artisynth.core.mechmodels

Interface CollidableBody

All Superinterfaces:

Collidable, HasProperties, HierarchyNode, ModelComponent, PostScannable, Scannable

All Known Implementing Classes:

BeamBody, DeformableBody, EBBeamBody, FemMeshComp, MFreeMeshComp, RigidBody, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, SkinMeshBody, TargetFrame

public interface CollidableBody
extends Collidable

Indicates a Collidable that is capable of actual collision handling. Within a hierarchy of Collidable objects, the leaf nodes should be instances of CollidableBody.

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable

Collidable.Collidability, Collidable.Group

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from interface artisynth.core.mechmodels.Collidable

All, AllBodies, Deformable, Rigid, Self

Method Summary

Modifier and Type	Method and Description
boolean	allowCollision(ContactPoint cpnt, Collidable other, java.util.Set<Vertex3d> attachedVertices) Returns true if a collision between this Collidable and other should be allowed for the contact point cpnt.
void	collectVertexMasters(java.util.List<ContactMaster> mlist, Vertex3d vtx) Collects the contact masters for a particular mesh vertex.
boolean	containsContactMaster(CollidableDynamicComponent comp) Returns true if this Collidable contains a specified contact master component.
int	getCollidableIndex()
PolygonalMesh	getCollisionMesh() Returns the mesh that should be used for computing collisions, or null if there is no such mesh.
DistanceGridComp	getDistanceGridComp() Returns a DistanceGridComp object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if hasDistanceGrid() returns false).
double	getMass() Returns the mass of the body.
boolean	hasDistanceGrid() Returns true if this Collidable supports a signed distance grid that can be used with a SignedDistanceCollider.
boolean	hasInvariantMasters() Queries whether or not the contact masters for a particular collision point are invariant across all contacts.
void	setCollidableIndex(int idx)

Methods inherited from interface artisynth.core.mechmodels.Collidable

getCollidable, getCollidableAncestor, isCompound, isDeformable

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Method Detail

getMass

double getMass()

Returns the mass of the body.

Returns:

mass of the body

getCollisionMesh

PolygonalMesh getCollisionMesh()

Returns the mesh that should be used for computing collisions, or null if there is no such mesh. If this method returns null, then no collisions will be performed for this collidable, regardless any default or explicit collision behaviors that have been arranged by the system.

Returns:

collision mesh for this collidable.

collectVertexMasters

void collectVertexMasters(java.util.List<ContactMaster> mlist,
                          Vertex3d vtx)

Collects the contact masters for a particular mesh vertex. The masters should be appended to mlist. The vertex should be a vertex of the mesh returned by getCollisionMesh().

If hasInvariantMasters() returns true, then the contact masters will not depend on vtx.

Parameters:

mlist - collected master components

vtx - vertex for which the master components are requested

hasInvariantMasters

boolean hasInvariantMasters()

Queries whether or not the contact masters for a particular collision point are invariant across all contacts. An example where they are is a rigid body, where the body is the (single) master regardless of the contacts. An example where they are not is a finite element model, where the nodes associated with each contacting vertex form the masters for that contact.

A collidable that has invariant contact masters typically has fewer dynamic degrees of freedom compared to one that does not.

Returns:

true if contact masters are constant

containsContactMaster

boolean containsContactMaster(CollidableDynamicComponent comp)

Returns true if this Collidable contains a specified contact master component.

Parameters:

comp - component to test for

Returns:

true if comp is contained in this Collidable

allowCollision

boolean allowCollision(ContactPoint cpnt,
                       Collidable other,
                       java.util.Set<Vertex3d> attachedVertices)

Returns true if a collision between this Collidable and other should be allowed for the contact point cpnt. In making this decision, this method may refer to attachedVertices, which supplies a list of vertices on this Collidable which are attached in some way to the other Collidable.

Parameters:

cpnt - contact point being tested

other - opposing collidable

attachedVertices - list of vertices attached to other.

Returns:

true if the collision should be allowed

getCollidableIndex

int getCollidableIndex()

setCollidableIndex

void setCollidableIndex(int idx)

hasDistanceGrid

boolean hasDistanceGrid()

Returns true if this Collidable supports a signed distance grid that can be used with a SignedDistanceCollider. At present, this will only be true for non-deformable bodies.

Returns:

true if this Collidable supports a signed distance grid

getDistanceGridComp

DistanceGridComp getDistanceGridComp()

Returns a DistanceGridComp object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if hasDistanceGrid() returns false).