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[Collision.Detection.Intersection] Rename Data #4675

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merged 12 commits into from
May 7, 2024
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[Collision.Detection.Intersection] Rename Data #4675

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605b189
[Collision.Detection.Intersection] Rename Data
lamriaimen Apr 23, 2024
70e893c
Update Sofa/Component/Collision/Detection/Intersection/src/sofa/compo…
lamriaimen Apr 30, 2024
7818d6b
Update Sofa/Component/Collision/Detection/Intersection/src/sofa/compo…
lamriaimen Apr 30, 2024
85242c8
Update Sofa/Component/Collision/Detection/Intersection/src/sofa/compo…
lamriaimen Apr 30, 2024
c034d64
Update Sofa/Component/Collision/Detection/Intersection/src/sofa/compo…
lamriaimen Apr 30, 2024
5d09847
Update Sofa/Component/Collision/Detection/Intersection/src/sofa/compo…
lamriaimen Apr 30, 2024
4e8d26c
[Constraint] Fix indentation
lamriaimen Apr 30, 2024
71263cc
Merge branch 'master' into sofa.component.colilsion.detection.interse…
lamriaimen Apr 30, 2024
b077679
Update Sofa/Component/Collision/Detection/Intersection/src/sofa/compo…
lamriaimen May 3, 2024
aa4bd97
Update Sofa/Component/Collision/Detection/Intersection/src/sofa/compo…
lamriaimen May 3, 2024
ce981d6
Merge branch 'master' into sofa.component.colilsion.detection.interse…
lamriaimen May 3, 2024
8520a04
Merge branch 'master' into sofa.component.colilsion.detection.interse…
fredroy May 7, 2024
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11 changes: 7 additions & 4 deletions ...section/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,11 +27,14 @@ namespace sofa::component::collision::detection::intersection
using namespace sofa::component::collision::geometry;

BaseProximityIntersection::BaseProximityIntersection()
: alarmDistance(initData(&alarmDistance, 1.0_sreal, "alarmDistance","Proximity detection distance"))
, contactDistance(initData(&contactDistance, 0.5_sreal, "contactDistance","Distance below which a contact is created"))
: d_alarmDistance(initData(&d_alarmDistance, 1.0_sreal, "alarmDistance", "Proximity detection distance"))
, d_contactDistance(initData(&d_contactDistance, 0.5_sreal, "contactDistance", "Distance below which a contact is created"))
{
alarmDistance.setRequired(true);
contactDistance.setRequired(true);
d_alarmDistance.setRequired(true);
d_contactDistance.setRequired(true);

alarmDistance.setParent(&d_alarmDistance);
contactDistance.setParent(&d_contactDistance);
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}


Expand Down
19 changes: 13 additions & 6 deletions ...ersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,15 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API BaseProximityIntersect
{
public:
SOFA_ABSTRACT_CLASS(BaseProximityIntersection,DiscreteIntersection);
Data<SReal> alarmDistance; ///< Proximity detection distance
Data<SReal> contactDistance; ///< Distance below which a contact is created
SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<SReal> alarmDistance;

SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<SReal> contactDistance;


Data<SReal> d_alarmDistance; ///< Proximity detection distance
Data<SReal> d_contactDistance; ///< Distance below which a contact is created
protected:
BaseProximityIntersection();
~BaseProximityIntersection() override { }
Expand All @@ -47,16 +54,16 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API BaseProximityIntersect
bool useProximity() const override { return true; }

/// Returns the alarm distance (must returns 0 if useProximity() is false)
SReal getAlarmDistance() const override { return alarmDistance.getValue(); }
SReal getAlarmDistance() const override { return d_alarmDistance.getValue(); }

/// Returns the contact distance (must returns 0 if useProximity() is false)
SReal getContactDistance() const override { return contactDistance.getValue(); }
SReal getContactDistance() const override { return d_contactDistance.getValue(); }

