Candidates¶

class Candidates¶

Public Functions

Candidates() = default¶

void build(const CollisionMesh& mesh, const Eigen::MatrixXd& vertices, const double inflation_radius = 0, const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD)¶

Initialize the set of discrete collision detection candidates.

Parameters:¶

const CollisionMesh &mesh¶: The surface of the collision mesh.
const Eigen::MatrixXd &vertices¶: Surface vertex positions (rowwise).
const double inflation_radius = 0¶: Amount to inflate the bounding boxes.
const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD ¶: Broad phase method to use.

void build(const CollisionMesh& mesh, const Eigen::MatrixXd& vertices_t0, const Eigen::MatrixXd& vertices_t1, const double inflation_radius = 0, const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD)¶

Initialize the set of continuous collision detection candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶: The surface of the collision mesh.
const Eigen::MatrixXd &vertices_t0¶: Surface vertex starting positions (rowwise).
const Eigen::MatrixXd &vertices_t1¶: Surface vertex ending positions (rowwise).
const double inflation_radius = 0¶: Amount to inflate the bounding boxes.
const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD ¶: Broad phase method to use.

size_t size() const¶

bool empty() const¶

void clear()¶

ContinuousCollisionCandidate& operator[](size_t i)¶

const ContinuousCollisionCandidate& operator[](size_t i) const¶

bool is_step_collision_free(const CollisionMesh& mesh, const Eigen::MatrixXd& vertices_t0, const Eigen::MatrixXd& vertices_t1, const double min_distance = 0.0, const double tolerance = DEFAULT_CCD_TOLERANCE, const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS) const¶

Determine if the step is collision free from the set of candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶: The collision mesh.
const Eigen::MatrixXd &vertices_t0¶: Surface vertex starting positions (rowwise).
const Eigen::MatrixXd &vertices_t1¶: Surface vertex ending positions (rowwise).
const double min_distance = 0.0¶: The minimum distance allowable between any two elements.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: The tolerance for the CCD algorithm.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: The maximum number of iterations for the CCD algorithm.

Returns:¶

True if any collisions occur.

double compute_collision_free_stepsize(const CollisionMesh& mesh, const Eigen::MatrixXd& vertices_t0, const Eigen::MatrixXd& vertices_t1, const double min_distance = 0.0, const double tolerance = DEFAULT_CCD_TOLERANCE, const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS) const¶

Computes a maximal step size that is collision free using the set of collision candidates.

Note

Assumes the trajectory is linear.

Parameters:¶

const CollisionMesh &mesh¶: The collision mesh.
const Eigen::MatrixXd &vertices_t0¶: Surface vertex starting positions (rowwise). Assumed to be intersection free.
const Eigen::MatrixXd &vertices_t1¶: Surface vertex ending positions (rowwise).
const double min_distance = 0.0¶: The minimum distance allowable between any two elements.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: The tolerance for the CCD algorithm.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: The maximum number of iterations for the CCD algorithm.

Returns:¶

A step-size \(\in [0, 1]\) that is collision free. A value of 1.0 if a full step and 0.0 is no step.

double compute_noncandidate_conservative_stepsize( const CollisionMesh& mesh, const Eigen::MatrixXd& displacements, const double dhat) const¶

Computes a conservative bound on the largest-feasible step size for surface primitives not in collision.

Parameters:¶

const CollisionMesh &mesh¶: The collision mesh.
const Eigen::MatrixXd &displacements¶: Surface vertex displacements (rowwise).
const double dhat¶: Barrier activation distance.

double compute_cfl_stepsize(const CollisionMesh& mesh, const Eigen::MatrixXd& vertices_t0, const Eigen::MatrixXd& vertices_t1, const double dhat, const BroadPhaseMethod broad_phase_method = DEFAULT_BROAD_PHASE_METHOD, const double min_distance = 0.0, const double tolerance = DEFAULT_CCD_TOLERANCE, const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS) const¶

Computes a CFL-inspired CCD maximum step step size.

