CollisionManager (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.CompositeComponentBase
  - - artisynth.core.modelbase.RenderableCompositeBase
    - - artisynth.core.mechmodels.CollisionManager

All Implemented Interfaces:

Constrainer, ComponentChangeListener, CompositeComponent, HasNumericState, IndexedComponentList, ModelComponent, PostScannable, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class CollisionManager
extends RenderableCompositeBase
implements ScalableUnits, Constrainer, HasNumericState
```
A special component that manages collisions between collidable bodies on behalf of a MechModel.
Because collision handling can be expensive, and also because it is not as accurate as other aspects of the simulation (due largely to its discontinuous nature), it is important to be able to control very precisely how it is applied. The CollisionManager allows collision behavior to be specified through
(a) default collision behaviors between generic collidable groups, and
(b) specific behaviors between pairs of collidables which override the default behaviors.
The CollisionManager maintains:
(1) A set of default behaviors;
(2) A set of override behaviors, which are stored as invisible model components;
(3) A behavior map which describes the collision behavior for every CollidableBody in the MechModel and which is updated on demand;
(4) A set of CollisionHandlers which provides a collision handler for every active collision behavior in the behavior map and which is also updated on demand;
Collidable components can be arranged hierarchically. Any component which is a descendant of a Collidable A is known as a sub-collidable of A (a sub-collidable does not need to be an immediate child; it only need to be a descendant). Within a hierarchy, only the leaf nodes do that actual colliding, and these should be instances of the sub-interface CollidableBody.
Normally collidables within a hierarchy do not collide with each other. The exception is when either (a) self-collision is specified for one of the ancestor nodes in the hierarchy, or (b) an explicit collision behavior is set between members of the hierarchy. If a self-collision behavior is specified for an ancestor node A, and A is deformable (i.e., its isDeformable() method returns true), then that behavior will be passed on to all pairs of sub-collidables of A for which A's method allowSelfCollisions() returns true.
When a collision behavior is specified between two collidables A and B that are *not* part of the same hierarchy, then that behavior is imparted to all pairs of leaf-nodes located at or below A and B.

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class CollisionManager.ColliderType
Specifies the collider that generates contact information between the two meshes.
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.NavpanelVisibility
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
  CompositeComponent.NavpanelDisplay

Nested Classes
Modifier and Type	Class and Description
`static class`	`CollisionManager.ColliderType` Specifies the collider that generates contact information between the two meshes.

Field Summary

Fields
Modifier and Type Field and Description

static CollisionManager.ColliderType DEFAULT_COLLIDER_TYPE

static PropertyList myProps
- Fields inherited from class artisynth.core.modelbase.ModelComponentBase
  enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static CollisionManager.ColliderType`	`DEFAULT_COLLIDER_TYPE`
`static PropertyList`	`myProps`

Constructor Summary

Constructors
Constructor and Description

CollisionManager(MechModel mech)

Constructors
Constructor and Description
`CollisionManager(MechModel mech)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`int`	`addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)` Appends the current bilateral force constraint matrix `Gc^T` to the matrix `GT`, by appending block columns to it.
`int`	`addFrictionConstraints(SparseBlockMatrix DT, java.util.ArrayList<FrictionInfo> finfo, boolean prune, int numf)` Appends the friction force constraint matrix `Dc^T` to the matrix `DT`, by appending block columns to it.
`int`	`addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu)` Appends the current unilateral force constraint matrix `Nc^T` to the matrix `NT`, by appending block columns to it.
`CollisionBehaviorList`	`behaviors()`
`void`	`clear()`
`boolean`	`clearBehavior(Collidable c0, Collidable c1)` Implements `MechModel.clearCollisionBehavior(c0,c1)`.
`void`	`clearBehaviors()` Implements `MechModel.clearCollisionBehaviors()`.
`void`	`clearCachedData()`
`boolean`	`clearResponse(Collidable c0, Collidable c1)` Implements `MechModel.clearCollisionResponse(c0,c1)`.
`void`	`clearResponses()` Implements `MechModel.clearCollisionResponses()`.
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`RenderProps`	`createRenderProps()` Factory method to create render properties appropriate to this object.
`double`	`getAcceleration()` Returns the desired collision acceleration.
`PropertyMode`	`getAccelerationMode()`
`CollisionBehavior`	`getActingBehavior(Collidable c0, Collidable c1)` Implements `MechModel.getActingCollisionBehavior()`.
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`CollisionBehavior`	`getBehavior(Collidable c0, Collidable c1)` Implements `MechModel.getCollisionBehavior(c0,c1)`.
`CollisionBehavior`	`getBehavior(int idx)`
`int`	`getBilateralForces(VectorNd lam, int idx)` Returns the bilateral forces that were most recently set for this constrainer using `Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int)`.
`int`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)` Returns constraint information for each row of the bilateral constraint system
`void`	`getBilateralSizes(VectorNi sizes)` Returns the sizes of each block column in the bilateral force constraint matrix.
`boolean`	`getBilateralVertexContact()` Returns whether bilateral constraints should be used for vertex-based contact.
`PropertyMode`	`getBilateralVertexContactMode()`
`boolean`	`getBodyFaceContact()` Deprecated. Use `getVertexPenetrations()` `= VertexPenetrations.BOTH_COLLIDABLES` instead.
`CollisionManager.ColliderType`	`getColliderType()` Returns the collider type to be used for determining collisions.
`PropertyMode`	`getColliderTypeMode()`
`double`	`getCollisionArenaRadius()`
`CollisionResponse`	`getCollisionResponse(Collidable c0, Collidable c1)` Implements `MechModel.getCollisionResponse(c0,c1)`.
`ColorMapBase`	`getColorMap()`
`int`	`getColorMapCollidable()` Deprecated. Use `getRenderingCollidable()` instead.
