vtkCollisionDetectionFilter.h

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// SPDX-FileCopyrightText: Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
// SPDX-FileCopyrightText: Copyright (c) Goodwin Lawlor All rights reserved
// SPDX-License-Identifier: BSD-3-Clause

/*
 * @warning
 * Currently only triangles are processed. Use vtkTriangleFilter to
 * convert any strips or polygons to triangles.
 */

/*
 * @cite
 * Goodwin Lawlor <goodwin.lawlor@ucd.ie>, University College Dublin,
 * who wrote this class.
 * Thanks to Peter C. Everett
 * <pce@world.std.com> for vtkOBBTree::IntersectWithOBBTree() in
 * particular, and all those who contributed to vtkOBBTree in general.
 * The original code was contained here: https://github.com/glawlor/vtkbioeng
 *
 */

/*
 *  @see
 *  vtkTriangleFilter, vtkSelectPolyData, vtkOBBTree
 */
 
#ifndef vtkCollisionDetectionFilter_h
#define vtkCollisionDetectionFilter_h
 
#include "vtkFieldData.h"             // For GetContactCells
#include "vtkFiltersModelingModule.h" // For export macro
#include "vtkPolyDataAlgorithm.h"
 
VTK_ABI_NAMESPACE_BEGIN
class vtkOBBTree;
class vtkPolyData;
class vtkPoints;
class vtkMatrix4x4;
class vtkLinearTransform;
class vtkIdTypeArray;
 
class VTKFILTERSMODELING_EXPORT vtkCollisionDetectionFilter : public vtkPolyDataAlgorithm
{
public:

  static vtkCollisionDetectionFilter* New();
  vtkTypeMacro(vtkCollisionDetectionFilter, vtkPolyDataAlgorithm);
  void PrintSelf(ostream& os, vtkIndent indent) override;
 
  enum CollisionModes
  {
    VTK_ALL_CONTACTS = 0,
    VTK_FIRST_CONTACT = 1,
    VTK_HALF_CONTACTS = 2
  };


  vtkSetClampMacro(CollisionMode, int, VTK_ALL_CONTACTS, VTK_HALF_CONTACTS);
  vtkGetMacro(CollisionMode, int);
 
  void SetCollisionModeToAllContacts() { this->SetCollisionMode(VTK_ALL_CONTACTS); }
  void SetCollisionModeToFirstContact() { this->SetCollisionMode(VTK_FIRST_CONTACT); }
  void SetCollisionModeToHalfContacts() { this->SetCollisionMode(VTK_HALF_CONTACTS); }
  const char* GetCollisionModeAsString()
  {
    if (this->CollisionMode == VTK_ALL_CONTACTS)
    {
      return "AllContacts";
    }
    else if (this->CollisionMode == VTK_FIRST_CONTACT)
    {
      return "FirstContact";
    }
    else
    {
      return "HalfContacts";
    }
  }



  int IntersectPolygonWithPolygon(int npts, double* pts, double bounds[6], int npts2, double* pts2,
    double bounds2[6], double tol2, double x1[3], double x2[3], int CollisionMode);


  void SetInputData(int i, vtkPolyData* model);
  vtkPolyData* GetInputData(int i);


  vtkIdTypeArray* GetContactCells(int i);


  vtkAlgorithmOutput* GetContactsOutputPort() { return this->GetOutputPort(2); }
  vtkPolyData* GetContactsOutput() { return this->GetOutput(2); }

  /* Specify the transform object used to transform models. Alternatively, matrices
   * can be set instead.
`  */
  void SetTransform(int i, vtkLinearTransform* transform);
  vtkLinearTransform* GetTransform(int i) { return this->Transform[i]; }

  /* Specify the matrix object used to transform models.
   */
  void SetMatrix(int i, vtkMatrix4x4* matrix);
  vtkMatrix4x4* GetMatrix(int i);

  /* Set and Get the obb tolerance (absolute value, in world coords). Default is 0.001
   */
  vtkSetMacro(BoxTolerance, float);
  vtkGetMacro(BoxTolerance, float);

  /* Set and Get the cell tolerance (squared value). Default is 0.0
   */
  vtkSetMacro(CellTolerance, double);
  vtkGetMacro(CellTolerance, double);

  /*
   * Set and Get the the flag to visualize the contact cells. If set the contacting cells
   * will be coloured from red through to blue, with collisions first determined coloured red.
   */
  vtkSetMacro(GenerateScalars, int);
  vtkGetMacro(GenerateScalars, int);
  vtkBooleanMacro(GenerateScalars, int);

  /*
   * Get the number of contacting cell pairs.
   *
   * @note If FirstContact mode is set, it will return either 0 or 1.
   * @warning It is mandatory to call Update() before, otherwise -1 is returned
   * @return -1 if internal nullptr is found, otherwise the number of contacts found
   */
  int GetNumberOfContacts();

  /*
   * Get the number of box tests
   */
  vtkGetMacro(NumberOfBoxTests, int);

  /*
   * Set and Get the number of cells in each OBB. Default is 2
   */
  vtkSetMacro(NumberOfCellsPerNode, int);
  vtkGetMacro(NumberOfCellsPerNode, int);

  /*
   * Set and Get the opacity of the polydata output when a collision takes place.
   * Default is 1.0
   */
  vtkSetClampMacro(Opacity, float, 0.0, 1.0);
  vtkGetMacro(Opacity, float);

  /*
   * Return the MTime also considering the transform.
   */
  vtkMTimeType GetMTime() override;
 
protected:
  vtkCollisionDetectionFilter();
  ~vtkCollisionDetectionFilter() override;
 
  // Usual data generation method
  int RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector*) override;
  vtkOBBTree* Tree0;
  vtkOBBTree* Tree1;
 
  vtkLinearTransform* Transform[2];
  vtkMatrix4x4* Matrix[2];
 
  int NumberOfBoxTests;
 
  int NumberOfCellsPerNode;
 
  int GenerateScalars;
 
  float BoxTolerance;
  float CellTolerance;
  float Opacity;
 
  int CollisionMode;
 
private:
  vtkCollisionDetectionFilter(const vtkCollisionDetectionFilter&) = delete;
  void operator=(const vtkCollisionDetectionFilter&) = delete;
};
 
VTK_ABI_NAMESPACE_END
#endif