Parameters:¶

const CollisionMesh &mesh¶: The collision mesh.
const Eigen::MatrixXd &vertices_t0¶: Surface vertex starting positions (rowwise).
const Eigen::MatrixXd &vertices_t1¶: Surface vertex ending positions (rowwise).
const double dhat¶: Barrier activation distance.
const double min_distance = 0.0¶: The minimum distance allowable between any two elements.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: The tolerance for the CCD algorithm.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: The maximum number of iterations for the CCD algorithm.

bool save_obj(const std::string& filename, const Eigen::MatrixXd& vertices, const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const¶

Public Members

std::vector<VertexVertexCandidate> vv_candidates¶

std::vector<EdgeVertexCandidate> ev_candidates¶

std::vector<EdgeEdgeCandidate> ee_candidates¶

std::vector<FaceVertexCandidate> fv_candidates¶

Collision Stencil¶

class CollisionStencil¶

A stencil representing a collision between at most four vertices.

Subclassed by ipc::Collision, ipc::ContinuousCollisionCandidate, ipc::FrictionCollision

Public Functions

virtual ~CollisionStencil() = default¶

virtual int num_vertices() const = 0¶: Get the number of vertices in the collision stencil.

inline int dim(const int ndof) const¶

Get the dimension of the collision stencil.

Parameters:¶

const int ndof¶: Number of degrees of freedom in the stencil.

Returns:¶

The dimension of the collision stencil.

virtual std::array<long, 4> vertex_ids(const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const = 0¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶: Collision mesh edges
const Eigen::MatrixXi &faces¶: Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

template <typename T> inline std::array<VectorMax3<T>, 4> vertices( const MatrixX<T>& vertices, const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const¶

Get the vertex attributes of the collision stencil.

Template Parameters:¶

typename T¶: Type of the attributes

Parameters:¶

const MatrixX<T> &vertices¶: Vertex attributes
const Eigen::MatrixXi &edges¶: Collision mesh edges
const Eigen::MatrixXi &faces¶: Collision mesh faces

Returns:¶

The vertex positions of the collision stencil. Size is always 4, but elements i > num_vertices() are NaN.

template <typename T> inline VectorMax12<T> dof(const MatrixX<T>& X, const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const¶

Select this stencil’s DOF from the full matrix of DOF.

Template Parameters:¶

typename T¶: Type of the DOF

Parameters:¶

const MatrixX<T> &X¶: Full matrix of DOF (rowwise).
const Eigen::MatrixXi &edges¶: Collision mesh edges
const Eigen::MatrixXi &faces¶: Collision mesh faces

Returns:¶

This stencil’s DOF.

virtual double compute_distance( const VectorMax12d& positions) const = 0¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient( const VectorMax12d& positions) const = 0¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian( const VectorMax12d& positions) const = 0¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Continuous Collision Candidate¶

class ContinuousCollisionCandidate : public virtual ipc::CollisionStencil ¶

Virtual class for candidates that support CCD.

Subclassed by ipc::EdgeEdgeCandidate, ipc::EdgeVertexCandidate, ipc::FaceVertexCandidate, ipc::VertexVertexCandidate

Public Functions

virtual ~ContinuousCollisionCandidate() = default¶

virtual bool ccd(const VectorMax12d& vertices_t0, const VectorMax12d& vertices_t1, double& toi, const double min_distance = 0.0, const double tmax = 1.0, const double tolerance = DEFAULT_CCD_TOLERANCE, const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS, const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING) const = 0¶

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶: Stencil vertices at the start of the time step.
const VectorMax12d &vertices_t1¶: Stencil vertices at the end of the time step.
double &toi¶: Computed time of impact (normalized).
const double min_distance = 0.0¶: Minimum separation distance between primitives.
const double tmax = 1.0¶: Maximum time (normalized) to look for collisions.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

std::ostream& write_ccd_query(std::ostream& out, const VectorMax12d& vertices_t0, const VectorMax12d& vertices_t1) const¶

Write the CCD query to a stream.

Parameters:¶

std::ostream &out¶: Stream to write to.
const VectorMax12d &vertices_t0¶: Stencil vertices at the start of the time step.
const VectorMax12d &vertices_t1¶: Stencil vertices at the end of the time step.

