CollisionBehavior (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.mechmodels.CollisionComponent
  - - artisynth.core.mechmodels.CollisionBehavior

All Implemented Interfaces:

ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class CollisionBehavior
extends CollisionComponent
implements Renderable
```
Contains information describing the appropriate collision response between two bodies.

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`CollisionBehavior.ColorMapType` Specified what type of data should be used when drawing a color map over the collision area.
`static class`	`CollisionBehavior.Method` Specifies the contact method defining how the constraints are generated for handling collisions.
`static class`	`CollisionBehavior.VertexPenetrations` Indicates when two-way contact is used for the `CollisionBehavior.Method.VERTEX_PENETRATION` or `CollisionBehavior.Method.VERTEX_EDGE_PENETRATION` contact methods.

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

Field Summary

Fields
Modifier and Type Field and Description

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 PropertyList`	`myProps`

Constructor Summary

Constructors
Constructor and Description
`CollisionBehavior()` Creates a new CollisionBehavior with default values.
`CollisionBehavior(boolean enabled, double mu)` Creates a new CollisionBehavior with a specified enabling and friction.
`CollisionBehavior(CollisionBehavior behav)`

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`boolean`	`collidable0MatchesBody(CollidableBody cbody)` Queries whether a collidable body matches the first collidable of this behavior.
`RenderProps`	`createRenderProps()` Factory method to create render properties appropriate to this object.
`double`	`getAcceleration()` Returns the desired collision acceleration.
`PropertyMode`	`getAccelerationMode()`
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`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()`
`int`	`getColorMapCollidable()` Deprecated. Use `getRenderingCollidable()` instead.
`Renderer.ColorInterpolation`	`getColorMapInterpolation()`
`PropertyMode`	`getColorMapInterpolationMode()`
`ScalarRange`	`getColorMapRange()`
`double`	`getCompliance()` Gets the contact compliance associated with this behavior.
`PropertyMode`	`getComplianceMode()`
`double`	`getDamping()` Gets the contact damping associated with this behavior.
`PropertyMode`	`getDampingMode()`
`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()`
`int`	`getDrawPenetrationDepth()` Deprecated. Replaced by the combination of `getDrawColorMap()` and `getRenderingCollidable`.
`ContactForceBehavior`	`getForceBehavior()`
`double`	`getFriction()` Gets the Coulomb friction coefficient associated with this behavior.
`PropertyMode`	`getFrictionMode()`
`CollisionBehavior.Method`	`getMethod()` Returns the contact method to be used by this behavior.
`PropertyMode`	`getMethodMode()`
`ScalarRange`	`getPenetrationDepthRange()` Added for backwards compatibility.
`double`	`getPenetrationTol()` Gets the penetration tolerance associated with this behavior.
`PropertyMode`	`getPenetrationTolMode()`
`boolean`	`getReduceConstraints()` Queries whether constraint reduction is enabled for this behavior.
`PropertyMode`	`getReduceConstraintsMode()`
`int`	`getRenderHints()` Returns a bit code giving rendering hints about this renderable.
`int`	`getRenderingCollidable()`
`PropertyMode`	`getRenderingCollidableMode()`
`RenderProps`	`getRenderProps()` Returns the render properities for this object.
`boolean`	`getReportNegContactForces()` Queries whether negative contact forces should be used in force pressure maps and collision reporting.
`PropertyMode`	`getReportNegContactForcesMode()`
`double`	`getRigidPointTol()` Gets the rigid point tolerance associated with this behavior.
`PropertyMode`	`getRigidPointTolMode()`
`double`	`getRigidRegionTol()` Gets the rigid region tolerance associated with this behavior.
`PropertyMode`	`getRigidRegionTolMode()`
`void`	`getSelection(java.util.LinkedList<java.lang.Object> list, int qid)` Append to `list` the component (or components) associated with the `qid`-th selection query issued by this component's render method.
`double`	`getStictionCompliance()` Gets the stiction compliance associated with this behavior.
`PropertyMode`	`getStictionComplianceMode()`
`double`	`getStictionCreep()` Gets the stiction creep associated with this behavior.
`PropertyMode`	`getStictionCreepMode()`
`double`	`getStictionDamping()` Gets the stiction damping associated with this behavior.
`PropertyMode`	`getStictionDampingMode()`
`CollisionBehavior.VertexPenetrations`	`getVertexPenetrations()` Queries when two-way contact is enabled.
`PropertyMode`	`getVertexPenetrationsMode()`
`boolean`	`isCompliant()`
`boolean`	`isEnabled()` Returns true if collisions are enabled in this behavior.
`boolean`	`isSelectable()` Returns true if this object is in fact selectable.
`int`	`numSelectionQueriesNeeded()` If this selectable manages its own selection (by issuing selection queries within its `render` method), then this method should return the maximum number of selection queries that will be required.
`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`	`render(Renderer renderer, int flags)` Render method for this component is just a stub - it is needed because this class extends RenderableComponentBase, which is done to export the fact that the class has render properties, and also exports them as a property.