`Renderer.ColorInterpolation`	`getColorMapInterpolation()`
`PropertyMode`	`getColorMapInterpolationMode()`
`ScalarRange`	`getColorMapRange()`
`double`	`getCompliance()` Gets the default contact compliance associated will all collision behaviors.
`PropertyMode`	`getComplianceMode()`
`void`	`getConstrainedComponents(java.util.List<DynamicComponent> list)` Collected all the dynamic components constrained by this constrainer.
`double`	`getContactForceLenScale()`
`double`	`getContactNormalLen()`
`double`	`getDamping()` Gets the default contact damping associated with all collision behaviors.
`PropertyMode`	`getDampingMode()`
`CollisionBehavior`	`getDefaultBehavior(Collidable.Group groupA, Collidable.Group groupB)` Implements for `MechModel#getDefaultCollisionBehavior(groupA,groupB)`; see documentation for that method.
`static CollisionManager.ColliderType`	`getDefaultColliderType()`
`double`	`getDefaultContactNormalLen()`
`double`	`getDefaultRigidPointTol()`
`double`	`getDefaultRigidRegionTol()`
`CollisionBehavior.ColorMapType`	`getDrawColorMap()`
`PropertyMode`	`getDrawColorMapMode()`
`boolean`	`getDrawContactForces()`
`PropertyMode`	`getDrawContactForcesMode()`
`boolean`	`getDrawContactNormals()`
`PropertyMode`	`getDrawContactNormalsMode()`
`boolean`	`getDrawFrictionForces()`
`PropertyMode`	`getDrawFrictionForcesMode()`
`boolean`	`getDrawIntersectionContours()`
`PropertyMode`	`getDrawIntersectionContoursMode()`
`boolean`	`getDrawIntersectionFaces()`
`PropertyMode`	`getDrawIntersectionFacesMode()`
`boolean`	`getDrawIntersectionPoints()`
`PropertyMode`	`getDrawIntersectionPointsMode()`
`ContactForceBehavior`	`getForceBehavior()`
`double`	`getFriction()` Gets the Coulomb friction coefficient
`int`	`getFrictionForces(VectorNd phi, int idx)` Returns the friction forces that were most recently set for this constrainer using `Constrainer.setFrictionForces(maspack.matrix.VectorNd, double, int)`.
`PropertyMode`	`getFrictionMode()`
`int`	`getFrictionState(VectorNi state, int idx)`
`java.util.ArrayList<CollisionHandler>`	`getHandlers()`
`CollisionHandlerTable`	`getHandlerTable()`
`java.util.ArrayList<CollidableBody>`	`getHandlerTableBodies()`
`CollisionBehavior.Method`	`getMethod()` Returns the contact method to be used for collisions.
`PropertyMode`	`getMethodMode()`
`boolean`	`getReduceConstraints()` Queries whether constraint reduction is enabled.
`PropertyMode`	`getReduceConstraintsMode()`
`int`	`getRenderingCollidable()`
`PropertyMode`	`getRenderingCollidableMode()`
`boolean`	`getReportNegContactForces()` Queries whether negative contact forces should be used in force pressure maps and collision reporting.
`PropertyMode`	`getReportNegContactForcesMode()`
`CollisionResponse`	`getResponse(Collidable c0, Collidable c1)` Implements `MechModel.getCollisionResponse(c0,c1)`.
`CollisionResponse`	`getResponse(int idx)`
`double`	`getRigidPointTol()` Gets the default rigid point tolerance associated with all collision behaviors.
`PropertyMode`	`getRigidPointTolMode()`
`double`	`getRigidRegionTol()` Gets the default rigid region tolerance associated with all collision behaviors.
`PropertyMode`	`getRigidRegionTolMode()`
`void`	`getState(DataBuffer data)` Saves state information for this component by adding data to the supplied DataBuffer.
`double`	`getStictionCompliance()` Gets the default stiction compliance.
`PropertyMode`	`getStictionComplianceMode()`
`double`	`getStictionCreep()` Returns the default stiction creep.
`PropertyMode`	`getStictionCreepMode()`
`double`	`getStictionDamping()` Gets the default stiction damping.
`PropertyMode`	`getStictionDampingMode()`
`void`	`getTopCollidables(java.util.List<Collidable> list)`
`int`	`getUnilateralForces(VectorNd the, int idx)` Returns the unilateral forces that were most recently set for this constrainer using `Constrainer.setUnilateralForces(maspack.matrix.VectorNd, double, int)`.
`int`	`getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)` Returns constraint information for each row of the unilateral constraint system
`void`	`getUnilateralSizes(VectorNi sizes)` Returns the sizes of each block column in the unilateral force constraint matrix.
`int`	`getUnilateralState(VectorNi state, int idx)`
`CollisionBehavior.VertexPenetrations`	`getVertexPenetrations()` Queries when two-way contact is enabled.
`PropertyMode`	`getVertexPenetrationsMode()`
`void`	`initialize()`
`int`	`maxFrictionConstraintSets()` Returns the maximum number of friction constraint sets that can be expected for this constraint.
`int`	`numBehaviors()`
`int`	`numDefaultPairs()`
`int`	`numResponses()`
`void`	`prerender(RenderList list)` Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
`void`	`printNetContactForces()`
`void`	`reduceBilateralConstraints(java.util.ArrayList<ContactConstraint> bilaterals)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`CollisionResponseList`	`responses()`
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`void`	`setAcceleration(double acc)` Sets a desired acceleration for collision response which will be used to automatically compute collision compliance if the specified compliance (as returned by `getCompliance()`) is zero.
`void`	`setAccelerationMode(PropertyMode mode)`
`void`	`setBehavior(Collidable c0, Collidable c1, CollisionBehavior behavior)` Implements `MechModel.setCollisionBehavior(c0,c1,behavior)`; see documentation for that method.
`int`	`setBilateralForces(VectorNd lam, double s, int idx)` Sets the bilateral forces that were computed to enforce this constraint.
`void`	`setBilateralVertexContact(boolean enable)` Set whether bilateral constraints should be used for vertex-based contact.
`void`	`setBilateralVertexContactMode(PropertyMode mode)`
`void`	`setBodyFaceContact(boolean enable)` Deprecated. Use `setVertexPenetrations(artisynth.core.mechmodels.CollisionBehavior.VertexPenetrations)` instead.
`void`	`setColliderType(CollisionManager.ColliderType ctype)` Set the collider type to be used for determining collisions.
`void`	`setColliderTypeMode(PropertyMode mode)`
`void`	`setCollisionArenaRadius(double rad)`
`void`	`setColorMap(ColorMapBase map)`
`void`	`setColorMapCollidable(int colNum)` Deprecated. Use `setRenderingCollidable(int)` instead.
`void`	`setColorMapInterpolation(Renderer.ColorInterpolation interp)`
`void`	`setColorMapInterpolationMode(PropertyMode mode)`
`void`	`setColorMapRange(ScalarRange range)`
`void`	`setCompliance(double c)` Sets the default contact compliance associated with all collision behaviors.
