artisynth.core.mechmodels

Enum CollisionBehavior.Method

java.lang.Object

java.lang.Enum<CollisionBehavior.Method>

artisynth.core.mechmodels.CollisionBehavior.Method

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<CollisionBehavior.Method>

Enclosing class:

CollisionBehavior

public static enum CollisionBehavior.Method
extends java.lang.Enum<CollisionBehavior.Method>

Specifies the contact method defining how the constraints are generated for handling collisions.

Enum Constant Summary

Enum Constants

Enum Constant and Description
CONTOUR_REGION Contact constraints are generated by fitting a plane to each mesh penetration region and then projecting the region onto that plane.
DEFAULT Select the method most appropriate depending on whether the colliding bodies are rigid or deformable.
INACTIVE No constraints are generated.
VERTEX_EDGE_PENETRATION Contact constraints are generated in the same way as for VERTEX_PENETRATION, with additional constraints created for edge-edge contacts.
VERTEX_PENETRATION A contact constraint is generated for each mesh vertex that interpenetrates the other mesh, with the normal direction determined by finding the nearest point on the opposing mesh.
VERTEX_PENETRATION_BILATERAL Currently the same as VERTEX_PENETRATION.

Method Summary

Modifier and Type	Method and Description
static CollisionBehavior.Method	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static CollisionBehavior.Method[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

compareTo, equals, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

DEFAULT

public static final CollisionBehavior.Method DEFAULT

Select the method most appropriate depending on whether the colliding bodies are rigid or deformable.

VERTEX_PENETRATION

public static final CollisionBehavior.Method VERTEX_PENETRATION

A contact constraint is generated for each mesh vertex that interpenetrates the other mesh, with the normal direction determined by finding the nearest point on the opposing mesh. This method is the default for collisions involving deformable bodies, and assumes that the bodies have sufficient degrees of freedom (DOF) that the system is not overly constrained. Using this method for collisions between rigid bodies, or low DOF deformable bodies, will generally result in an overconstrained system unless the constraints are either regularized using compliance (see CollisionBehavior.setCompliance(double)) or constraint reduction is enabled (see CollisionBehavior.setReduceConstraints(boolean)).

VERTEX_EDGE_PENETRATION

public static final CollisionBehavior.Method VERTEX_EDGE_PENETRATION

Contact constraints are generated in the same way as for VERTEX_PENETRATION, with additional constraints created for edge-edge contacts. This can be useful in situations where one or both of the colliding meshes are coarse and penetrating vertices may hence not always be present. However, this method is experimental and not used by default.

CONTOUR_REGION

public static final CollisionBehavior.Method CONTOUR_REGION

Contact constraints are generated by fitting a plane to each mesh penetration region and then projecting the region onto that plane. Constraints are then created from points on the perimeter of this projection, with the normal direction being given by the plane normal. This is the default method for collision between rigid bodies or low DOF deformable bodies. Trying to use this method for FEM-based deformable bodies will result in an error.

VERTEX_PENETRATION_BILATERAL

public static final CollisionBehavior.Method VERTEX_PENETRATION_BILATERAL

Currently the same as VERTEX_PENETRATION.

INACTIVE

public static final CollisionBehavior.Method INACTIVE

No constraints are generated. This setting will result in no collision response.

Method Detail

values

public static CollisionBehavior.Method[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (CollisionBehavior.Method c : CollisionBehavior.Method.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static CollisionBehavior.Method valueOf(java.lang.String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

java.lang.IllegalArgumentException - if this enum type has no constant with the specified name

java.lang.NullPointerException - if the argument is null