`void`	`scaleDistance(double s)`
`void`	`scaleMass(double s)`
`void`	`set(CollisionBehavior behav)`
`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`	`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`	`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 contact compliance associated with this behavior.
`void`	`setComplianceMode(PropertyMode mode)`
`void`	`setDamping(double d)` Sets the contact damping associated with this behavior.
`void`	`setDampingMode(PropertyMode mode)`
`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)`
`void`	`setDrawPenetrationDepth(int colNum)` Deprecated. Replaced by the combination of `setDrawColorMap(artisynth.core.mechmodels.CollisionBehavior.ColorMapType)` and `setRenderingCollidable`.
`void`	`setEnabled(boolean enabled)` Enables or disabled collisions for this behavior.
`<T extends ContactForceBehavior> void`	`setForceBehavior(T behav)`
`void`	`setFriction(double mu)` Sets the Coulomb friction coefficient associated with this behavior.
`void`	`setFrictionMode(PropertyMode mode)`
`void`	`setMethod(CollisionBehavior.Method method)` Set the contact method to be used by this behavior.
`void`	`setMethodMode(PropertyMode mode)`
`void`	`setPenetrationTol(double tol)` Sets the penetration tolerance associated with this behavior.
`void`	`setPenetrationTolMode(PropertyMode mode)`
`void`	`setReduceConstraints(boolean enable)` Sets whether or not constraint reduction is enabled for this behavior.
`void`	`setReduceConstraintsMode(PropertyMode mode)`
`void`	`setRenderingCollidable(int colNum)`
`void`	`setRenderingCollidableMode(PropertyMode mode)`
`void`	`setRenderProps(RenderProps props)` Assigns a new set of render properties to this object.
`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`	`setRigidPointTol(double tol)` Sets the rigid point tolerance associated with this behavior.
`void`	`setRigidPointTolMode(PropertyMode mode)`
`void`	`setRigidRegionTol(double tol)` Sets the rigid region tolerance associated with this behavior.
`void`	`setRigidRegionTolMode(PropertyMode mode)`
`void`	`setStictionCompliance(double compliance)` Sets the stiction compliance associated with this behavior.
`void`	`setStictionComplianceMode(PropertyMode mode)`
`void`	`setStictionCreep(double creep)` Sets the stiction creep associated with this behavior.
`void`	`setStictionCreepMode(PropertyMode mode)`
`void`	`setStictionDamping(double damping)` Sets the stiction damping associated with this behavior.
`void`	`setStictionDampingMode(PropertyMode mode)`
`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.

Methods inherited from class artisynth.core.mechmodels.CollisionComponent
getCollidable, getCollidablePair, getHardReferences, setCollidablePair, setCollidablePair

Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, copy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

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

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - CollisionBehavior
```
public CollisionBehavior()
```
    Creates a new CollisionBehavior with default values.
  - CollisionBehavior
```
public CollisionBehavior(boolean enabled,
                         double mu)
```
    Creates a new CollisionBehavior with a specified enabling and friction.
    
    Parameters:
    
    enabled - true if collisions are enabled
    
    mu - friction coefficient. If less than 0, the value will be inherited from ancestor components.
  - CollisionBehavior
```
public CollisionBehavior(CollisionBehavior behav)
```
- Method Detail
  - 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
  - isEnabled
```
public boolean isEnabled()
```
    Returns true if collisions are enabled in this behavior.
    
    Returns:
    
    true if collisions are enabled
  - setEnabled
```
public void setEnabled(boolean enabled)
```
    Enables or disabled collisions for this behavior.
    
    Parameters:
    
    enabled - if true, enables collisions
  - getFriction
```
public double getFriction()
```
    Gets the Coulomb friction coefficient associated with this behavior.
    
    Returns:
    
    friction coefficient
  - setFriction
```
public void setFriction(double mu)
```
    Sets the Coulomb friction coefficient associated with this behavior.
    
    Parameters:
    
    mu - friction coefficient
  - setFrictionMode
```
public void setFrictionMode(PropertyMode mode)
```
  - getFrictionMode
```
public PropertyMode getFrictionMode()
```
  - getMethod
```
public CollisionBehavior.Method getMethod()
```
    Returns the contact method to be used by this behavior.
    
    Returns:
    
    contact method for this behavior
  - setMethod
```
public void setMethod(CollisionBehavior.Method method)
```
    Set the contact method to be used by this behavior.
    
    Parameters:
    
    method - contact method to be used
  - setMethodMode
```
public void setMethodMode(PropertyMode mode)
```
  - getMethodMode
```
public PropertyMode getMethodMode()
```
  - 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()
```
  - getColliderType
```
public CollisionManager.ColliderType getColliderType()
```
    Returns the collider type to be used for determining collisions.
    
