vcCollisionDetector

vcCollisionDetector is a layout item used for detecting the collision of objects in the 3D world. A collision test can detect a collision using geometry in different nodes and/or a bound box defined by two corner points.

See in: Overview

Module: vcCore

Parent: vcLayoutItem

Children -

Referenced by: -

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
Active	Boolean	RW	Gets or sets a value indicating whether this collision detector is actively testing collisions.
CollisionMaterial	vcMaterial	RW	Gets or sets material of the collided node unless NodeACollisionMaterialA or/and NodeACollisionMaterialB were specified.
DisplayMinimumDistance	Boolean	RW	Gets or sets a value indicating whether to display the detected minimum distance between object in the 3D world. The minimum distance is shown for collision tests that use a distance tolerance.
IgnoreClosestNodes	Boolean	RW	Gets or sets a value indicating whether this detector ignores collisions between two nodes if a node is either parent or child to the other node. This can be used to test self-collision of a component. Default value is False.
IgnoreDifferentComponents	Boolean	RW	Gets or sets a value indicating whether this detector ignores collisions between nodes when they are on different components. This can be used to test multiple self-collisions of components. Default value is False.
NodeACollisionMaterial	vcMaterial	RW	Gets or sets material of the collided node A. This property will define the node A material over CollisionMaterial.
NodeBCollisionMaterial	vcMaterial	RW	Gets or sets material of the collided node B. This property will define the node B material over CollisionMaterial.
NodeListA	list	RW	Gets or sets a list of nodes to test for collisions against NodeListB. Setting value will clear existing list and fill with the given one.
NodeListB	list	RW	Gets or sets a list of nodes to test for collisions against NodeListA. Setting value will clear existing list and fill with the given one.
Tolerance	Real	RW	Gets or sets a distance tolerance for detecting collisions before objects in the test collide with one another. See more Note that if Tolerance is set to zero, a simplified collision detection algorithm is used. This algorithm does not detect collisions if one geometry is completely enclosed by the other, so for example, if the bounding box surfaces do not intersect.
UseColliders	Boolean	RW	Gets or sets a value indicating whether colliders are used in collision detection. See more When enabled, collision detection will prioritize using the colliders associated with the included nodes. If no colliders are present, the node's geometry will be used as a fallback for collision detection.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
testBBoxCollisions	list	vcCollisionTestMethod method, vcVector corner1, vcVector corner2, Optional Keyword[transformation = vcMatrix], Optional Keyword[tolerance = Real]	Tests collision between NodeListA and a bound box defined by given corner points. An optional transformation argument can be given to transform the bound box using World coordinates. See more Parameters: method (vcCollisionTestMethod): Method to use for the collision detection. corner1 (vcVector): First corner point of the bound box. corner2 (vcVector): Second corner point of the bound box. Optional: transformation (vcMatrix): Matrix for the transformation. Optional: tolerance (float): Collision tolerance, if no tolerance is given, test uses tolerance value from Tolerance property. Returns: list[vcCollisionRecord]: List of vcCollision records that contain collisions based on the testing method. Empty if there were no collisions.
testCollisions	list	vcCollisionTestMethod method, Optional Keyword[tolerance = Real]	Tests collision between NodeListA and NodeListB. See more Parameters: method (vcCollisionTestMethod): Method to use for the collision detection. Optional: tolerance (float): Collision tolerance, if no tolerance is given, test uses tolerance value from Tolerance property. Returns: list[vcCollisionRecord]: List of vcCollision records that contain collisions based on the testing method. Empty if there were no collisions.
testMinimumDistance	list	Optional Keyword[tolerance = Real]	Tests collision with a given tolerance value. See more Parameters: Optional: tolerance (float): Collision tolerance, if no tolerance is given, test uses tolerance value from Tolerance property. Returns: list[vcCollisionRecord]: List of vcCollision records that contain collisions based on the testing method. Empty if there were no collisions.

Events

Learn how to use events here. The events are also inherited from the parent class.

Name	Parameters	Description
OnCollision	vcCollisionDetector detector, list[vcCollisionRecord] collisionRecords	Triggered when a collision is detected and test is active. See more Parameters: detector (vcCollisionDetector): Detector that contains collision. collisionRecords (list[vcCollisionRecord]): List of vcCollisionRecord that produced event.

Example: Detect Gripper Collision

"""This example shows how to detect if gripper (or anything the gripper is holding) collides with an object in 3D world."""
import vcCore as vc

gripper_node = vc.getComponent() # This script is located in a gripper component
world = vc.getWorld()

detector = None

async def OnRun():
  global detector
  detector = world.createLayoutItem(vc.vcLayoutItemType.COLLISION_DETECTOR)

  gripper_entry = vc.vcNodeListEntry.new()
  gripper_entry.Node = gripper_node
  gripper_entry.Scope = vc.vcNodeListEntryScope.TREE
  gripper_entry.Type = vc.vcNodeListEntryType.INCLUDE
  detector.NodeListA = [gripper_entry] # Gripper and its children

  world_entry = vc.vcNodeListEntry.new()
  world_entry.Node = world
  world_entry.Scope = vc.vcNodeListEntryScope.TREE
  world_entry.Type = vc.vcNodeListEntryType.INCLUDE
  detector.NodeListB = [world_entry] # All nodes in world

  while True:
    # Test collision every 0.01 seconds
    await vc.delay(0.01)
    hit = detector.testCollisions(vc.vcCollisionTestMethod.FIRST_COLLISION)
    if hit:
      print('collision detected')

def OnReset():
  global detector
  if detector:
    detector.delete() # Remove vcCollisionDetector layout item on simulation reset
    detector = None