Returns:¶

The stream.

Vertex-Vertex Candidate¶

class VertexVertexCandidate : public ipc::ContinuousCollisionCandidate ¶

Subclassed by ipc::VertexVertexCollision, ipc::VertexVertexFrictionCollision

Public Functions

VertexVertexCandidate(long vertex0_id, long vertex1_id)¶

inline virtual int num_vertices() const override¶: Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids( const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const override¶

Get the indices of the vertices.

Parameters:¶

const Eigen::MatrixXi &edges¶: edge matrix of mesh
const Eigen::MatrixXi &faces¶: face matrix of mesh

Returns:¶

List of vertex indices

virtual double compute_distance( const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient( const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian( const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶: Stencil vertices at the start of the time step.
const VectorMax12d &vertices_t1¶: Stencil vertices at the end of the time step.
double &toi¶: Computed time of impact (normalized).
const double min_distance = 0.0¶: Minimum separation distance between primitives.
const double tmax = 1.0¶: Maximum time (normalized) to look for collisions.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

bool operator==(const VertexVertexCandidate& other) const¶

bool operator!=(const VertexVertexCandidate& other) const¶

bool operator<(const VertexVertexCandidate& other) const¶: Compare EdgeVertexCandidates for sorting.

Public Members

long vertex0_id¶: ID of the first vertex.

long vertex1_id¶: ID of the second vertex.

Friends

template <typename H> inline friend H AbslHashValue(H h, const VertexVertexCandidate& vv)¶

Edge-Vertex Candidate¶

class EdgeVertexCandidate : public ipc::ContinuousCollisionCandidate ¶

Subclassed by ipc::EdgeVertexCollision, ipc::EdgeVertexFrictionCollision

Public Functions

EdgeVertexCandidate(long edge_id, long vertex_id)¶

inline virtual int num_vertices() const override¶: Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids( const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const override¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶: Collision mesh edges
const Eigen::MatrixXi &faces¶: Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual double compute_distance( const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient( const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian( const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶: Stencil vertices at the start of the time step.
const VectorMax12d &vertices_t1¶: Stencil vertices at the end of the time step.
double &toi¶: Computed time of impact (normalized).
const double min_distance = 0.0¶: Minimum separation distance between primitives.
const double tmax = 1.0¶: Maximum time (normalized) to look for collisions.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

inline virtual PointEdgeDistanceType known_dtype() const¶

bool operator==(const EdgeVertexCandidate& other) const¶

bool operator!=(const EdgeVertexCandidate& other) const¶

bool operator<(const EdgeVertexCandidate& other) const¶: Compare EdgeVertexCandidates for sorting.

Public Members

long edge_id¶: ID of the edge.

long vertex_id¶: ID of the vertex.

Friends

template <typename H> inline friend H AbslHashValue(H h, const EdgeVertexCandidate& ev)¶

Edge-Edge Candidate¶

class EdgeEdgeCandidate : public ipc::ContinuousCollisionCandidate ¶

Subclassed by ipc::EdgeEdgeCollision, ipc::EdgeEdgeFrictionCollision

Public Functions

EdgeEdgeCandidate(long edge0_id, long edge1_id)¶

inline virtual int num_vertices() const override¶: Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids( const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const override¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶: Collision mesh edges
const Eigen::MatrixXi &faces¶: Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual double compute_distance( const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient( const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian( const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶: Stencil vertices at the start of the time step.
const VectorMax12d &vertices_t1¶: Stencil vertices at the end of the time step.
double &toi¶: Computed time of impact (normalized).
const double min_distance = 0.0¶: Minimum separation distance between primitives.
const double tmax = 1.0¶: Maximum time (normalized) to look for collisions.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

inline virtual EdgeEdgeDistanceType known_dtype() const¶

bool operator==(const EdgeEdgeCandidate& other) const¶

bool operator!=(const EdgeEdgeCandidate& other) const¶

bool operator<(const EdgeEdgeCandidate& other) const¶: Compare EdgeEdgeCandidates for sorting.