`void`	`setComplianceMode(PropertyMode mode)`
`void`	`setContactForceLenScale(double scale)`
`void`	`setContactNormalLen(double len)`
`void`	`setDamping(double d)` Sets the default contact damping associated with all collision behaviors.
`void`	`setDampingMode(PropertyMode mode)`
`void`	`setDefaultBehavior(Collidable.Group groupA, Collidable.Group groupB, CollisionBehavior behavior)` Implements `MechModel.setDefaultCollisionBehavior(groupA,groupB,behavior)`; see documentation for that method.
`static void`	`setDefaultColliderType(CollisionManager.ColliderType type)`
`void`	`setDrawColorMap(CollisionBehavior.ColorMapType type)`
`void`	`setDrawColorMapMode(PropertyMode mode)`
`void`	`setDrawContactForces(boolean enable)`
`void`	`setDrawContactForcesMode(PropertyMode mode)`
`void`	`setDrawContactNormals(boolean enable)`
`void`	`setDrawContactNormalsMode(PropertyMode mode)`
`void`	`setDrawFrictionForces(boolean enable)`
`void`	`setDrawFrictionForcesMode(PropertyMode mode)`
`void`	`setDrawIntersectionContours(boolean enable)`
`void`	`setDrawIntersectionContoursMode(PropertyMode mode)`
`void`	`setDrawIntersectionFaces(boolean enable)`
`void`	`setDrawIntersectionFacesMode(PropertyMode mode)`
`void`	`setDrawIntersectionPoints(boolean enable)`
`void`	`setDrawIntersectionPointsMode(PropertyMode mode)`
`<T extends ContactForceBehavior> void`	`setForceBehavior(T behav)`
`void`	`setFriction(double mu)` Sets the Coulomb friction coefficent
`int`	`setFrictionForces(VectorNd phi, double s, int idx)` Sets the friction forces that were computed to enforce this constraint.
`void`	`setFrictionMode(PropertyMode mode)`
`int`	`setFrictionState(VectorNi state, int idx)`
`void`	`setMethod(CollisionBehavior.Method method)` Set the contact method to be used for collisions.
`void`	`setMethodMode(PropertyMode mode)`
`void`	`setReduceConstraints(boolean enable)` Sets whether or not constraint reduction is enabled.
`void`	`setReduceConstraintsMode(PropertyMode mode)`
`void`	`setRenderingCollidable(int colNum)`
`void`	`setRenderingCollidableMode(PropertyMode mode)`
`void`	`setReportNegContactForces(boolean enable)` Sets a whether negative contact forces should be used in force pressure maps and collision reporting.
`void`	`setReportNegContactForcesMode(PropertyMode mode)`
`void`	`setResponse(Collidable c0, Collidable c1, CollisionResponse response)` Implements `MechModel.setCollisionResponse(c0,c1,response)`; see documentation for that method.
`void`	`setRigidPointTol(double tol)` Sets the default rigid point tolerance associated with all collision behaviors.
`void`	`setRigidPointTolMode(PropertyMode mode)`
`void`	`setRigidRegionTol(double tol)` Sets the default rigid region tolerance associated with all collision behaviors.
`void`	`setRigidRegionTolMode(PropertyMode mode)`
`void`	`setState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`void`	`setStictionCompliance(double compliance)` Sets the default stiction compliance.
`void`	`setStictionComplianceMode(PropertyMode mode)`
`void`	`setStictionCreep(double creep)` Sets the default stiction creep.
`void`	`setStictionCreepMode(PropertyMode mode)`
`void`	`setStictionDamping(double damping)` Sets the default stiction damping.
`void`	`setStictionDampingMode(PropertyMode mode)`
`int`	`setUnilateralForces(VectorNd the, double s, int idx)` Sets the unilateral forces that were computed to enforce this constraint.
`int`	`setUnilateralState(VectorNi state, int idx)`
`void`	`setVertexPenetrations(CollisionBehavior.VertexPenetrations mode)` Sets when two-way contact is enabled.
`void`	`setVertexPenetrationsMode(PropertyMode mode)`
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`void`	`updateColorMapRanges()`
`double`	`updateConstraints(double t, int flags)` Updates the current set of constraints, and returns the maximum penetration `>` 0 associated with all of them.
`boolean`	`use2DFrictionForBilateralContact()`
`boolean`	`usesBilateralConstraints()` Queries whether or not this collision manager may use bilateral constraints given its current collision configuration.
`void`	`zeroForces()` Zeros all bilateral and unilateral constraint forces in this constraint.

Methods inherited from class artisynth.core.modelbase.RenderableCompositeBase
copy, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps

Methods inherited from class artisynth.core.modelbase.CompositeComponentBase
findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, hasChildren, hasState, hierarchyContainsReferences, indexOf, iterator, numComponents, postscan, setDisplayMode, updateNameMap

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.HasNumericState
advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties
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
  - DEFAULT_COLLIDER_TYPE
```
public static CollisionManager.ColliderType DEFAULT_COLLIDER_TYPE
```
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - CollisionManager
```
public CollisionManager(MechModel mech)
```
- Method Detail
  - setDefaultColliderType
```
public static void setDefaultColliderType(CollisionManager.ColliderType type)
```
  - getDefaultColliderType
```
public static CollisionManager.ColliderType getDefaultColliderType()
```
  - numDefaultPairs
```
public int numDefaultPairs()
```
  - 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
  - clear
```
public void clear()
```
  - getCollisionArenaRadius
```
public double getCollisionArenaRadius()
```
  - setCollisionArenaRadius
```
public void setCollisionArenaRadius(double rad)
```
  - setContactNormalLen
```
public void setContactNormalLen(double len)
```
  - getContactNormalLen
```
public double getContactNormalLen()
```
  - getDefaultContactNormalLen
```
public double getDefaultContactNormalLen()
```
  - setContactForceLenScale
```
public void setContactForceLenScale(double scale)
```
  - getContactForceLenScale
```
public double getContactForceLenScale()
```
  - getFriction
```
public double getFriction()
```
    Gets the Coulomb friction coefficient
    
    Returns:
    
    friction coefficient
  - setFriction
```
public void setFriction(double mu)
```
    Sets the Coulomb friction coefficent
    
    Parameters:
    
    mu - friction coefficient
  - setFrictionMode
```
public void setFrictionMode(PropertyMode mode)
```
  - getFrictionMode
```
public PropertyMode getFrictionMode()
```
  - getBilateralVertexContact
```
public boolean getBilateralVertexContact()
```
    Returns whether bilateral constraints should be used for vertex-based contact.
    
    Returns:
    
