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AndreaNeumayrAndreaNeumayr
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moved some code from scene.jl to contactPairs.jl
1 parent c85ca93 commit 1711d4e

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3 files changed

+64
-67
lines changed

3 files changed

+64
-67
lines changed

‎src/Composition/_module.jl‎

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@@ -99,6 +99,9 @@ include(joinpath("joints", "Fix.jl"))
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include(joinpath("joints", "Revolute.jl"))
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include(joinpath("joints", "Prismatic.jl"))
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include("contactPairs.jl")
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include(joinpath(Modia3D.path, "src", "contactDetection", "ContactDetectionMPR", "ContactDetectionMPR_handler.jl"))
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include("scene.jl") # must be included after superObjects.jl
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include(joinpath("joints", "joints.jl"))
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include(joinpath("joints", "changeJointState.jl"))

‎src/Composition/contactPairs.jl‎

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#-------------------------------------- Default Contact Detection -------------------------------
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"""
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ContactPairs(nzmax, collSuperObjs, noCPairs, dummyObject3D)
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Generate a new ContactPairs structure used for communication between the Object3D handler and a ContactDetection handler.
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- `DummyObject3D::Modia3D.AbstractObject3DFeature`: A dummy Object3D that can be used in the struct as element of a vector of Object3Ds
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to fill the vector with a dummy value of the correct type.
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"""
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mutable struct ContactPairs
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# Solid shapes used in contact detection (provided by Object3D handler)
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allowedToMove::Vector{Union{Bool,Nothing}}
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dummyObject3D::Modia3D.AbstractObject3DFeature # Dummy Object3D for non-used elements of z-Vector.
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# Dimensions
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ne::Int # length(collSuperObjs)
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nz::Int # length(z)
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nzContact::Int # length(z | z has contact) length of z where zi has contact
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function ContactPairs(world::Composition.Object3D, AABB::Vector{Vector{Basics.BoundingBox}}, superObjs::Vector{SuperObjsRow},
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allowedToMove::Vector{Union{Bool,Nothing}}, visualizeBoundingBox::Bool, nVisualContSupPoints::Int,
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visualizeContactPoints::Bool, visualizeSupportPoints::Bool, defaultContactSphereDiameter::Float64)
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@assert(length(superObjs) > 0)
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@assert(nVisualContSupPoints > 0)
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dummyObject3D = Composition.emptyObject3DFeature
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lengthCollSuperObjs = length(superObjs)
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if lengthCollSuperObjs <= 1
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error("There's nothing to collide. All Object3Ds are rigidly connected.")
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end
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nzContact = 0
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nz = 2
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if lengthCollSuperObjs > 2
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nz = lengthCollSuperObjs
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end
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if visualizeContactPoints
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addContactVisuObjToWorld!(world, nVisualContSupPoints, defaultContactSphereDiameter)
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end
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if visualizeSupportPoints
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addSupportVisuObjToWorld!(world, nVisualContSupPoints, defaultContactSphereDiameter)
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end
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if visualizeBoundingBox
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addAABBVisuToWorld!(world, AABB)
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end
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new(allowedToMove, dummyObject3D, lengthCollSuperObjs, nz, nzContact)
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end
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end
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initializeContactDetection!(ch::Modia3D.AbstractContactDetection, collSuperObjs::Vector{Vector{Modia3D.AbstractObject3DFeature}}, noCPairs::Vector{Vector{Int64}}) = error("No contact detection handler defined.")
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selectContactPairsWithEvent!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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selectContactPairsNoEvent!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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getDistances!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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setComputationFlag(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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closeContactDetection!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")

‎src/Composition/scene.jl‎

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@@ -14,73 +14,6 @@ visualize!(renderer::Modia3D.AbstractRenderer, time::Float64) = error("No render
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closeVisualization(renderer::Modia3D.AbstractRenderer) = error("No renderer defined.")
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#-------------------------------------- Default Contact Detection -------------------------------
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"""
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ContactPairs(nzmax, collSuperObjs, noCPairs, dummyObject3D)
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Generate a new ContactPairs structure used for communication between the Object3D handler and a ContactDetection handler.
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- `DummyObject3D::Modia3D.AbstractObject3DFeature`: A dummy Object3D that can be used in the struct as element of a vector of Object3Ds
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to fill the vector with a dummy value of the correct type.
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"""
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mutable struct ContactPairs
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# Solid shapes used in contact detection (provided by Object3D handler)
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allowedToMove::Vector{Union{Bool,Nothing}}
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dummyObject3D::Modia3D.AbstractObject3DFeature # Dummy Object3D for non-used elements of z-Vector.
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# Dimensions
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ne::Int # length(collSuperObjs)
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nz::Int # length(z)
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nzContact::Int # length(z | z has contact) length of z where zi has contact
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function ContactPairs(world::Composition.Object3D, AABB::Vector{Vector{Basics.BoundingBox}}, superObjs::Vector{SuperObjsRow},
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allowedToMove::Vector{Union{Bool,Nothing}}, visualizeBoundingBox::Bool, nVisualContSupPoints::Int,
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visualizeContactPoints::Bool, visualizeSupportPoints::Bool, defaultContactSphereDiameter::Float64)
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@assert(length(superObjs) > 0)
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@assert(nVisualContSupPoints > 0)
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dummyObject3D = Composition.emptyObject3DFeature
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lengthCollSuperObjs = length(superObjs)
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if lengthCollSuperObjs <= 1
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error("There's nothing to collide. All Object3Ds are rigidly connected.")
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end
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nzContact = 0
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nz = 2
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if lengthCollSuperObjs > 2
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nz = lengthCollSuperObjs
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end
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amountVisuPoints = 1
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amountSuppPoints = 1
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if visualizeContactPoints
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addContactVisuObjToWorld!(world, nVisualContSupPoints, defaultContactSphereDiameter)
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end
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if visualizeSupportPoints
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addSupportVisuObjToWorld!(world, nVisualContSupPoints, defaultContactSphereDiameter)
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end
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if visualizeBoundingBox
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addAABBVisuToWorld!(world, AABB)
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end
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new(allowedToMove, dummyObject3D, lengthCollSuperObjs, nz, nzContact)
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end
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end
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initializeContactDetection!(ch::Modia3D.AbstractContactDetection, collSuperObjs::Vector{Vector{Modia3D.AbstractObject3DFeature}}, noCPairs::Vector{Vector{Int64}}) = error("No contact detection handler defined.")
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selectContactPairsWithEvent!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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selectContactPairsNoEvent!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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getDistances!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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setComputationFlag(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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closeContactDetection!(ch::Modia3D.AbstractContactDetection) = error("No contact detection handler defined.")
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include(joinpath(Modia3D.path, "src", "contactDetection", "ContactDetectionMPR", "ContactDetectionMPR_handler.jl"))
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#-------------------------------------- Gravity field ----------------------------------
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