artisynth.core.mechmodels

Interface Collidable

All Superinterfaces:

HasProperties, HierarchyNode, ModelComponent, PostScannable, Scannable

All Known Subinterfaces:

CollidableBody

All Known Implementing Classes:

BeamBody, Collidable.Group, DeformableBody, EBBeamBody, FemMeshComp, FemModel3d, FemModelDeformer, FemMuscleModel, HydrostatModel, MFreeMeshComp, MFreeModel3d, MFreeMuscleModel, PointToPointMuscle, RigidBody, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, SkinMeshBody, SpongeModel, TargetFrame

public interface Collidable
extends ModelComponent

Indicates a model component that can collide with other Collidables. Collidables can be arranged hierarchically, for grouping purposes and to support self-intersection. Only leaf nodes of the hierarchy do the actual collision handling, and these should implement the sub-class CollidableBody.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	Collidable.Collidability Indicates the collision types that are enabled for this Collidable.
static class	Collidable.Group Special Collidable subclass used to denote generic groups of Collidables.

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static Collidable.Group	All Group specifying all collidable bodies and self-collision
static Collidable.Group	AllBodies Group specifying all rigid and deformable collidable bodies
static Collidable.Group	Deformable Group specifying all deformable collidable bodies
static Collidable.Group	Rigid Group specifying all rigid collidable bodies
static Collidable.Group	Self Group specifying self-collision

Method Summary

Modifier and Type	Method and Description
Collidable.Collidability	getCollidable() Returns the Collidable.Collidability of this Collidable.
Collidable	getCollidableAncestor() Returns the most immediate Collidable ancestor of this Collidable, if any.
boolean	isCompound() Queries whether or not this collidable has sub-collidables.
boolean	isDeformable() Returns true if this collidable is deformable.

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

Field Detail

Self

static final Collidable.Group Self

Group specifying self-collision

Rigid

static final Collidable.Group Rigid

Group specifying all rigid collidable bodies

Deformable

static final Collidable.Group Deformable

Group specifying all deformable collidable bodies

AllBodies

static final Collidable.Group AllBodies

Group specifying all rigid and deformable collidable bodies

All

static final Collidable.Group All

Group specifying all collidable bodies and self-collision

Method Detail

getCollidable

Collidable.Collidability getCollidable()

Returns the Collidable.Collidability of this Collidable. This provides control over whether external and/or internal collisions are enabled for this Collidable. This setting takes precedence over default and explicitly requested collision behaviors.

Note that for collisions to actually occur, they still need to be enabled through either a default or explicit collision behavior in the MechModel.

Returns:

Collidability of this collidable.

getCollidableAncestor

Collidable getCollidableAncestor()

Returns the most immediate Collidable ancestor of this Collidable, if any. Otherwise, return null.

Returns:

immediate Collidable ancestor, or null.

isCompound

boolean isCompound()

Queries whether or not this collidable has sub-collidables.

Returns:

true if this collidable has sub-collidables

isDeformable

boolean isDeformable()

Returns true if this collidable is deformable. Whether or not a collidable is deformable determines how it responds to default collision behaviors involving deformable and rigid collidables. Also, self-collisions among sub-collidables of a collidable A are permitted only if A is deformable.

Returns:

true if this collidable is deformable