Skip to content

[CollisionModel] Rename proximity data to contactDistance #5518

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
fredroy merged 5 commits into from
Jul 3, 2025
Merged

[CollisionModel] Rename proximity data to contactDistance #5518

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
99b8233
Rename proximity data to contactDistance with compat layer
bakpaul Jun 2, 2025
b1989a9
Modify SOFA scenes
bakpaul Jun 3, 2025
6275fc4
Change methods names
bakpaul Jun 19, 2025
645607e
Add compat layer
bakpaul Jun 19, 2025
ce66c68
Modify description
bakpaul Jun 19, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion ...section/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ bool BaseProximityIntersection::testIntersection(Cube& cube1, Cube& cube2, const
const auto& maxVect1 = cube1.maxVect();
const auto& maxVect2 = cube2.maxVect();

const auto alarmDist = currentIntersection->getAlarmDistance() + cube1.getProximity() + cube2.getProximity();
const auto alarmDist = currentIntersection->getAlarmDistance() + cube1.getContactDistance() + cube2.getContactDistance();

for (int i = 0; i < 3; i++)
{
Expand Down
52 changes: 26 additions & 26 deletions ...ion/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,7 @@ bool LocalMinDistance::testIntersection(Line& e1, Line& e2, const core::collisio
return false;
}

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();

const Line::Coord AB = e1.p2()-e1.p1();
const Line::Coord CD = e2.p2()-e2.p1();
Expand Down Expand Up @@ -168,7 +168,7 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont
return 0;
}

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();

// E1 => A-->B
// E2 => C-->D
Expand Down Expand Up @@ -259,7 +259,7 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont

#endif

const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
Expand All @@ -278,7 +278,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Point& e1, const core::col
if(!e1.isActive(e2.getCollisionModel()))
return false;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();

const Vec3 AB = e2.p2()-e2.p1();
const Vec3 AC = e2.p3()-e2.p1();
Expand Down Expand Up @@ -345,7 +345,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector*
if(!e1.isActive(e2.getCollisionModel()))
return 0;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();

static_assert(std::is_same_v<Triangle::Coord, Point::Coord>, "Data mismatch");
using Real = Triangle::Coord::value_type;
Expand Down Expand Up @@ -411,7 +411,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector*
}
#endif

const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
detection->id = e1.getIndex();
Expand All @@ -430,7 +430,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Sphere& e1, const core::co
if (!e1.isActive(e2.getCollisionModel()))
return false;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();

static_assert(std::is_same_v<Triangle::Coord, Sphere::Coord>, "Data mismatch");
using Real = Triangle::Coord::value_type;
Expand Down Expand Up @@ -500,7 +500,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector
if (!e1.isActive(e2.getCollisionModel()))
return false;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();

static_assert(std::is_same_v<Triangle::Coord, Sphere::Coord>, "Data mismatch");
using Real = Triangle::Coord::value_type;
Expand Down Expand Up @@ -565,7 +565,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector
}
#endif

const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
detection->id = e1.getIndex();
Expand All @@ -586,7 +586,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Point& e1, const core::collisi
if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
return false;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
const Line::Coord AB = e2.p2()-e2.p1();
const Line::Coord AP = e1.p()-e2.p1();

Expand Down Expand Up @@ -633,7 +633,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Point& e1, OutputVector* con
if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
return 0;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();
const Line::Coord AB = e2.p2()-e2.p1();
const Line::Coord AP = e1.p()-e2.p1();

Expand Down Expand Up @@ -685,7 +685,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Point& e1, OutputVector* con
}
#endif

const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
detection->id = e1.getIndex();
Expand All @@ -705,7 +705,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Sphere& e1, const core::collis
static_assert(std::is_same_v<Line::Coord, Sphere::Coord>, "Data mismatch");
using Real = Triangle::Coord::value_type;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
const Line::Coord AB = e2.p2()-e2.p1();
const Line::Coord AP = e1.p()-e2.p1();

Expand Down Expand Up @@ -748,7 +748,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Sphere& e1, OutputVector* co
static_assert(std::is_same_v<Line::Coord, Sphere::Coord>, "Data mismatch");
using Real = Triangle::Coord::value_type;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
const Line::Coord AB = e2.p2()-e2.p1();
const Line::Coord AP = e1.p()-e2.p1();

Expand Down Expand Up @@ -800,7 +800,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Sphere& e1, OutputVector* co
}
#endif

const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e2, e1);
detection->id = e1.getIndex();
Expand All @@ -819,7 +819,7 @@ bool LocalMinDistance::testIntersection(Point& e1, Point& e2, const core::collis
if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
return false;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();

const Point::Coord PQ = e2.p()-e1.p();

Expand Down Expand Up @@ -851,7 +851,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co
if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel()))
return 0;

const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance();

const Point::Coord& P = e1.p();
const Point::Coord& Q = e2.p();
Expand Down Expand Up @@ -890,7 +890,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co
}
#endif

const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
Expand All @@ -905,7 +905,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co

bool LocalMinDistance::testIntersection(Sphere& e1, Point& e2, const core::collision::Intersection* currentIntersection)
{
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();

static_assert(std::is_same_v<Sphere::Coord, Point::Coord>, "Data mismatch");
const auto PQ = e2.p()-e1.p();
Expand Down Expand Up @@ -935,7 +935,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Point& e2, const core::colli

int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
{
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();
static_assert(std::is_same_v<Sphere::Coord, Point::Coord>, "Data mismatch");

const Sphere::Coord& P = e1.p();
Expand Down Expand Up @@ -975,7 +975,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* c
}
#endif

const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
Expand All @@ -990,7 +990,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* c

bool LocalMinDistance::testIntersection(Sphere& e1, Sphere& e2, const core::collision::Intersection* currentIntersection)
{
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance();

const Sphere::Coord PQ = e2.p()-e1.p();
if (PQ.norm2() < alarmDist*alarmDist)
Expand Down Expand Up @@ -1018,7 +1018,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Sphere& e2, const core::coll

int LocalMinDistance::computeIntersection(Sphere& e1, Sphere& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
{
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance();

const Sphere::Coord& P = e1.p();
const Sphere::Coord& Q = e2.p();
Expand Down Expand Up @@ -1056,7 +1056,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Sphere& e2, OutputVector*
}
#endif

const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity();
const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance();

detection->elem = std::pair<core::CollisionElementIterator, core::CollisionElementIterator>(e1, e2);
detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex();
Expand All @@ -1074,7 +1074,7 @@ bool LocalMinDistance::testIntersection(Ray &t1,Triangle &t2, const core::collis
{
type::Vec3 P,Q;

const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance();

if (fabs(t2.n() * t1.direction()) < 0.000001)
return false; // no intersection for edges parallel to the triangle
Expand All @@ -1098,7 +1098,7 @@ bool LocalMinDistance::testIntersection(Ray &t1,Triangle &t2, const core::collis

int LocalMinDistance::computeIntersection(Ray &t1, Triangle &t2, OutputVector* contacts, const core::collision::Intersection* currentIntersection)
{
const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity();
const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance();


if (fabs(t2.n() * t1.direction()) < 0.000001)
Expand Down
Loading