artisynth.core.mechmodels

Interface CollidableBody

All Superinterfaces:

Collidable, HasProperties, HierarchyNode, ModelComponent, Scannable

All Known Implementing Classes:

BeamBody, DeformableBody, FemMeshComp, MFreeMeshComp, RigidBody, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidMeshComp, 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.
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.
DistanceGrid	getDistanceGrid() Returns 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()
void	getVertexMasters(java.util.List<ContactMaster> mlist, Vertex3d vtx) Returns all the contact master components associated with a particular mesh vertex.
boolean	hasDistanceGrid() Returns true if this Collidable supports a signed distance grid that can be used with a SignedDistanceCollider.
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, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable

isWritable, write

Method Detail

getMass

double getMass()

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.

getVertexMasters

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

Returns all the contact master components associated with a particular mesh vertex. Information for each contact master should be appended to mlist. The list should not be cleared. The vertex should be a vertex of the mesh returned by getCollisionMesh().

Parameters:

mlist - collected master component information

vtx - vertex for which the master components are requested

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

getDistanceGrid

DistanceGrid getDistanceGrid()

Returns 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).