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ruberithruberith
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Update definitions altered in Discregrid
1 parent 958af5a commit 2b40f11

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4 files changed

+12
-12
lines changed

4 files changed

+12
-12
lines changed

‎Demos/SceneLoaderDemo/SceneLoaderDemo.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -390,7 +390,7 @@ CubicSDFCollisionDetection::GridPtr generateSDF(const std::string &modelFile, co
390390
doubleVec[3 * i + j] = vd.getPosition(i)[j];
391391
Discregrid::TriangleMesh sdfMesh(&doubleVec[0], faces.data(), vd.size(), nFaces);
392392
#endif
393-
Discregrid::MeshDistance md(sdfMesh);
393+
Discregrid::TriangleMeshDistance md(sdfMesh);
394394
Eigen::AlignedBox3d domain;
395395
for (auto const& x : sdfMesh.vertices())
396396
{
@@ -402,7 +402,7 @@ CubicSDFCollisionDetection::GridPtr generateSDF(const std::string &modelFile, co
402402
LOG_INFO << "Set SDF resolution: " << resolutionSDF[0] << ", " << resolutionSDF[1] << ", " << resolutionSDF[2];
403403
distanceField = std::make_shared<CubicSDFCollisionDetection::Grid>(domain, std::array<unsigned int, 3>({ resolutionSDF[0], resolutionSDF[1], resolutionSDF[2] }));
404404
auto func = Discregrid::DiscreteGrid::ContinuousFunction{};
405-
func = [&md](Eigen::Vector3d const& xi) {return md.signedDistanceCached(xi); };
405+
func = [&md](Eigen::Vector3d const& xi) {return md.signed_distance(xi).distance; };
406406
LOG_INFO << "Generate SDF for " << modelFile;
407407
distanceField->addFunction(func, true);
408408
if (FileSystem::makeDir(cachePath) == 0)
@@ -549,7 +549,7 @@ void readScene(const bool readFile)
549549
doubleVec[3 * i + j] = vd.getPosition(i)[j];
550550
Discregrid::TriangleMesh sdfMesh(&doubleVec[0], faces.data(), vd.size(), nFaces);
551551
#endif
552-
Discregrid::MeshDistance md(sdfMesh);
552+
Discregrid::TriangleMeshDistance md(sdfMesh);
553553
Eigen::AlignedBox3d domain;
554554
for (auto const& x : sdfMesh.vertices())
555555
{
@@ -561,7 +561,7 @@ void readScene(const bool readFile)
561561
LOG_INFO << "Set SDF resolution: " << rbd.m_resolutionSDF[0] << ", " << rbd.m_resolutionSDF[1] << ", " << rbd.m_resolutionSDF[2];
562562
distanceFields[sdfFileName] = std::make_shared<CubicSDFCollisionDetection::Grid>(domain, std::array<unsigned int, 3>({ rbd.m_resolutionSDF[0], rbd.m_resolutionSDF[1], rbd.m_resolutionSDF[2] }));
563563
auto func = Discregrid::DiscreteGrid::ContinuousFunction{};
564-
func = [&md](Eigen::Vector3d const& xi) {return md.signedDistanceCached(xi); };
564+
func = [&md](Eigen::Vector3d const& xi) {return md.signed_distance(xi).distance; };
565565
LOG_INFO << "Generate SDF for " << rbd.m_modelFile;
566566
distanceFields[sdfFileName]->addFunction(func, true);
567567
if (FileSystem::makeDir(cachePath) == 0)