Public Members

long edge0_id¶: ID of the first edge.

long edge1_id¶: ID of the second edge.

Friends

template <typename H> inline friend H AbslHashValue(H h, const EdgeEdgeCandidate& ee)¶

Edge-Face Candidate¶

class EdgeFaceCandidate¶

Candidate for intersection between edge and face.

Not included in Candidates because it is not a collision candidate.

Public Functions

EdgeFaceCandidate(long edge_id, long face_id)¶

bool operator==(const EdgeFaceCandidate& other) const¶

bool operator!=(const EdgeFaceCandidate& other) const¶

bool operator<(const EdgeFaceCandidate& other) const¶: Compare EdgeFaceCandidate for sorting.

Public Members

long edge_id¶: ID of the edge.

long face_id¶: ID of the face.

Friends

template <typename H> inline friend H AbslHashValue(H h, const EdgeFaceCandidate& fv)¶

Face-Vertex Candidate¶

class FaceVertexCandidate : public ipc::ContinuousCollisionCandidate ¶

Subclassed by ipc::FaceVertexCollision, ipc::FaceVertexFrictionCollision

Public Functions

FaceVertexCandidate(long face_id, long vertex_id)¶

inline virtual int num_vertices() const override¶: Get the number of vertices in the collision stencil.

inline virtual std::array<long, 4> vertex_ids( const Eigen::MatrixXi& edges, const Eigen::MatrixXi& faces) const override¶

Get the vertex IDs of the collision stencil.

Parameters:¶

const Eigen::MatrixXi &edges¶: Collision mesh edges
const Eigen::MatrixXi &faces¶: Collision mesh faces

Returns:¶

The vertex IDs of the collision stencil. Size is always 4, but elements i > num_vertices() are -1.

virtual double compute_distance( const VectorMax12d& positions) const override¶

Compute the distance of the stencil.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance of the stencil.

virtual VectorMax12d compute_distance_gradient( const VectorMax12d& positions) const override¶

Compute the distance gradient of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance gradient of the stencil w.r.t. the stencil’s vertex positions.

virtual MatrixMax12d compute_distance_hessian( const VectorMax12d& positions) const override¶

Compute the distance Hessian of the stencil w.r.t.

the stencil’s vertex positions.

Note

positions can be computed as stencil.dof(vertices, edges, faces)

Parameters:¶

const VectorMax12d &positions¶: Stencil’s vertex positions.

Returns:¶

Distance Hessian of the stencil w.r.t. the stencil’s vertex positions.

Perform narrow-phase CCD on the candidate.

Parameters:¶

const VectorMax12d &vertices_t0¶: Stencil vertices at the start of the time step.
const VectorMax12d &vertices_t1¶: Stencil vertices at the end of the time step.
double &toi¶: Computed time of impact (normalized).
const double min_distance = 0.0¶: Minimum separation distance between primitives.
const double tmax = 1.0¶: Maximum time (normalized) to look for collisions.
const double tolerance = DEFAULT_CCD_TOLERANCE ¶: [in] CCD tolerance used by Tight-Inclusion CCD.
const long max_iterations = DEFAULT_CCD_MAX_ITERATIONS ¶: [in] Maximum iterations used by Tight-Inclusion CCD.
const double conservative_rescaling = DEFAULT_CCD_CONSERVATIVE_RESCALING ¶: [in] Conservative rescaling value used to avoid taking steps exactly to impact.

Returns:¶

If the candidate had a collision over the time interval.

inline virtual PointTriangleDistanceType known_dtype() const¶

bool operator==(const FaceVertexCandidate& other) const¶

bool operator!=(const FaceVertexCandidate& other) const¶

bool operator<(const FaceVertexCandidate& other) const¶: Compare FaceVertexCandidate for sorting.

Public Members

long face_id¶: ID of the face.

long vertex_id¶: ID of the vertex.

Friends

template <typename H> inline friend H AbslHashValue(H h, const FaceVertexCandidate& fv)¶

Last update: Apr 03, 2024