    true if bilateral constraints should be used
  - setBilateralVertexContact
```
public void setBilateralVertexContact(boolean enable)
```
    Set whether bilateral constraints should be used for vertex-based contact.
    
    Parameters:
    
    enable - if true, enables bilateral constraints
  - setBilateralVertexContactMode
```
public void setBilateralVertexContactMode(PropertyMode mode)
```
  - getBilateralVertexContactMode
```
public PropertyMode getBilateralVertexContactMode()
```
  - getRigidRegionTol
```
public double getRigidRegionTol()
```
    Gets the default rigid region tolerance associated with all collision behaviors.
    
    Returns:
    
    rigid region tolerance
  - setRigidRegionTol
```
public void setRigidRegionTol(double tol)
```
    Sets the default rigid region tolerance associated with all collision behaviors.
    
    Parameters:
    
    tol - new rigid region tolerance
  - setRigidRegionTolMode
```
public void setRigidRegionTolMode(PropertyMode mode)
```
  - getRigidRegionTolMode
```
public PropertyMode getRigidRegionTolMode()
```
  - getDefaultRigidRegionTol
```
public double getDefaultRigidRegionTol()
```
  - getRigidPointTol
```
public double getRigidPointTol()
```
    Gets the default rigid point tolerance associated with all collision behaviors. This is the point clustering distance used when computing contact planes.
    
    Returns:
    
    rigid point tolerance
  - setRigidPointTol
```
public void setRigidPointTol(double tol)
```
    Sets the default rigid point tolerance associated with all collision behaviors.
    
    Parameters:
    
    tol - new rigid point tolerance
  - setRigidPointTolMode
```
public void setRigidPointTolMode(PropertyMode mode)
```
  - getRigidPointTolMode
```
public PropertyMode getRigidPointTolMode()
```
  - getDefaultRigidPointTol
```
public double getDefaultRigidPointTol()
```
  - getReduceConstraints
```
public boolean getReduceConstraints()
```
    Queries whether constraint reduction is enabled.
    
    Returns:
    
    true if constraint reduction is enabled
  - setReduceConstraints
```
public void setReduceConstraints(boolean enable)
```
    Sets whether or not constraint reduction is enabled.
    
    Parameters:
    
    enable - true if constraint reduction should be enabled
  - setReduceConstraintsMode
```
public void setReduceConstraintsMode(PropertyMode mode)
```
  - getReduceConstraintsMode
```
public PropertyMode getReduceConstraintsMode()
```
  - getBodyFaceContact
```
public boolean getBodyFaceContact()
```
    Deprecated. Use getVertexPenetrations() = VertexPenetrations.BOTH_COLLIDABLES instead.
  - setBodyFaceContact
```
public void setBodyFaceContact(boolean enable)
```
    Deprecated. Use setVertexPenetrations(artisynth.core.mechmodels.CollisionBehavior.VertexPenetrations) instead.
  - getVertexPenetrations
```
public CollisionBehavior.VertexPenetrations getVertexPenetrations()
```
    Queries when two-way contact is enabled. See CollisionBehavior.VertexPenetrations for details.
    
    Returns:
    
    when two-way contact is enabled.
  - setVertexPenetrations
```
public void setVertexPenetrations(CollisionBehavior.VertexPenetrations mode)
```
    Sets when two-way contact is enabled. See CollisionBehavior.VertexPenetrations for details.
    
    Parameters:
    
    mode - specifies when two-way contact is enabled.
  - setVertexPenetrationsMode
```
public void setVertexPenetrationsMode(PropertyMode mode)
```
  - getVertexPenetrationsMode
```
public PropertyMode getVertexPenetrationsMode()
```
  - getCompliance
```
public double getCompliance()
```
    Gets the default contact compliance associated will all collision behaviors.
    
    Returns:
    
    contact compliance
  - setCompliance
```
public void setCompliance(double c)
```
    Sets the default contact compliance associated with all collision behaviors.
    
    Parameters:
    
    c - new contact compliance
  - setComplianceMode
```
public void setComplianceMode(PropertyMode mode)
```
  - getComplianceMode
```
public PropertyMode getComplianceMode()
```
  - getDamping
```
public double getDamping()
```
    Gets the default contact damping associated with all collision behaviors.
    
    Returns:
    
    contact damping
  - setDamping
```
public void setDamping(double d)
```
    Sets the default contact damping associated with all collision behaviors.
    
    Parameters:
    
    d - new contact damping
  - setDampingMode
```
public void setDampingMode(PropertyMode mode)
```
  - getDampingMode
```
public PropertyMode getDampingMode()
```
  - getStictionCreep
```
public double getStictionCreep()
```
    Returns the default stiction creep. See setStictionCreep(double).
    
    Returns:
    
    stiction creep
  - setStictionCreep
```
public void setStictionCreep(double creep)
```
    Sets the default stiction creep. This is the velocity that a nominally stationary contact in ``stiction'' is allowed to move. While the default (and usually desired) value is 0, a value > 0 regularizes the computation of friction forces by removing redundancy.
    Creep values can be specified for individual collidable pairs by setting the stictionCreep property of their associated CollisionBehavior.
    
    Parameters:
    
    creep - new stiction creep
  - setStictionCreepMode
```
public void setStictionCreepMode(PropertyMode mode)
```
  - getStictionCreepMode
```
public PropertyMode getStictionCreepMode()
```
  - getStictionCompliance
```
public double getStictionCompliance()
```
    Gets the default stiction compliance. See setStictionCompliance(double).
    
    Returns:
    
    stiction compliance
  - setStictionCompliance
```
public void setStictionCompliance(double compliance)
```
    Sets the default stiction compliance. This is the compliance factor associated with a ``bristle'' model of static friction, and is used to regularize friction.
    
    Parameters:
    
    compliance - new stiction compliance
  - setStictionComplianceMode
```
public void setStictionComplianceMode(PropertyMode mode)
```
  - getStictionComplianceMode
```
public PropertyMode getStictionComplianceMode()
```
  - getStictionDamping
```
public double getStictionDamping()
```
    Gets the default stiction damping. See setStictionDamping(double).
    
    Returns:
    
    stiction damping
  - setStictionDamping
```
public void setStictionDamping(double damping)
```
    Sets the default stiction damping. This is the damping factor associated with a ``bristle'' model of static friction, and is used to regularize friction.
    
