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Program: Visualization Toolkit
Module: vtkCollisionDetectionFilter.h
Language: C++
RCS: $Id$
Copyright (c) 2003 and onwards, Goodwin Lawlor
All rights reserved. for copyright details
// .NAME vtkCollisionDetectionFilter - performs collision determination between two polyhedral surfaces
// .SECTION Description
// vtkCollisionDetectionFilter performs collision determination between two polyhedral surfaces using
// two instances of vtkOBBTree. Set the polydata inputs, the tolerance and transforms or matrices. If
// CollisionMode is set to AllContacts, the Contacts output will be lines of contact.
// If CollisionMode is FirstContact or HalfContacts then the Contacts output will be vertices.
// See below for an explanation of these options.
// This class can be used to clip one polydata surface with another, using the Contacts output as a loop
// set in vtkSelectPolyData
// .SECTION Caveats
// Currently only triangles are processed. Use vtkTriangleFilter to
// convert any strips or polygons to triangles.
// .SECTION Thanks
// Goodwin Lawlor <>, University College Dublin, who wrote this class.
// Thanks to Peter C. Everett <> for vtkOBBTree::IntersectWithOBBTree() in particular,
// and all those who contributed to vtkOBBTree in general.
// .SECTION See Also
// vtkTriangleFilter, vtkSelectPolyData, vtkOBBTree
#ifndef __vtkCollisionDetectionFilter_h
#define __vtkCollisionDetectionFilter_h
#include "vtkSlicerRtCommonWin32Header.h"
#include "vtkPolyDataAlgorithm.h"
#include "vtkLinearTransform.h"
#include "vtkIdTypeArray.h"
#include "vtkFieldData.h"
class vtkOBBTree;
class vtkPolyData;
class vtkPoints;
class vtkMatrix4x4;
// If you are compiling this class as an addition to VTK/Graphics change VTK_BIOENG_EXPORTS
// to VTK_GRAPHICS_EXPORT on the next line and delete
// "#include "vtkBioengConfigure.h" // Include configuration header." above.
/// \ingroup SlicerRt_SlicerRtCommon
class VTK_SLICERRTCOMMON_EXPORT vtkCollisionDetectionFilter : public vtkPolyDataAlgorithm
vtkTypeMacro(vtkCollisionDetectionFilter, vtkPolyDataAlgorithm);
void PrintSelf(ostream& os, vtkIndent indent) override;
enum CollisionModes
// Description:
// Set the collision mode to VTK_ALL_CONTACTS to find all the contacting cell pairs with
// two points per collision, or VTK_HALF_CONTACTS to find all the contacting cell pairs
// with one point per collision, or VTK_FIRST_CONTACT to quickly find the first contact
// point.
void SetCollisionModeToAllContacts() {this->SetCollisionMode(VTK_ALL_CONTACTS);};
void SetCollisionModeToFirstContact() {this->SetCollisionMode(VTK_FIRST_CONTACT);};
void SetCollisionModeToHalfContacts() {this->SetCollisionMode(VTK_HALF_CONTACTS);};
const char *GetCollisionModeAsString();
// Description:
// Constructs with initial values.
static vtkCollisionDetectionFilter *New();
// Description:
// Intersect two polygons, return x1 and x2 as the twp points of intersection. If
// CollisionMode = VTK_ALL_CONTACTS, both contact points are found. If
// one contact point is found.
int IntersectPolygonWithPolygon(int npts, double *pts, double bounds[6],
int npts2, double *pts2,
double bounds2[6], double tol2,
double x1[2], double x2[3],
int CollisionMode);
// Description:
// Set and Get the input vtk polydata models
void SetInput(int i, vtkPolyData *model);
vtkPolyData *GetInput(int i);
// Description:
// Get an array of the contacting cells. This is a convenience method to access
// the "ContactCells" field array in outputs 0 and 1. These arrays index contacting
// cells (eg) index 50 of array 0 points to a cell (triangle) which contacts/intersects
// a cell at index 50 of array 1. This method is equivalent to
// GetOutput(i)->GetFieldData()->GetArray("ContactCells")
vtkIdTypeArray *GetContactCells(int i);
// Description:
// Get the output with the points where the contacting cells intersect. This method is
// is equivalent to GetOutputPort(2)/GetOutput(2)
vtkAlgorithmOutput *GetContactsOutputPort() {return this->GetOutputPort(2);}
vtkPolyData *GetContactsOutput() {return this->GetOutput(2);}
// Description:
// Specify the transform object used to transform models. Alternatively, matrices
// can be set instead.
void SetTransform(int i, vtkLinearTransform *transform);
vtkLinearTransform *GetTransform(int i) {return this->Transform[i];}
// Description:
// Specify the matrix object used to transform models.
void SetMatrix(int i, vtkMatrix4x4 *matrix);
vtkMatrix4x4 *GetMatrix(int i);
// Set and Get the obb tolerance (absolute value, in world coords). Default is 0.001
vtkSetMacro(BoxTolerance, float);
vtkGetMacro(BoxTolerance, float);
// Set and Get the cell tolerance (squared value). Default is 0.0
vtkSetMacro(CellTolerance, double);
vtkGetMacro(CellTolerance, double);
// Set and Get the the flag to visualize the contact cells. If set the contacting cells
// will be coloured from red through to blue, with collisions first determined coloured red.
vtkSetMacro(GenerateScalars, int);
vtkGetMacro(GenerateScalars, int);
// Get the number of contacting cell pairs
int GetNumberOfContacts()
{ return this->GetOutput(0)->GetFieldData()->GetArray("ContactCells")->GetNumberOfTuples(); }
// Get the number of box tests
vtkGetMacro(NumberOfBoxTests, int);
// Set and Get the number of cells in each OBB. Default is 2
vtkSetMacro(NumberOfCellsPerNode, int);
vtkGetMacro(NumberOfCellsPerNode, int);
// Set and Get the opacity of the polydata output when a collision takes place.
// Default is 1.0
vtkSetClampMacro(Opacity, float, 0.0, 1.0);
vtkGetMacro(Opacity, float);
// Description:
// Return the MTime also considering the transform.
vtkMTimeType GetMTime();
// Usual data generation method
int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *) override;
vtkOBBTree *tree0;
vtkOBBTree *tree1;
vtkLinearTransform *Transform[2];
vtkMatrix4x4 *Matrix[2];
int NumberOfBoxTests;
int NumberOfCellsPerNode;
int GenerateScalars;
float BoxTolerance;
float CellTolerance;
float Opacity;
int CollisionMode;
vtkCollisionDetectionFilter(const vtkCollisionDetectionFilter&) = delete;
void operator=(const vtkCollisionDetectionFilter&) = delete;
inline const char *vtkCollisionDetectionFilter::GetCollisionModeAsString(void)
if ( this->CollisionMode == VTK_ALL_CONTACTS )
return (char *)"AllContacts";
else if (this->CollisionMode == VTK_FIRST_CONTACT)
return (char *)"FirstContact";
return (char *)"HalfContacts";
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