/// Sets the alarm distance (if useProximity() is false, the alarm distance is equal to 0)
void setAlarmDistance(SReal v) override { alarmDistance.setValue(v); }
void setAlarmDistance(SReal v) override { d_alarmDistance.setValue(v); }

/// Sets the contact distance (if useProximity() is false, the contact distance is equal to 0)
void setContactDistance(SReal v) override { contactDistance.setValue(v); }
void setContactDistance(SReal v) override { d_contactDistance.setValue(v); }

/// Intersectors for cubes using proximities
bool testIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2, const core::collision::Intersection* currentIntersection) override;
Expand Down
68 changes: 37 additions & 31 deletions ...ion/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
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Expand Up @@ -52,11 +52,17 @@ int LocalMinDistanceClass = core::RegisterObject("A set of methods to compute (f

LocalMinDistance::LocalMinDistance()
: BaseProximityIntersection()
, filterIntersection(initData(&filterIntersection, true, "filterIntersection","Activate LMD filter"))
, angleCone(initData(&angleCone, 0.0, "angleCone","Filtering cone extension angle"))
, coneFactor(initData(&coneFactor, 0.5, "coneFactor", "Factor for filtering cone angle computation"))
, useLMDFilters(initData(&useLMDFilters, false, "useLMDFilters", "Use external cone computation (Work in Progress)"))
, d_filterIntersection(initData(&d_filterIntersection, true, "filterIntersection", "Activate LMD filter"))
, d_angleCone(initData(&d_angleCone, 0.0, "angleCone", "Filtering cone extension angle"))
, d_coneFactor(initData(&d_coneFactor, 0.5, "coneFactor", "Factor for filtering cone angle computation"))
, d_useLMDFilters(initData(&d_useLMDFilters, false, "useLMDFilters", "Use external cone computation (Work in Progress)"))
{
filterIntersection.setParent(&d_filterIntersection);
angleCone.setParent(&d_angleCone);
coneFactor.setParent(&d_coneFactor);
useLMDFilters.setParent(&d_useLMDFilters);


}

void LocalMinDistance::init()
Expand Down Expand Up @@ -142,7 +148,7 @@ bool LocalMinDistance::testIntersection(Line& e1, Line& e2, const core::collisio
{
// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -221,7 +227,7 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont

// filter for LMD //

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
{
Expand Down Expand Up @@ -321,7 +327,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Point& e1, const core::col
if (PQ.norm2() < alarmDist*alarmDist)
{
//filter for LMD
if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -382,7 +388,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector*

// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return 0;
Expand Down Expand Up @@ -475,7 +481,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Sphere& e1, const core::co

//filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -536,7 +542,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector

// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return 0;
Expand Down Expand Up @@ -605,7 +611,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Point& e1, const core::collisi
{
// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -658,7 +664,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Point& e1, OutputVector* con
const auto QP = -PQ;

// filter for LMD
if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return 0;
Expand Down Expand Up @@ -723,7 +729,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Sphere& e1, const core::collis
{
// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -772,7 +778,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Sphere& e1, OutputVector* co
return 0;

// filter for LMD
if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return 0;
Expand Down Expand Up @@ -826,7 +832,7 @@ bool LocalMinDistance::testIntersection(Point& e1, Point& e2, const core::collis
{
// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -861,7 +867,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co

// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return 0;
Expand Down Expand Up @@ -913,7 +919,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Point& e2, const core::colli
{
// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -946,7 +952,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* c

// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return 0;
Expand Down Expand Up @@ -996,7 +1002,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Sphere& e2, const core::coll
{
// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return false;
Expand Down Expand Up @@ -1028,7 +1034,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Sphere& e2, OutputVector*