‎Demos/StiffRodsDemos/DirectPositionBasedSolverForStiffRodsDemo.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -401,7 +401,7 @@ CubicSDFCollisionDetection::GridPtr generateSDF(const std::string &modelFile, co
401401
doubleVec[3 * i + j] = vd.getPosition(i)[j];
402402
Discregrid::TriangleMesh sdfMesh(&doubleVec[0], faces.data(), vd.size(), nFaces);
403403
#endif
404-
Discregrid::MeshDistance md(sdfMesh);
404+
Discregrid::TriangleMeshDistance md(sdfMesh);
405405
Eigen::AlignedBox3d domain;
406406
for (auto const& x : sdfMesh.vertices())
407407
{
@@ -413,7 +413,7 @@ CubicSDFCollisionDetection::GridPtr generateSDF(const std::string &modelFile, co
413413
LOG_INFO << "Set SDF resolution: " << resolutionSDF[0] << ", " << resolutionSDF[1] << ", " << resolutionSDF[2];
414414
distanceField = std::make_shared<CubicSDFCollisionDetection::Grid>(domain, std::array<unsigned int, 3>({ resolutionSDF[0], resolutionSDF[1], resolutionSDF[2] }));
415415
auto func = Discregrid::DiscreteGrid::ContinuousFunction{};
416-
func = [&md](Eigen::Vector3d const& xi) {return md.signedDistanceCached(xi); };
416+
func = [&md](Eigen::Vector3d const& xi) {return md.signed_distance(xi).distance; };
417417
LOG_INFO << "Generate SDF for " << modelFile;
418418
distanceField->addFunction(func, true);
419419
if (FileSystem::makeDir(cachePath) == 0)
@@ -560,7 +560,7 @@ void readScene()
560560
doubleVec[3 * i + j] = vd.getPosition(i)[j];
561561
Discregrid::TriangleMesh sdfMesh(&doubleVec[0], faces.data(), vd.size(), nFaces);
562562
#endif
563-
Discregrid::MeshDistance md(sdfMesh);
563+
Discregrid::TriangleMeshDistance md(sdfMesh);
564564
Eigen::AlignedBox3d domain;
565565
for (auto const& x : sdfMesh.vertices())
566566
{
@@ -572,7 +572,7 @@ void readScene()
572572
LOG_INFO << "Set SDF resolution: " << rbd.m_resolutionSDF[0] << ", " << rbd.m_resolutionSDF[1] << ", " << rbd.m_resolutionSDF[2];
573573
distanceFields[sdfFileName] = std::make_shared<CubicSDFCollisionDetection::Grid>(domain, std::array<unsigned int, 3>({ rbd.m_resolutionSDF[0], rbd.m_resolutionSDF[1], rbd.m_resolutionSDF[2] }));
574574
auto func = Discregrid::DiscreteGrid::ContinuousFunction{};
575-
func = [&md](Eigen::Vector3d const& xi) {return md.signedDistanceCached(xi); };
575+
func = [&md](Eigen::Vector3d const& xi) {return md.signed_distance(xi).distance; };
576576
LOG_INFO << "Generate SDF for " << rbd.m_modelFile;
577577
distanceFields[sdfFileName]->addFunction(func, true);
578578
if (FileSystem::makeDir(cachePath) == 0)

‎pyPBD/CollisionDetectionModule.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -168,7 +168,7 @@ void CollisionDetectionModule(py::module m_sub)
168168
doubleVec[3 * i + j] = vd.getPosition(i)[j];
169169
Discregrid::TriangleMesh sdfMesh(&doubleVec[0], faces.data(), vd.size(), nFaces);
170170
#endif
171-
Discregrid::MeshDistance md(sdfMesh);
171+
Discregrid::TriangleMeshDistance md(sdfMesh);
172172
Eigen::AlignedBox3d domain;
173173
for (auto const& x : sdfMesh.vertices())
174174
{
@@ -181,7 +181,7 @@ void CollisionDetectionModule(py::module m_sub)
181181
//PBD::CubicSDFCollisionDetection::Grid *sdf = new PBD::CubicSDFCollisionDetection::Grid(domain, std::array<unsigned int, 3>({ resolution[0], resolution[1], resolution[2] }));
182182
auto sdf = std::make_shared<PBD::CubicSDFCollisionDetection::Grid>(domain, std::array<unsigned int, 3>({ resolution[0], resolution[1], resolution[2] }));
183183
auto func = Discregrid::DiscreteGrid::ContinuousFunction{};
184-
func = [&md](Eigen::Vector3d const& xi) {return md.signedDistanceCached(xi); };
184+
func = [&md](Eigen::Vector3d const& xi) {return md.signed_distance(xi).distance; };
185185
std::cout << "Generate SDF\n";
186186
sdf->addFunction(func, true);
187187
return sdf;

‎pyPBD/SimulationModelModule.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@ PBD::CubicSDFCollisionDetection::GridPtr generateSDF(const std::vector<Vector3r>
2626
doubleVec[3 * i + j] = vertices[i][j];
2727
Discregrid::TriangleMesh sdfMesh(&doubleVec[0], faces.data(), vertices.size(), nFaces);
2828
#endif
29-
Discregrid::MeshDistance md(sdfMesh);
29+
Discregrid::TriangleMeshDistance md(sdfMesh);
3030
Eigen::AlignedBox3d domain;
3131
for (auto const& x : sdfMesh.vertices())
3232
{
@@ -38,7 +38,7 @@ PBD::CubicSDFCollisionDetection::GridPtr generateSDF(const std::vector<Vector3r>
3838
std::cout << "Set SDF resolution: " << resolution[0] << ", " << resolution[1] << ", " << resolution[2] << std::endl;
3939
auto sdf = std::make_shared<PBD::CubicSDFCollisionDetection::Grid>(domain, std::array<unsigned int, 3>({ resolution[0], resolution[1], resolution[2] }));
4040
auto func = Discregrid::DiscreteGrid::ContinuousFunction{};
41-
func = [&md](Eigen::Vector3d const& xi) {return md.signedDistanceCached(xi); };
41+
func = [&md](Eigen::Vector3d const& xi) {return md.signed_distance(xi).distance; };
4242
std::cout << "Generate SDF\n";
4343
sdf->addFunction(func, true);
4444
return sdf;

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