    Parameters:
    
    damping - new stiction damping
  - setStictionDampingMode
```
public void setStictionDampingMode(PropertyMode mode)
```
  - getStictionDampingMode
```
public PropertyMode getStictionDampingMode()
```
  - getAcceleration
```
public double getAcceleration()
```
    Returns the desired collision acceleration. See setAcceleration(double).
  - setAcceleration
```
public void setAcceleration(double acc)
```
    Sets a desired acceleration for collision response which will be used to automatically compute collision compliance if the specified compliance (as returned by getCompliance()) is zero.
    This property is currently experimental and not guaranteed to produce reliable results.
    
    Parameters:
    
    acc - desired collision acceleration
  - setAccelerationMode
```
public void setAccelerationMode(PropertyMode mode)
```
  - getAccelerationMode
```
public PropertyMode getAccelerationMode()
```
  - getReportNegContactForces
```
public boolean getReportNegContactForces()
```
    Queries whether negative contact forces should be used in force pressure maps and collision reporting.
    
    Returns:
    
    true if negative contact forces being shown
  - setReportNegContactForces
```
public void setReportNegContactForces(boolean enable)
```
    Sets a whether negative contact forces should be used in force pressure maps and collision reporting.
    
    Parameters:
    
    enable - if true, enables showing negative contact forces
  - setReportNegContactForcesMode
```
public void setReportNegContactForcesMode(PropertyMode mode)
```
  - getReportNegContactForcesMode
```
public PropertyMode getReportNegContactForcesMode()
```
  - getDrawIntersectionContours
```
public boolean getDrawIntersectionContours()
```
  - setDrawIntersectionContours
```
public void setDrawIntersectionContours(boolean enable)
```
  - setDrawIntersectionContoursMode
```
public void setDrawIntersectionContoursMode(PropertyMode mode)
```
  - getDrawIntersectionContoursMode
```
public PropertyMode getDrawIntersectionContoursMode()
```
  - getDrawIntersectionFaces
```
public boolean getDrawIntersectionFaces()
```
  - setDrawIntersectionFaces
```
public void setDrawIntersectionFaces(boolean enable)
```
  - setDrawIntersectionFacesMode
```
public void setDrawIntersectionFacesMode(PropertyMode mode)
```
  - getDrawIntersectionFacesMode
```
public PropertyMode getDrawIntersectionFacesMode()
```
  - getDrawIntersectionPoints
```
public boolean getDrawIntersectionPoints()
```
  - setDrawIntersectionPoints
```
public void setDrawIntersectionPoints(boolean enable)
```
  - setDrawIntersectionPointsMode
```
public void setDrawIntersectionPointsMode(PropertyMode mode)
```
  - getDrawIntersectionPointsMode
```
public PropertyMode getDrawIntersectionPointsMode()
```
  - getDrawContactNormals
```
public boolean getDrawContactNormals()
```
  - setDrawContactNormals
```
public void setDrawContactNormals(boolean enable)
```
  - setDrawContactNormalsMode
```
public void setDrawContactNormalsMode(PropertyMode mode)
```
  - getDrawContactNormalsMode
```
public PropertyMode getDrawContactNormalsMode()
```
  - getDrawContactForces
```
public boolean getDrawContactForces()
```
  - setDrawContactForces
```
public void setDrawContactForces(boolean enable)
```
  - setDrawContactForcesMode
```
public void setDrawContactForcesMode(PropertyMode mode)
```
  - getDrawContactForcesMode
```
public PropertyMode getDrawContactForcesMode()
```
  - getDrawFrictionForces
```
public boolean getDrawFrictionForces()
```
  - setDrawFrictionForces
```
public void setDrawFrictionForces(boolean enable)
```
  - setDrawFrictionForcesMode
```
public void setDrawFrictionForcesMode(PropertyMode mode)
```
  - getDrawFrictionForcesMode
```
public PropertyMode getDrawFrictionForcesMode()
```
  - setColorMapInterpolation
```
public void setColorMapInterpolation(Renderer.ColorInterpolation interp)
```
  - getColorMapInterpolation
```
public Renderer.ColorInterpolation getColorMapInterpolation()
```
  - setColorMapInterpolationMode
```
public void setColorMapInterpolationMode(PropertyMode mode)
```
  - getColorMapInterpolationMode
```
public PropertyMode getColorMapInterpolationMode()
```
  - getDrawColorMap
```
public CollisionBehavior.ColorMapType getDrawColorMap()
```
  - setDrawColorMap
```
public void setDrawColorMap(CollisionBehavior.ColorMapType type)
```
  - setDrawColorMapMode
```
public void setDrawColorMapMode(PropertyMode mode)
```
  - getDrawColorMapMode
```
public PropertyMode getDrawColorMapMode()
```
  - getRenderingCollidable
```
public int getRenderingCollidable()
```
  - setRenderingCollidable
```
public void setRenderingCollidable(int colNum)
```
  - setRenderingCollidableMode
```
public void setRenderingCollidableMode(PropertyMode mode)
```
  - getRenderingCollidableMode
```
public PropertyMode getRenderingCollidableMode()
```
  - getColorMapCollidable
```
public int getColorMapCollidable()
```
    Deprecated. Use getRenderingCollidable() instead.
  - setColorMapCollidable
```
public void setColorMapCollidable(int colNum)
```
    Deprecated. Use setRenderingCollidable(int) instead.
  - setColorMap
```
public void setColorMap(ColorMapBase map)
```
  - getColorMap
```
public ColorMapBase getColorMap()
```
  - setColorMapRange
```
public void setColorMapRange(ScalarRange range)
```
  - getColorMapRange
```
public ScalarRange getColorMapRange()
```
  - setForceBehavior
```
public <T extends ContactForceBehavior> void setForceBehavior(T behav)
```
  - getForceBehavior
```
public ContactForceBehavior getForceBehavior()
```
  - getMethod
```
public CollisionBehavior.Method getMethod()
```
    Returns the contact method to be used for collisions.
    
    Returns:
    
    contact method
  - setMethod
```
public void setMethod(CollisionBehavior.Method method)
```
    Set the contact method to be used for collisions. The default value is CollisionBehavior.Method.DEFAULT, which means that the method will be determined based on the colliding bodies.
    
    Parameters:
    
    method - contact method to be used
  - setMethodMode
```
public void setMethodMode(PropertyMode mode)
```
  - getMethodMode
```
public PropertyMode getMethodMode()
```
  - getColliderType
```
public CollisionManager.ColliderType getColliderType()
```
    Returns the collider type to be used for determining collisions.
    
    Returns:
    
    collider type
  - setColliderType
```
public void setColliderType(CollisionManager.ColliderType ctype)
```
