Karana.Collision ================ .. py:module:: Karana.Collision .. autoapi-nested-parse:: Models and classes for collision detection and contact force calculation. Submodules ---------- .. toctree:: :maxdepth: 1 /generated/python_api/Karana/Collision/Collision_types/index Classes ------- .. autoapisummary:: Karana.Collision.ContactForceBase Karana.Collision.ContactForceManager Karana.Collision.FrameCollider Karana.Collision.FrameContact Karana.Collision.HuntCrossley Karana.Collision.HuntCrossleyParams Karana.Collision.HuntCrossleyScratch Package Contents ---------------- .. py:class:: ContactForceBase Bases: :py:obj:`Karana.Core.Base` .. py:method:: applyForce(contact: FrameContact, st: Karana.Dynamics.SubTree) -> tuple[Karana.Dynamics.Node, Karana.Dynamics.Node] Apply the contact force for the associated contact. This first calls computeForce to get the contact force. Then, it applies it to frames if those frames belong to a body. :param contact: The contact to apply the force for. :param st: The SubTree we are computing forces for. :returns: A pair of contact force nodes at which we applied the force. .. py:method:: toDS() -> Karana.Collision.Collision_types.ContactForceBaseDS Create a ContactForceBaseDS from this ContactForceBase model. :returns: * *ContactForceBaseDS* * *A ContactForceBaseDS instance with values set to match this model.* .. py:class:: ContactForceManager(name: str) Bases: :py:obj:`ContactForceBase` .. py:method:: create(name: str) -> ContactForceManager :staticmethod: Create an instance of ContactForceManager. :param name: The name for the ContactForceManager instance. :returns: A ks_ptr to the newly created ContactForceManager. .. py:method:: clearDelegates() -> None Clear out all registered ContactForceBase instances .. py:method:: getDelegate(contact: FrameContact) -> ContactForceBase getDelegate() -> ContactForceBase getDelegate(frame1: Karana.Frame.Frame, frame2: Karana.Frame.Frame, strict: bool = False) -> ContactForceBase Get the most specific matching ContactForceBase :param contact: The contact to get the delegate for. :returns: The ContactForceBase (may be nullptr) .. py:method:: setDelegate(force: ContactForceBase = None) -> None setDelegate(frame1: Karana.Frame.Frame, frame2: Karana.Frame.Frame, force: ContactForceBase = None) -> None Set the ContactForceBase used by default :param force: The ContactForceBase (may be nullptr) .. py:class:: FrameCollider(proxy_scene: Karana.Scene.ProxyScene, collision_scene: Karana.Scene.CollisionScene) .. py:method:: clearIgnoredFramePairs() -> None Stop ignoring any frame-pair collisions .. py:method:: collide(col_func: collections.abc.Callable[[FrameContact], None], filter_func: collections.abc.Callable[[Karana.Scene.CollisionScenePart, Karana.Scene.CollisionScenePart], bool] = None) -> None Process all collisions Sweeps through all contacts between geometries attached to Frames, calling the collision handler for each unfiltered contact. :param collision_handler: - Callback to handle a contact :param filter: - Callback to skip potential collisions in the broadphase. .. py:method:: dump(prefix: str = '') -> None Print dumpString on std::cout. :param prefix: A string to use as prefix for each output line .. py:method:: dumpString(prefix: str = '') -> str Return information about the object. :param prefix: A string to use as prefix for each output line :returns: String with the information about the object. .. py:method:: getCollisionScene() -> Karana.Scene.CollisionScene Return the CollisionScene used by this FrameCollider. :returns: The CollisionScene used by this FrameCollider. .. py:method:: getProxyScene() -> Karana.Scene.ProxyScene Return the ProxyScene used by this FrameCollider. :returns: The ProxyScene used by this FrameCollider. .. py:method:: ignoreAllCurrentlyTouchingPairs() -> None Call ignoreFramePair for each pair with a collision .. py:method:: ignoreFramePair(frame1: Karana.Frame.Frame, frame2: Karana.Frame.Frame) -> None Ignore collisions between a pair of frames :param frame1: The first frame in the pair :param frame2: The second frame in the pair .. py:method:: lookupPartFrame(part: Karana.Scene.CollisionScenePart) -> Karana.Frame.Frame lookupPartFrame(id: SupportsInt | SupportsIndex) -> Karana.Frame.Frame Get the Frame that a CollisionScenePart is attached to :param part: - A CollisionScenePart managed by ProxyScene :returns: The ancestor Frame for the part. .. py:method:: toDS() -> Karana.Collision.Collision_types.FrameColliderDS Create a FrameColliderDS from this FrameCollider model. :returns: * *FrameColliderDS* * *A FrameColliderDS instance with values set to match this model.* .. py:method:: unignoreFramePair(frame1: Karana.Frame.Frame, frame2: Karana.Frame.Frame) -> None Stop ignoring collisions between a pair of frames :param frame1: The first frame in the pair :param frame2: The second frame in the pair .. py:class:: FrameContact .. py:property:: frame_1 :type: Karana.Frame.Frame The first Frame involved in the contact .. py:property:: frame_2 :type: Karana.Frame.Frame The second Frame involved in the contact .. py:property:: location_1 :type: Karana.Math.Ktyping.Length3 Contact location on the first Frame relative to the first Frame and expressed in the first frame .. py:property:: location_2 :type: Karana.Math.Ktyping.Length3 Contact location on the second Frame relative to the second Frame and expressed in the second frame .. py:property:: normal_1 :type: Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]] Contact normal expressed first Frame .. py:property:: normal_2 :type: Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]] Contact normal expressed second Frame .. py:property:: penetration :type: Karana.Math.Ktyping.Length Maximum penetration distance .. py:class:: HuntCrossley(name: str) Bases: :py:obj:`ContactForceBase` .. py:method:: create(name: str) -> HuntCrossley :staticmethod: Create an instance of the HuntCrossley contact force model. :param name: The name for the HuntCrossley instance. :returns: A ks_ptr to the newly created HuntCrossley contact force model. .. py:method:: toDS() -> Karana.Collision.Collision_types.HuntCrossleyDS Create a HuntCrossleyDS from this HuntCrossley model. :returns: * *HuntCrossleyDS* * *A HuntCrossleyDS instance with values set to match this model.* .. py:property:: params :type: HuntCrossleyParams Parameters used for the contact model. .. py:property:: scratch :type: HuntCrossleyScratch Scratch values .. py:class:: HuntCrossleyParams .. py:property:: kc :type: float Normal penetration restitution/damping coefficient .. py:property:: kp :type: float Normal penetration stiffness coefficient .. py:property:: linear_region_tol :type: float Tolerance at which friction is linearly interpolated between the real value and 0. To avoid jittering for cases like rolling without friction, near zero, the friction force uses a linear interpolation between the full friction force and zero. This avoids rapid, large changes in the friction force as the velocity changes sign, and instead, smoothly, linearly interpolates between these large forces over a region of linear_region_tol * 2. .. py:property:: mu :type: float Friction coefficient .. py:property:: n :type: float Exponent .. py:class:: HuntCrossleyScratch .. py:property:: f :type: Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]] contact force .. py:property:: linvel :type: Annotated[numpy.typing.NDArray[numpy.float64], [3, 1]] contact linear velocity .. py:property:: penetration :type: float Normal penetration