Broad Phase: Brute Force Broad Phase
BruteForceBroadPhase is a broad phase component, which is used in a Collision Detection pipeline.
The method is based on the comparison of the overall bounding volumes of objects to determine if they are in collision or not. This test is very exhaustive because of its \(n^2/2\) pairwise checks. In SOFA, the proposed bounding volumes are commonly Axis-Aligned-Bounding-Box (AABB).
Since, the bounding volumes are very simple (AABB), the tests are very fast for a few collision models. A more advanced method must be selected for simulations involving a high number of objects.
A parallel implementation (ParallelBruteForceBroadPhase) can be found in the plugin MultiThreading.
Example of Usage
This component is used as follows in XML format:
xml
<FreeMotionAnimationLoop />
<DefaultPipeline depth="15" verbose="0" draw="0" />
<BruteForceBroadPhase name="N2" />
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="1.5" contactDistance="1" />
<DefaultContactManager name="Response" response="FrictionContactConstraint" />
Broad phase collision detection using extensive pair-wise tests.
Target: Sofa.Component.Collision.Detection.Algorithm
namespace: sofa::component::collision::detection::algorithm
parents:
- BroadPhaseDetection
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| box | if not empty, objects that do not intersect this bounding-box will be ignored |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |