artisynth.core.mechmodels
Class CollisionHandler
java.lang.Object
artisynth.core.modelbase.ModelComponentBase
artisynth.core.modelbase.RenderableComponentBase
artisynth.core.mechmodels.ConstrainerBase
artisynth.core.mechmodels.CollisionHandler
- All Implemented Interfaces:
- Constrainer, HasAuxState, ModelComponent, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable
- Direct Known Subclasses:
- CollisionHandlerGeneric, CollisionHandlerOld
public abstract class CollisionHandler
- extends ConstrainerBase
- implements HasRenderProps, GLRenderable
Methods inherited from class artisynth.core.mechmodels.ConstrainerBase |
addBilateralConstraints, addFrictionConstraints, addUnilateralConstraints, advanceAuxState, getAuxState, getBilateralImpulses, getBilateralInfo, getBilateralSizes, getInitialAuxState, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, hasState, maxFrictionConstraintSets, setAuxState, setBilateralImpulses, setUnilateralImpulses, skipAuxState, updateConstraints, zeroImpulses |
Methods inherited from class artisynth.core.modelbase.RenderableComponentBase |
copy, createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, render, setRenderProps, updateBounds, updateRenderProps |
Methods inherited from class artisynth.core.modelbase.ModelComponentBase |
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write |
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface artisynth.core.modelbase.ModelComponent |
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
useSignedDistanceCollider
public static boolean useSignedDistanceCollider
doBodyFaceContact
public static boolean doBodyFaceContact
reduceConstraints
public static boolean reduceConstraints
computeTimings
public static boolean computeTimings
myProps
public static PropertyList myProps
CollisionHandler
public CollisionHandler()
getAllPropertyInfo
public PropertyList getAllPropertyInfo()
- Description copied from interface:
HasProperties
- Returns a list giving static information about all properties exported by
this object.
- Specified by:
getAllPropertyInfo
in interface HasProperties
- Overrides:
getAllPropertyInfo
in class ModelComponentBase
- Returns:
- static information for all exported properties
getCollidable
public abstract Collidable getCollidable(int idx)
getCollidable0
public abstract Collidable getCollidable0()
getCollidable1
public abstract Collidable getCollidable1()
getCompliance
public abstract double getCompliance()
setCompliance
public abstract void setCompliance(double c)
setDamping
public abstract void setDamping(double d)
getDamping
public abstract double getDamping()
getPenetrationTol
public abstract double getPenetrationTol()
setPenetrationTol
public abstract void setPenetrationTol(double tol)
getRigidPointTolerance
public abstract double getRigidPointTolerance()
setRigidPointTolerance
public abstract void setRigidPointTolerance(double tol)
getRigidRegionTolerance
public abstract double getRigidRegionTolerance()
setRigidRegionTolerance
public abstract void setRigidRegionTolerance(double tol)
setFriction
public abstract void setFriction(double mu)
getFriction
public abstract double getFriction()
autoComputeCompliance
public abstract void autoComputeCompliance(double collisionAccel,
double penTol)
render
public abstract void render(GLRenderer renderer,
RenderProps props,
int flags)
hasActiveContacts
public abstract boolean hasActiveContacts()
- Checks if this collision handler has any active contact constraints
setDrawIntersectionContours
public abstract void setDrawIntersectionContours(boolean set)
isDrawIntersectionContours
public abstract boolean isDrawIntersectionContours()
setDrawIntersectionFaces
public abstract void setDrawIntersectionFaces(boolean set)
isDrawIntersectionFaces
public abstract boolean isDrawIntersectionFaces()
setDrawIntersectionPoints
public abstract void setDrawIntersectionPoints(boolean set)
isDrawIntersectionPoints
public abstract boolean isDrawIntersectionPoints()