Detecting Collision

This example provides information on using CollisionDetection between objects. Two boxes are created to be our collision objects. Then we create a collision set, defining what objects to check for collision, the collision color, near miss distance, and so on. Run the Add-In and freehand move the boxes. Notice how they change color and the message in the logger when they are colliding.

Use this procedure to detect collision between objects:

Create two parts and bodies to use in collision detection.
Check to see if there is a collision between the two parts.
Add the parts to a collision set.
Check for collisions.

Solution

Create two parts and bodies to use in collision detection.

// Create two parts and bodies to use in collision detection.
Part p1 = new Part();
p1.Name = "My Part1";
Part p2 = new Part();
p2.Name = "My Part2";
station.GraphicComponents.Add(p1);
station.GraphicComponents.Add(p2);

Check to see if there is a collision between the two parts.


CollisionType colType = CollisionDetector.CheckCollision(p1, p2, 0.01);
switch (colType)
{
    case CollisionType.Collision:
        Logger.AddMessage(new LogMessage("Part: " + p1.Name
            + " and part: " + p2.Name + " is colliding!"));
        break;
    case CollisionType.NearMiss:
        Logger.AddMessage(new LogMessage("There is a near miss between part: "
            + p1.Name
            + " and part: " + p2.Name + "."));
        Vector3 p1Point;
        Vector3 p2Point;
        Logger.AddMessage(new LogMessage("The distance between them are: "
            + CollisionDetector.MinimumDistance(p1, p2, out p1Point, out p2Point)));
        Logger.AddMessage(new LogMessage("The closest points are: "));
        Logger.AddMessage(new LogMessage("For part: " + p1.Name + " x: " + p1Point.x
            + " y: " + p1Point.y + " z: " + p1Point.z));
        Logger.AddMessage(new LogMessage("For part: " + p2.Name + " x: " + p2Point.x
            + " y: " + p2Point.y + " z: " + p2Point.z));
        break;
    case CollisionType.None:
        Logger.AddMessage(new LogMessage("There is no collision!"));
        break;
}

Add the parts to a collision set.


// Add the two boxes to a collision set.
CollisionSet cs = new CollisionSet();
cs.Name = "My CollisionSet";

// Set the near miss distance to 0.01 meters.
cs.NearMissDistance = 0.01;

// Set the near miss color to black.
cs.NearMissColor = System.Drawing.Color.Black;

// Activate this collision set for collision checks.
cs.Active = true;

// Set the collision color to semi-transparent yellow.
cs.CollisionColor = Color.FromArgb(128, System.Drawing.Color.Yellow);

// Turn on highlighting of colliding objects.
cs.Highlight = true;

// Add the collision set to the station.
station.CollisionSets.Add(cs);

// Add the two parts to the two different collision object collections of the collision set.
cs.FirstGroup.Add(p1);
cs.SecondGroup.Add(p2);

Check for collisions.

// Force check the station for collisions.
CollisionDetector.CheckCollisions(station);

// Force check the collision set for collisiosn.
CollisionDetector.CheckCollisions(cs);

Example

This example provides information to detect collision between objects.

public void CollisionDetection()
{
    Project.UndoContext.BeginUndoStep("CollisionDetection");
    try
    {
        Station station = Station.ActiveStation;

        // Create two parts and bodies to use in collision detection.
        Part p1 = new Part();
        p1.Name = "My Part1";
        Part p2 = new Part();
        p2.Name = "My Part2";
        station.GraphicComponents.Add(p1);
        station.GraphicComponents.Add(p2);

        // Create two boxes.
        Body box1 = Body.CreateSolidBox(new Matrix4(Vector3.XVector, 0.0),
            new Vector3(0.1, 0.1, 0.1));
        box1.Name = "My Box1";
        Body box2 = Body.CreateSolidBox(new Matrix4(Vector3.XVector, 0.0),
            new Vector3(0.1, 0.1, 0.1));
        box2.Name = "My Box2";

        // Move box2 0.105 meters along the X-axis .
        box2.Transform.X = box2.Transform.X + 0.105;

        // Add the boxes to the bodies.
        p1.Bodies.Add(box1);
        p2.Bodies.Add(box2);

        // Manually check to see if there is a collision between the two parts.
        // Also tests for a near miss, defined as being within 0.01 meter from each other.