    Set the collider type to be used for determining collisions.
    
    Parameters:
    
    ctype - type new collider type
  - setColliderTypeMode
```
public void setColliderTypeMode(PropertyMode mode)
```
  - getColliderTypeMode
```
public PropertyMode getColliderTypeMode()
```
  - behaviors
```
public CollisionBehaviorList behaviors()
```
  - numBehaviors
```
public int numBehaviors()
```
  - getBehavior
```
public CollisionBehavior getBehavior(int idx)
```
  - responses
```
public CollisionResponseList responses()
```
  - numResponses
```
public int numResponses()
```
  - getResponse
```
public CollisionResponse getResponse(int idx)
```
  - setDefaultBehavior
```
public void setDefaultBehavior(Collidable.Group groupA,
                               Collidable.Group groupB,
                               CollisionBehavior behavior)
```
    Implements MechModel.setDefaultCollisionBehavior(groupA,groupB,behavior); see documentation for that method.
    
    Parameters:
    
    groupA - first generic collidable group
    
    groupB - second generic collidable group
    
    behavior - desired collision behavior
  - getDefaultBehavior
```
public CollisionBehavior getDefaultBehavior(Collidable.Group groupA,
                                            Collidable.Group groupB)
```
    Implements for MechModel#getDefaultCollisionBehavior(groupA,groupB); see documentation for that method.
    
    Parameters:
    
    groupA - first generic collidable group
    
    groupB - second generic collidable group
    
    Returns:
    
    default collision behavior for the indicted collidable groups.
  - setBehavior
```
public void setBehavior(Collidable c0,
                        Collidable c1,
                        CollisionBehavior behavior)
```
    Implements MechModel.setCollisionBehavior(c0,c1,behavior); see documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    behavior - desired collision behavior
  - getBehavior
```
public CollisionBehavior getBehavior(Collidable c0,
                                     Collidable c1)
```
    Implements MechModel.getCollisionBehavior(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    specific behavior for this pair of collidables
  - clearBehavior
```
public boolean clearBehavior(Collidable c0,
                             Collidable c1)
```
    Implements MechModel.clearCollisionBehavior(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    true if the specific behavior had been set and was removed for the indicated collidable pair.
  - clearBehaviors
```
public void clearBehaviors()
```
    Implements MechModel.clearCollisionBehaviors(). See documentation for that method.
  - setResponse
```
public void setResponse(Collidable c0,
                        Collidable c1,
                        CollisionResponse response)
```
    Implements MechModel.setCollisionResponse(c0,c1,response); see documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    response - desired collision response
  - getResponse
```
public CollisionResponse getResponse(Collidable c0,
                                     Collidable c1)
```
    Implements MechModel.getCollisionResponse(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    specific response for this pair of collidables
  - clearResponse
```
public boolean clearResponse(Collidable c0,
                             Collidable c1)
```
    Implements MechModel.clearCollisionResponse(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    true if the specific response had been set and was removed for the indicated collidable pair.
  - clearResponses
```
public void clearResponses()
```
    Implements MechModel.clearCollisionResponses(). See documentation for that method.
  - getTopCollidables
```
public void getTopCollidables(java.util.List<Collidable> list)
```
  - getHandlerTable
```
public CollisionHandlerTable getHandlerTable()
```
  - getHandlers
```
public java.util.ArrayList<CollisionHandler> getHandlers()
```
  - getHandlerTableBodies
```
public java.util.ArrayList<CollidableBody> getHandlerTableBodies()
```
  - getActingBehavior
```
public CollisionBehavior getActingBehavior(Collidable c0,
                                           Collidable c1)
```
    Implements MechModel.getActingCollisionBehavior(). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    behavior for this pair of collidables, or null if no common behavior is found.
  - getCollisionResponse
```
public CollisionResponse getCollisionResponse(Collidable c0,
                                              Collidable c1)
```
    Implements MechModel.getCollisionResponse(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable. Must be a specific collidable.
    
    c1 - second collidable(s). May be a specific collidable or a colliable group.
    
    Returns:
    
    collision response object for the specified collidables
  - componentChanged
```
public void componentChanged(ComponentChangeEvent e)
```
    Description copied from class: CompositeComponentBase
    
    Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.
    This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.
    
    Specified by:
    
    componentChanged in interface ComponentChangeListener
    
    Specified by:
    
    componentChanged in interface CompositeComponent
    
    Overrides:
    
    componentChanged in class CompositeComponentBase
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - initialize
```
public void initialize()
```
  - clearCachedData
```
public void clearCachedData()
```
  - scan
```
public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException
```
    Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.
    
    Specified by:
    
    scan in interface ModelComponent
    
    Specified by:
    
    scan in interface Scannable
    
    Overrides:
    
    scan in class CompositeComponentBase
    
    Parameters:
    
    rtok - Tokenizer from which to scan the element
    
    ref - optional reference object which can be used for resolving references to other objects
    
    Throws:
    
    java.io.IOException - if an I/O or formatting error occured
  - scaleDistance
```
public void scaleDistance(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - reduceBilateralConstraints
```
public void reduceBilateralConstraints(java.util.ArrayList<ContactConstraint> bilaterals)
```
  - updateConstraints
```
public double updateConstraints(double t,
                                int flags)
```
    Description copied from interface: Constrainer
    
