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 objet 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

Links:

Name	Description
context	Graph Node containing this object (or BaseContext::getDefault() if no graph is used)
slaves	Sub-objects used internally by this object
master	nullptr for regular objects, or master object for which this object is one sub-objects
previous	Previous (coarser / upper / parent level) CollisionModel in the hierarchy.
next	Next (finer / lower / child level) CollisionModel in the hierarchy.
collisionElementActiver	CollisionElementActiver component that activates or deactivates collision element(s) during execution