        CollisionType colType = CollisionDetector.CheckCollision(p1, p2, 0.01);
        switch (colType)
        {
            case CollisionType.Collision:
                Logger.AddMessage(new LogMessage("Part: " + p1.Name
                    + " and part: " + p2.Name + " is colliding!"));
                break;
            case CollisionType.NearMiss:
                Logger.AddMessage(new LogMessage("There is a near miss between part: "
                    + p1.Name
                    + " and part: " + p2.Name + "."));
                Vector3 p1Point;
                Vector3 p2Point;
                Logger.AddMessage(new LogMessage("The distance between them are: "
                    + CollisionDetector.MinimumDistance(p1, p2, out p1Point, out p2Point)));
                Logger.AddMessage(new LogMessage("The closest points are: "));
                Logger.AddMessage(new LogMessage("For part: " + p1.Name + " x: " + p1Point.x
                    + " y: " + p1Point.y + " z: " + p1Point.z));
                Logger.AddMessage(new LogMessage("For part: " + p2.Name + " x: " + p2Point.x
                    + " y: " + p2Point.y + " z: " + p2Point.z));
                break;
            case CollisionType.None:
                Logger.AddMessage(new LogMessage("There is no collision!"));
                break;
        }

        // Reset the collision sets and highlights.
        CollisionDetector.ResetCollisions();

        // Add an event handler to the collision event.
        CollisionDetector.Collision += new CollisionEventHandler(myCollisionEventHandler);

        // Activate auto check for collisions each time the graphics is updated.
        CollisionDetector.AutoCheck = true;

        // Test for collisions on polygon level, not just for the bounding boxes.
        CollisionDetector.FastCheck = false;


        // Add the two boxes to a collision set.
        CollisionSet cs = new CollisionSet();
        cs.Name = "My CollisionSet";

        // Set the near miss distance to 0.01 meters.
        cs.NearMissDistance = 0.01;

        // Set the near miss color to black.
        cs.NearMissColor = System.Drawing.Color.Black;

        // Activate this collision set for collision checks.
        cs.Active = true;

        // Set the collision color to semi-transparent yellow.
        cs.CollisionColor = Color.FromArgb(128, System.Drawing.Color.Yellow);

        // Turn on highlighting of colliding objects.
        cs.Highlight = true;

        // Add the collision set to the station.
        station.CollisionSets.Add(cs);

        // Add the two parts to the two different collision object collections of the collision set.
        cs.FirstGroup.Add(p1);
        cs.SecondGroup.Add(p2);


        // Force check the station for collisions.
        CollisionDetector.CheckCollisions(station);

        // Force check the collision set for collisiosn.
        CollisionDetector.CheckCollisions(cs);

        // Freehand move the boxes in the graphics.
        // Notice the messages generated by the event handler code,
        // and the change in color of the boxes.
    }
    catch
    {
        Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
        throw;
    }
    finally
    {
        Project.UndoContext.EndUndoStep();
    }
}

private void myCollisionEventHandler(object sender, CollisionEventArgs e)
{
    switch (e.CollisionEvent)
    {
        case CollisionEvent.CollisionStarted:
            Logger.AddMessage
            (new LogMessage("Collision started by collision set: '" + e.CollisionSet.Name
            + "' First part : '" + e.FirstPart.Name
            + "' Second part: '" + e.SecondPart.Name + "'"));
            break;
        case CollisionEvent.CollisionEnded:
            Logger.AddMessage(new LogMessage("Collision ended by collision set: '" + e.CollisionSet.Name
            + "' First part : '" + e.FirstPart.Name
            + "' Second part: '" + e.SecondPart.Name + "'"));
            break;
        case CollisionEvent.NearMissStarted:
            Logger.AddMessage(new LogMessage("Near Miss started by collision set: '" + e.CollisionSet.Name
            + "' First part : '" + e.FirstPart.Name
            + "' Second part: '" + e.SecondPart.Name + "'"));
            break;
        case CollisionEvent.NearMissEnded:
            Logger.AddMessage(new LogMessage("Near Miss ended by collision set: '" + e.CollisionSet.Name
            + "' First part : '"
            + e.FirstPart.Name + "' Second part: '" + e.SecondPart.Name + "'"));
            break;
        default:
            break;
    }
}

Required Namespaces

ABB.Robotics.RobotStudio.Environment

ABB.Robotics.RobotStudio.Stations

CollisionType

CollisionDetector

CollisionSet

Detecting Collision

Solution

Example

Required Namespaces

See Also