]; }
template<class DataTypes>
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v(int i) const { return this->model->mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(this->model->triangles))[this->index][i]]; }
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::v(int i) const { return this->model->m_mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(this->model->m_triangles))[this->index][i]]; }

template<class DataTypes>
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::n() const { return this->model->normals[this->index]; }
inline const typename DataTypes::Deriv& TTriangle<DataTypes>::n() const { return this->model->m_normals[this->index]; }
template<class DataTypes>
inline typename DataTypes::Deriv& TTriangle<DataTypes>::n() { return this->model->normals[this->index]; }
inline typename DataTypes::Deriv& TTriangle<DataTypes>::n() { return this->model->m_normals[this->index]; }

template<class DataTypes>
inline int TTriangle<DataTypes>::flags() const { return this->model->getTriangleFlags(this->index); }

template<class DataTypes>
inline bool TTriangle<DataTypes>::hasFreePosition() const { return this->model->mstate->read(core::ConstVecCoordId::freePosition())->isSet(); }
inline bool TTriangle<DataTypes>::hasFreePosition() const { return this->model->m_mstate->read(core::ConstVecCoordId::freePosition())->isSet(); }

template<class DataTypes>
inline typename DataTypes::Deriv TTriangleModel<DataTypes>::velocity(int index) const { return (mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(triangles))[index][0]] + mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(triangles))[index][1]] +
mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(triangles))[index][2]])/((Real)(3.0)); }
inline typename DataTypes::Deriv TTriangleModel<DataTypes>::velocity(int index) const { return (m_mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(m_triangles))[index][0]] + m_mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(m_triangles))[index][1]] +
m_mstate->read(core::ConstVecDerivId::velocity())->getValue()[(*(m_triangles))[index][2]])/((Real)(3.0)); }
typedef TTriangleModel<sofa::defaulttype::Vec3Types> TriangleModel;
typedef TTriangle<sofa::defaulttype::Vec3Types> Triangle;

Expand Down
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