artisynth.core.mechmodels

Interface HasDistanceGrid

public interface HasDistanceGrid

Methods exported by components which support a signed distance grid.

Method Summary

Modifier and Type	Method and Description
DistanceGrid	getDistanceGrid() Returns a signed distance grid maintained by this body, or null if a grid is not available (i.e., if hasDistanceGrid() returns false).
int	getDistanceGridMaxRes() Returns the default maximum cell resolution that should be used when constructing a signed distance grid for this component.
java.lang.String	getDistanceGridRenderRanges() Returns a string describing the x, y, z vertex ranges used when rendering this component's signed distance grid.
Vector3i	getDistanceGridRes() Returns the cell resolutions (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component.
boolean	getRenderDistanceGrid() Queries whether this component's signed distance grid should be rendered.
boolean	hasDistanceGrid() Returns true if this component maintains a signed distance grid.
void	setDistanceGridMaxRes(int max) Sets the default maximum cell resolution that should be used when constructing a signed distance grid for this component.
void	setDistanceGridRenderRanges(java.lang.String ranges) Specifies the x, y, z vertex ranges used when rendering this component's signed distance grid.
void	setDistanceGridRes(Vector3i res) Sets the cell resolution (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component.
void	setRenderDistanceGrid(boolean enable) Enables or disables rendering of this component's signed distance grid.

Method Detail

hasDistanceGrid

boolean hasDistanceGrid()

Returns true if this component maintains a signed distance grid. Among other possible conditions, a grid is available only if either getDistanceGridMaxRes() or getDistanceGridRes() return positive values.

Returns:

true if a signed distance grid is available for this RigidBody

See Also:

getDistanceGridMaxRes(), getDistanceGridRes()

getDistanceGrid

DistanceGrid getDistanceGrid()

Returns a signed distance grid maintained by this body, or null if a grid is not available (i.e., if hasDistanceGrid() returns false). The number of divisons in the grid is controlled explicitly by the x, y, z values returned by getDistanceGridRes(), or, if those are 0, by the maximum grid resolution returned by getDistanceGridMaxRes(). If that is 0 as well, no grid is available and null will be returned.

Returns:

signed distance grid, or null if a grid is not available for this component

See Also:

getDistanceGridMaxRes(), getDistanceGridRes()

setDistanceGridMaxRes

void setDistanceGridMaxRes(int max)

Sets the default maximum cell resolution that should be used when constructing a signed distance grid for this component. This is the number of cells that will be used along the maximum length in either the x, y, or z direction, with the number of cells in other directions adjusted accordingly so as to provide cells of uniform size. If max is <= 0, the value will be set to 0. If the values returned by getDistanceGridRes()) are non-zero, those will be used to specify the cell resolutions instead. If the maximum cell resolution and the values returned by getDistanceGridRes() are all 0, then no signed distance grid will be available for this component and hasDistanceGrid() will return false.

Parameters:

max - default maximum cell resolution for constructing a signed distance grid

getDistanceGridMaxRes

int getDistanceGridMaxRes()

Returns the default maximum cell resolution that should be used when constructing a signed distance grid for this component. See getDistanceGridMaxRes() for a more detailed description.

Returns:

default maximum cell resolution for constructing a signed distance grid

setDistanceGridRes

void setDistanceGridRes(Vector3i res)

Sets the cell resolution (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component. This specifies the number of cells that the grid should have along each axis. If any of the values are <= 0, then all of the values are set to zero and the value returned by getDistanceGridMaxRes()) is used to determine the grid divisions instead.

Parameters:

res - cell resolution along x, y, z axes to be used in constructing a signed distance grid

See Also:

getDistanceGridRes()

getDistanceGridRes

Vector3i getDistanceGridRes()

Returns the cell resolutions (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component. See setDistanceGridRes(maspack.matrix.Vector3i) for a more detailed description.

Returns:

x, y, and z divisions to be used in constructing a signed distance grid

See Also:

setDistanceGridRes(maspack.matrix.Vector3i)

getRenderDistanceGrid

boolean getRenderDistanceGrid()

Queries whether this component's signed distance grid should be rendered.

Returns:

true if distance grid rendering is enabled

setRenderDistanceGrid

void setRenderDistanceGrid(boolean enable)

Enables or disables rendering of this component's signed distance grid.

Parameters:

enable - if true, enables distance grid rendering

getDistanceGridRenderRanges

java.lang.String getDistanceGridRenderRanges()

Returns a string describing the x, y, z vertex ranges used when rendering this component's signed distance grid. See setDistanceGridRenderRanges(java.lang.String) for a more detailed description.

Returns:

string describing the render ranges

See Also:

setDistanceGridRenderRanges(java.lang.String)

setDistanceGridRenderRanges

void setDistanceGridRenderRanges(java.lang.String ranges)

Specifies the x, y, z vertex ranges used when rendering this component's signed distance grid. The signed distance grid will have numVX X numVY X numVZ vertices in the x, y, z directions, where numVX, numVY, and numVZ are each one greater than the x, y, z cell resolution values returned by the InterpolatingGridBase.getResolution() method of the distance grid itself. In general, the range string should contain three range specifications, one for each axis, where each specification is either * (all vertices), n:m (vertices in the index range n to m, inclusive), or n (vertices only at index n). A range specification of "* * *" (or "*") means draw all vertices, which is the default behavior. Other examples include:

  "* 7 *"      - all vertices along x and z, and those at index 7 along y
  "0 2 3"      - a single vertex at indices (0, 2, 3)
  "0:3 4:5 *"  - all vertices between indices 0 and 3 along x, and 4 and 5
                 along y
 

Parameters:

ranges - describing the render ranges

Throws:

java.lang.IllegalArgumentException - if the range syntax is invalid or out of range

See Also:

getDistanceGridRenderRanges()