Skip to content

RigidDistanceGridCollisionModel

Grid-based distance field.

Target: SofaDistanceGrid

namespace: sofa::component::collision

parents:

  • CollisionModel

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
active flag indicating if this collision model is active and should be included in default collision detections 1
moving flag indicating if this object is changing position between iterations 1
simulated flag indicating if this object is controlled by a simulation 1
selfCollision flag indication if the object can self collide 0
proximity Distance to the actual (visual) surface 0
contactStiffness Contact stiffness 10
contactFriction Contact friction coefficient (dry or viscous or unused depending on the contact method) 0
contactRestitution Contact coefficient of restitution 0
contactResponse if set, indicate to the ContactManager that this model should use the given class of contacts. Note that this is only indicative, and in particular if both collision models specify a different class it is up to the manager to choose.
color color used to display the collision model if requested 1 0 0 1
group IDs of the groups containing this model. No collision can occur between collision models included in a common group (e.g. allowing the same object to have multiple collision models)
numberOfContacts Number of collision models this collision model is currently attached to 0
filename Load distance grid from specified file
scale scaling factor for input file 1
translation translation to apply to input file
rotation rotation to apply to input file
sampling if not zero: sample the surface with points approximately separated by the given sampling distance (expressed in voxels if the value is negative) 0
box Field bounding box defined by xmin,ymin,zmin, xmax,ymax,zmax
nx number of values on X axis 64
ny number of values on Y axis 64
nz number of values on Z axis 64
dumpfilename write distance grid to specified file
usePoints use mesh vertices for collision detection 1
flipNormals reverse surface direction, i.e. points are considered in collision if they move outside of the object instead of inside 0
Visualization
showMeshPoints Enable rendering of mesh points 1
showGridPoints Enable rendering of grid points 0
showMinDist Min distance to render gradients 0
showMaxDist Max distance to render gradients 0
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
previous Previous (coarser / upper / parent level) CollisionModel in the hierarchy. CollisionModel
next Next (finer / lower / child level) CollisionModel in the hierarchy. CollisionModel
collisionElementActiver CollisionElementActiver component that activates or deactivates collision element(s) during execution BaseObject