    Updates the current set of constraints, and returns the maximum penetration > 0 associated with all of them. If no constraints are presently active, returns -1.
    
    Specified by:
    
    updateConstraints in interface Constrainer
  - getBilateralSizes
```
public void getBilateralSizes(VectorNi sizes)
```
    Description copied from interface: Constrainer
    
    Returns the sizes of each block column in the bilateral force constraint matrix. The size for each block should be appended to the vector sizes.
    
    Specified by:
    
    getBilateralSizes in interface Constrainer
    
    Parameters:
    
    sizes - vector to which the block column sizes are appended
  - addBilateralConstraints
```
public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)
```
    Description copied from interface: Constrainer
    Appends the current bilateral force constraint matrix Gc^T to the matrix GT, by appending block columns to it. If the argument dg is non-null, it should be used to return the velocity constraint time derivative, defined by
```
 \dot Gc vel
 
```
    starting at the location numb. In all cases, the method must return an updated value of numb, incremented by the total row size of Gc.
    Specified by:
    
    addBilateralConstraints in interface Constrainer
    
    Parameters:
    
    GT - matrix to which the bilateral force contraint matrix is appended.
    
    dg - if non-null, returns the velocity constraint time derivative
    
    numb - starting index for time derivative in dg
    
    Returns:
    
    updated value of numb
  - getBilateralInfo
```
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)
```
    Description copied from interface: Constrainer
    Returns constraint information for each row of the bilateral constraint system
```
 Gc vel = 0.
 
```
    This information is placed in pre-allocated MechSystem.ConstraintInfo structures in ginfo, starting at idx. The method must return an updated value of idx, incremented by the number of rows of Gc.
    The constraint information to be set in ConstraintInfo includes:
```
   dist        // distance to the constraint surface.
   compliance  // if > 0, gives constraint compliance value
   damping     // damping; only used if compliance > 0
   force       // used for computing non-linear compliance
 
```
    Specified by:
    
    getBilateralInfo in interface Constrainer
    
    Parameters:
    
    ginfo - returns the constraint information
    
    idx - starting location in ginfo for returning constraint info
    
    Returns:
    
    updated value of idx
  - setBilateralForces
```
public int setBilateralForces(VectorNd lam,
                              double s,
                              int idx)
```
    Description copied from interface: Constrainer
    
    Sets the bilateral forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed bilateral constraint matrix. The forces are supplied in lam, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    setBilateralForces in interface Constrainer
    
    Parameters:
    
    lam - supplies the force impulses, which should be scaled by s
    
    s - scaling factor for the force values
    
    idx - starting index of forces in lam
    
    Returns:
    
    updated value of idx
  - getBilateralForces
```
public int getBilateralForces(VectorNd lam,
                              int idx)
```
    Description copied from interface: Constrainer
    
    Returns the bilateral forces that were most recently set for this constrainer using Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int). The forces are returned in lam, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    getBilateralForces in interface Constrainer
    
    Parameters:
    
    lam - returns the forces
    
    idx - starting index for forces in lam
    
    Returns:
    
    updated value of idx
  - zeroForces
```
public void zeroForces()
```
    Description copied from interface: Constrainer
    
    Zeros all bilateral and unilateral constraint forces in this constraint.
    
    Specified by:
    
    zeroForces in interface Constrainer
  - getUnilateralSizes
```
public void getUnilateralSizes(VectorNi sizes)
```
    Description copied from interface: Constrainer
    
    Returns the sizes of each block column in the unilateral force constraint matrix. The size for each block should be appended to the vector sizes.
    
    Specified by:
    
    getUnilateralSizes in interface Constrainer
    
    Parameters:
    
    sizes - vector to which the block column sizes are appended
  - addUnilateralConstraints
```
public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dn,
                                    int numu)
```
    Description copied from interface: Constrainer
    Appends the current unilateral force constraint matrix Nc^T to the matrix NT, by appending block columns to it. If the argument dn is non-null, it should be used to return the velocity constraint time derivative, defined by
```
 \dot Nc vel
 
```
    starting at the location numu. In all cases, the method must return an updated value of numu, incremented by the total row size of Nc.
    Specified by:
    
    addUnilateralConstraints in interface Constrainer
    
    Parameters:
    
    NT - matrix to which the unilateral force contraint matrix is appended.
    
    dn - if non-null, returns the velocity constraint time derivative
    
    numu - starting index for time derivative in dn
    
    Returns:
    
    updated value of numu
  - getUnilateralInfo
```
public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)
```
    Description copied from interface: Constrainer
    Returns constraint information for each row of the unilateral constraint system
```
 Nc vel > 0.
 
```
    This information is placed in pre-allocated MechSystem.ConstraintInfo structures in ninfo, starting at idx. The method must return an updated value of idx, incremented by the number of rows of Nc.
    The constraint information to be set in ConstraintInfo includes:
```
   dist        // distance to the constraint surface.
   compliance  // if > 0, gives constraint compliance value
   damping     // damping; only used if compliance > 0
   force       // used for computing non-linear compliance
 
```
    Specified by:
    
    getUnilateralInfo in interface Constrainer
    
    Parameters:
    
    ninfo - returns the constraint information
    
    idx - starting location in ninfo for returning constraint info
    
    Returns:
    
    updated value of idx
  - setUnilateralForces
```
public int setUnilateralForces(VectorNd the,
                               double s,
                               int idx)
```
    Description copied from interface: Constrainer
    
    Sets the unilateral forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed unilateral constraint matrix. The forces are supplied in the, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    setUnilateralForces in interface Constrainer
    
    Parameters:
    
    the - supplies the force impulses, which should be scaled by s
    
    s - scaling factor for the force values
    
    idx - starting index of forces in the
    
    Returns:
    
    updated value of idx
  - getUnilateralForces
```
public int getUnilateralForces(VectorNd the,
                               int idx)
```
    Description copied from interface: Constrainer
    
    Returns the unilateral forces that were most recently set for this constrainer using Constrainer.setUnilateralForces(maspack.matrix.VectorNd, double, int). The forces are returned in the, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    getUnilateralForces in interface Constrainer
    
    Parameters:
    
    the - returns the forces
    
    idx - starting index for forces in the
    
    Returns:
    
    updated value of idx
  - setUnilateralState
```
public int setUnilateralState(VectorNi state,
                              int idx)
```
    Specified by:
    
    setUnilateralState in interface Constrainer
  - getUnilateralState
```
public int getUnilateralState(VectorNi state,
                              int idx)
```
    Specified by:
    
    getUnilateralState in interface Constrainer
  - maxFrictionConstraintSets
```
public int maxFrictionConstraintSets()
```
    Description copied from interface: Constrainer
    
    Returns the maximum number of friction constraint sets that can be expected for this constraint. There should be one constraint set for each bilateral or unilateral constraint that may be associated with friction. This method is used for presizing the finfo argument that is passed to Constrainer.addFrictionConstraints(maspack.matrix.SparseBlockMatrix, java.util.ArrayList<maspack.spatialmotion.FrictionInfo>, boolean, int).
    