// filter for LMD

if (!useLMDFilters.getValue())
if (!d_useLMDFilters.getValue())
{
if (!testValidity(e1, PQ))
return 0;
Expand Down Expand Up @@ -1189,7 +1195,7 @@ int LocalMinDistance::computeIntersection(Ray &ray1, Sphere &sph2, OutputVector*

bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const
{
if (!filterIntersection.getValue())
if (!d_filterIntersection.getValue())
return true;

const Vec3 pt = p.p();
Expand Down Expand Up @@ -1232,7 +1238,7 @@ bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const
const PointCollisionModel<sofa::defaulttype::Vec3Types> *pM = p.getCollisionModel();
const bool bothSide_computation = pM->bothSide.getValue();
nMean.normalize();
if (dot(nMean, PQ) < -angleCone.getValue()*PQ.norm() && !bothSide_computation)
if (dot(nMean, PQ) < -d_angleCone.getValue() * PQ.norm() && !bothSide_computation)
{
return false;
}
Expand All @@ -1243,10 +1249,10 @@ bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const
const auto& ped = topology->getEdge(e);
Vec3 l = (pt - x[ped[0]]) + (pt - x[ped[1]]);
l.normalize();
double computedAngleCone = dot(nMean , l) * coneFactor.getValue();
double computedAngleCone = dot(nMean , l) * d_coneFactor.getValue();
if (computedAngleCone<0)
computedAngleCone=0.0;
computedAngleCone+=angleCone.getValue();
computedAngleCone+=d_angleCone.getValue();
if (dot(l , PQ) < -computedAngleCone*PQ.norm())
{
return false;
Expand All @@ -1258,7 +1264,7 @@ bool LocalMinDistance::testValidity(Point &p, const Vec3 &PQ) const

bool LocalMinDistance::testValidity(Line &l, const Vec3 &PQ) const
{
if (!filterIntersection.getValue())
if (!d_filterIntersection.getValue())
return true;

const LineCollisionModel<sofa::defaulttype::Vec3Types> *lM = l.getCollisionModel();
Expand Down Expand Up @@ -1313,10 +1319,10 @@ bool LocalMinDistance::testValidity(Line &l, const Vec3 &PQ) const
}

// compute the angle for the cone to filter contacts using the normal of the triangle situated on the right
double computedAngleCone = (nMean * t1) * coneFactor.getValue();
double computedAngleCone = (nMean * t1) * d_coneFactor.getValue();
if (computedAngleCone<0)
computedAngleCone=0.0;
computedAngleCone+=angleCone.getValue();
computedAngleCone+=d_angleCone.getValue();

if (t1*PQ < -computedAngleCone*PQ.norm())
{
Expand All @@ -1326,10 +1332,10 @@ bool LocalMinDistance::testValidity(Line &l, const Vec3 &PQ) const
}

// compute the angle for the cone to filter contacts using the normal of the triangle situated on the left
computedAngleCone = (nMean * t2) * coneFactor.getValue();
computedAngleCone = (nMean * t2) * d_coneFactor.getValue();
if (computedAngleCone<0)
computedAngleCone=0.0;
computedAngleCone+=angleCone.getValue();
computedAngleCone+=d_angleCone.getValue();

if (t2*PQ < -computedAngleCone*PQ.norm())
{
Expand All @@ -1344,7 +1350,7 @@ bool LocalMinDistance::testValidity(Line &l, const Vec3 &PQ) const
{
n1 = PQ;
n1.normalize();
if (fabs(dot(AB,n1)) > angleCone.getValue() + 0.0001 ) // dot(AB,n1) should be equal to 0
if (fabs(dot(AB,n1)) > d_angleCone.getValue() + 0.0001 ) // dot(AB,n1) should be equal to 0
{
// means that proximity was detected with a null determinant
// in function computeIntersection
Expand All @@ -1361,7 +1367,7 @@ bool LocalMinDistance::testValidity(Triangle &t, const Vec3 &PQ) const
const TriangleCollisionModel<sofa::defaulttype::Vec3Types> *tM = t.getCollisionModel();
const bool bothSide_computation = tM->d_bothSide.getValue();

if (!filterIntersection.getValue() || bothSide_computation)
if (!d_filterIntersection.getValue() || bothSide_computation)
return true;

const Vec3& pt1 = t.p1();
Expand Down
21 changes: 17 additions & 4 deletions ...ction/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.h
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Expand Up @@ -61,10 +61,23 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API LocalMinDistance : pub

typedef core::collision::IntersectorFactory<LocalMinDistance> IntersectorFactory;

Data<bool> filterIntersection; ///< Activate LMD filter
Data<double> angleCone; ///< Filtering cone extension angle
Data<double> coneFactor; ///< Factor for filtering cone angle computation
Data<bool> useLMDFilters; ///< Use external cone computation (Work in Progress)
SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<bool> filterIntersection;

SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<double> angleCone;

SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<double> coneFactor;

SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA()
Data<bool> useLMDFilters;


Data<bool> d_filterIntersection; ///< Activate LMD filter
Data<double> d_angleCone; ///< Filtering cone extension angle
Data<double> d_coneFactor; ///< Factor for filtering cone angle computation
Data<bool> d_useLMDFilters; ///< Use external cone computation (Work in Progress)

protected:
LocalMinDistance();
Expand Down
8 changes: 4 additions & 4 deletions ...tion/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp
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Expand Up @@ -41,17 +41,17 @@ MeshMinProximityIntersection::MeshMinProximityIntersection(MinProximityIntersect
{
if (addSelf)
{
if (intersection->usePointPoint.getValue())
if (intersection->d_usePointPoint.getValue())
intersection->intersectors.add<PointCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>, MeshMinProximityIntersection>(this);
else
intersection->intersectors.ignore<PointCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>>();

if(intersection->useLinePoint.getValue())
if(intersection->d_useLinePoint.getValue())
intersection->intersectors.add<LineCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>, MeshMinProximityIntersection>(this);
else
intersection->intersectors.ignore<LineCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>>();

if(intersection->useLineLine.getValue())
if(intersection->d_useLineLine.getValue())
intersection->intersectors.add<LineCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>, MeshMinProximityIntersection>(this);
else
intersection->intersectors.ignore<LineCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>>();
Expand All @@ -60,7 +60,7 @@ MeshMinProximityIntersection::MeshMinProximityIntersection(MinProximityIntersect
intersection->intersectors.ignore<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, LineCollisionModel<sofa::defaulttype::Vec3Types>>();
intersection->intersectors.ignore<TriangleCollisionModel<sofa::defaulttype::Vec3Types>, TriangleCollisionModel<sofa::defaulttype::Vec3Types>>();

if (intersection->useSphereTriangle.getValue())
if (intersection->d_useSphereTriangle.getValue())
{
intersection->intersectors.add<SphereCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>, MeshMinProximityIntersection>(this);
intersection->intersectors.add<RigidSphereModel, PointCollisionModel<sofa::defaulttype::Vec3Types>, MeshMinProximityIntersection>(this);
Expand Down
4 changes: 2 additions & 2 deletions ...tion/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp
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Expand Up @@ -208,7 +208,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Line& e2, Ou
n += doIntersectionTrianglePoint(dist2, f1, p1, p2, p3, pn, q1, contacts, e2.getIndex(), false);
n += doIntersectionTrianglePoint(dist2, f1, p1, p2, p3, pn, q2, contacts, e2.getIndex(), false);

if (intersection->useLineLine.getValue())
if (intersection->d_useLineLine.getValue())
{
if (f1&TriangleCollisionModel<sofa::defaulttype::Vec3Types>::FLAG_E12)
n += doIntersectionLineLine(dist2, p1, p2, q1, q2, contacts, e2.getIndex());
Expand Down Expand Up @@ -303,7 +303,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Triangle& e2
if (f2&TriangleCollisionModel<sofa::defaulttype::Vec3Types>::FLAG_P3)
n += doIntersectionTrianglePoint(dist2, f1, p1, p2, p3, pn, q3, contacts, id2+2, false, useNormal);

if (intersection->useLineLine.getValue())
if (intersection->d_useLineLine.getValue())
{
if (f1&TriangleCollisionModel<sofa::defaulttype::Vec3Types>::FLAG_E12)
{
Expand Down
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