    Specified by:
    
    maxFrictionConstraintSets in interface Constrainer
    
    Returns:
    
    maximum number of friction constraint sets
  - addFrictionConstraints
```
public int addFrictionConstraints(SparseBlockMatrix DT,
                                  java.util.ArrayList<FrictionInfo> finfo,
                                  boolean prune,
                                  int numf)
```
    Description copied from interface: Constrainer
    
    Appends the friction force constraint matrix Dc^T to the matrix DT, by appending block columns to it. Each block column in Dc^T corresponds to a friction constraint set, for which information should be supplied in the pre-allocated FrictionInfo structures in finfo, starting at idx. The method must return an updated value of idx, incremented by the number of friction constraint sets.
    
    Specified by:
    
    addFrictionConstraints in interface Constrainer
    
    Parameters:
    
    DT - matrix to which the friction force contraint matrix is appended.
    
    finfo - returns friction constraint information for each block column in Dc^T
    
    prune - restrict entries of DT to friction constraints for which the contact force is > 0.
    
    numf - starting index for friction information in finfo
    
    Returns:
    
    updated value of idx
  - setFrictionForces
```
public int setFrictionForces(VectorNd phi,
                             double s,
                             int idx)
```
    Sets the friction forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed friction constraint matrix. The forces are supplied in phi, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    setFrictionForces in interface Constrainer
    
    Parameters:
    
    phi - supplies the force impulses, which should be scaled by s
    
    s - scaling factor for the force values
    
    idx - starting index of forces in phi
    
    Returns:
    
    updated value of idx
  - getFrictionForces
```
public int getFrictionForces(VectorNd phi,
                             int idx)
```
    Returns the friction forces that were most recently set for this constrainer using Constrainer.setFrictionForces(maspack.matrix.VectorNd, double, int). The forces are returned in phi, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    getFrictionForces in interface Constrainer
    
    Parameters:
    
    phi - returns the forces
    
    idx - starting index for forces in phi
    
    Returns:
    
    updated value of idx
  - setFrictionState
```
public int setFrictionState(VectorNi state,
                            int idx)
```
    Specified by:
    
    setFrictionState in interface Constrainer
  - getFrictionState
```
public int getFrictionState(VectorNi state,
                            int idx)
```
    Specified by:
    
    getFrictionState in interface Constrainer
  - printNetContactForces
```
public void printNetContactForces()
```
  - getConstrainedComponents
```
public void getConstrainedComponents(java.util.List<DynamicComponent> list)
```
    Description copied from interface: Constrainer
    
    Collected all the dynamic components constrained by this constrainer. Not currently used.
    
    Specified by:
    
    getConstrainedComponents in interface Constrainer
    
    Parameters:
    
    list - list to which constrained components should be appended
  - usesBilateralConstraints
```
public boolean usesBilateralConstraints()
```
    Queries whether or not this collision manager may use bilateral constraints given its current collision configuration.
    
    Returns:
    
    true if this collision manager may use bilateral constraints
  - createRenderProps
```
public RenderProps createRenderProps()
```
    Description copied from interface: HasRenderProps
    
    Factory method to create render properties appropriate to this object.
    
    Specified by:
    
    createRenderProps in interface HasRenderProps
    
    Overrides:
    
    createRenderProps in class RenderableCompositeBase
    
    Returns:
    
    new render properties for this object
  - updateBounds
```
public void updateBounds(Vector3d pmin,
                         Vector3d pmax)
```
    Description copied from interface: IsRenderable
    
    Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.
    
    Specified by:
    
    updateBounds in interface IsRenderable
    
    Overrides:
    
    updateBounds in class RenderableCompositeBase
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - updateColorMapRanges
```
public void updateColorMapRanges()
```
  - prerender
```
public void prerender(RenderList list)
```
    Description copied from interface: IsRenderable
    
    Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling
    list.addIfVisible (obj);
    for each of the objects in question.
    
    Specified by:
    
    prerender in interface IsRenderable
    
    Overrides:
    
    prerender in class RenderableCompositeBase
    
    Parameters:
    
    list - list of objects to be rendered
  - render
```
public void render(Renderer renderer,
                   int flags)
```
    Description copied from interface: IsRenderable
    
    Render this object using the functionality of the supplied Renderer.
    
    Specified by:
    
    render in interface IsRenderable
    
    Specified by:
    
    render in class RenderableCompositeBase
    
    Parameters:
    
    renderer - provides the functionality used to perform the rendering.
    
    flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.
  - getState
```
public void getState(DataBuffer data)
```
    Description copied from interface: HasNumericState
    
    Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.
    
    Specified by:
    
    getState in interface HasNumericState
    
    Parameters:
    
    data - buffer for storing the state values.
  - setState
```
public void setState(DataBuffer data)
```
    Description copied from interface: HasNumericState
    
    Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
    
    Specified by:
    
    setState in interface HasNumericState
    
    Parameters:
    
    data - buffer containing the state information
  - use2DFrictionForBilateralContact
```
public boolean use2DFrictionForBilateralContact()
```

Class CollisionManager

Nested Class Summary

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

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

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.modelbase.RenderableCompositeBase

Methods inherited from class artisynth.core.modelbase.CompositeComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.HasNumericState

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface artisynth.core.modelbase.PostScannable

Methods inherited from interface maspack.util.Scannable

Field Detail

DEFAULT_COLLIDER_TYPE

myProps

Constructor Detail

CollisionManager

Method Detail

setDefaultColliderType

getDefaultColliderType

numDefaultPairs

getAllPropertyInfo

clear

getCollisionArenaRadius

setCollisionArenaRadius

setContactNormalLen

getContactNormalLen

getDefaultContactNormalLen

setContactForceLenScale

getContactForceLenScale

getFriction

setFriction

setFrictionMode

getFrictionMode

getBilateralVertexContact

setBilateralVertexContact

setBilateralVertexContactMode

getBilateralVertexContactMode

getRigidRegionTol

setRigidRegionTol

setRigidRegionTolMode

getRigidRegionTolMode

getDefaultRigidRegionTol

getRigidPointTol

setRigidPointTol

setRigidPointTolMode

getRigidPointTolMode

getDefaultRigidPointTol

getReduceConstraints

setReduceConstraints

setReduceConstraintsMode

getReduceConstraintsMode

getBodyFaceContact

setBodyFaceContact

getVertexPenetrations

setVertexPenetrations

setVertexPenetrationsMode

getVertexPenetrationsMode

getCompliance

setCompliance

setComplianceMode

getComplianceMode

getDamping

setDamping

setDampingMode

getDampingMode

getStictionCreep

setStictionCreep

setStictionCreepMode

getStictionCreepMode

getStictionCompliance

setStictionCompliance

setStictionComplianceMode