    Returns:
    
    collider type for this behavior
  - setColliderType
```
public void setColliderType(CollisionManager.ColliderType ctype)
```
    Set the collider type to be used for determining collisions.
    
    Parameters:
    
    ctype - new collider type for this behavior
  - setColliderTypeMode
```
public void setColliderTypeMode(PropertyMode mode)
```
  - getColliderTypeMode
```
public PropertyMode getColliderTypeMode()
```
  - getPenetrationTol
```
public double getPenetrationTol()
```
    Gets the penetration tolerance associated with this behavior.
    
    Returns:
    
    penetration tolerance associated with this behavior
  - setPenetrationTol
```
public void setPenetrationTol(double tol)
```
    Sets the penetration tolerance associated with this behavior.
    
    Parameters:
    
    tol - new penetration tolerance
  - setPenetrationTolMode
```
public void setPenetrationTolMode(PropertyMode mode)
```
  - getPenetrationTolMode
```
public PropertyMode getPenetrationTolMode()
```
  - getCompliance
```
public double getCompliance()
```
    Gets the contact compliance associated with this behavior.
    
    Returns:
    
    contact compliance
  - setCompliance
```
public void setCompliance(double c)
```
    Sets the contact compliance associated with this behavior.
    
    Parameters:
    
    c - new contact compliance
  - setComplianceMode
```
public void setComplianceMode(PropertyMode mode)
```
  - getComplianceMode
```
public PropertyMode getComplianceMode()
```
  - getDamping
```
public double getDamping()
```
    Gets the contact damping associated with this behavior.
    
    Returns:
    
    contact damping
  - setDamping
```
public void setDamping(double d)
```
    Sets the contact damping associated with this behavior.
    
    Parameters:
    
    d - new contact damping
  - setDampingMode
```
public void setDampingMode(PropertyMode mode)
```
  - getDampingMode
```
public PropertyMode getDampingMode()
```
  - getStictionCreep
```
public double getStictionCreep()
```
    Gets the stiction creep associated with this behavior. See setStictionCreep(double).
    
    Returns:
    
    stiction creep
  - setStictionCreep
```
public void setStictionCreep(double creep)
```
    Sets the stiction creep associated with this behavior. Stiction creep 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.
    
    Parameters:
    
    creep - new stiction creep
  - setStictionCreepMode
```
public void setStictionCreepMode(PropertyMode mode)
```
  - getStictionCreepMode
```
public PropertyMode getStictionCreepMode()
```
  - getStictionCompliance
```
public double getStictionCompliance()
```
    Gets the stiction compliance associated with this behavior. See setStictionCompliance(double).
    
    Returns:
    
    stiction compliance
  - setStictionCompliance
```
public void setStictionCompliance(double compliance)
```
    Sets the stiction compliance associated with this behavior. 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 stiction damping associated with this behavior. See setStictionDamping(double).
    
    Returns:
    
    stiction damping
  - setStictionDamping
```
public void setStictionDamping(double damping)
```
    Sets the stiction damping associated with this behavior. 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()
```
  - getRigidRegionTol
```
public double getRigidRegionTol()
```
    Gets the rigid region tolerance associated with this behavior.
    
    Returns:
    
    rigid region tolerance
  - setRigidRegionTol
```
public void setRigidRegionTol(double tol)
```
    Sets the rigid region tolerance associated with this behavior.
    
    Parameters:
    
    tol - new rigid region tolerance
  - setRigidRegionTolMode
```
public void setRigidRegionTolMode(PropertyMode mode)
```
  - getRigidRegionTolMode
```
public PropertyMode getRigidRegionTolMode()
```
  - getRigidPointTol
```
public double getRigidPointTol()
```
    Gets the rigid point tolerance associated with this behavior. This is the point clustering distance used when computing contact planes.
    
    Returns:
    
    rigid point tolerance
  - setRigidPointTol
```
public void setRigidPointTol(double tol)
```
    Sets the rigid point tolerance associated with this behavior.
    
    Parameters:
    
    tol - new rigid point tolerance
  - setRigidPointTolMode
```
public void setRigidPointTolMode(PropertyMode mode)
```
  - getRigidPointTolMode
```
public PropertyMode getRigidPointTolMode()
```
  - setForceBehavior
```
public <T extends ContactForceBehavior> void setForceBehavior(T behav)
```
  - getForceBehavior
```
public ContactForceBehavior getForceBehavior()
```
  - getReduceConstraints
```
public boolean getReduceConstraints()
```
    Queries whether constraint reduction is enabled for this behavior.
    
    Returns:
    
    true if constraint reduction is enabled
  - setReduceConstraints
```
public void setReduceConstraints(boolean enable)
```
    Sets whether or not constraint reduction is enabled for this behavior.
    
    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()
```
  - 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()
```
  - getDrawPenetrationDepth
```
public int getDrawPenetrationDepth()
```
    Deprecated. Replaced by the combination of getDrawColorMap() and getRenderingCollidable.
  - setDrawPenetrationDepth
```
public void setDrawPenetrationDepth(int colNum)
```
    Deprecated. Replaced by the combination of setDrawColorMap(artisynth.core.mechmodels.CollisionBehavior.ColorMapType) and setRenderingCollidable.
  - getPenetrationDepthRange
```
public ScalarRange getPenetrationDepthRange()
```
    Added for backwards compatibility. Returns the color map range.
  - setColorMapRange
```
public void setColorMapRange(ScalarRange range)
```
  - getColorMapRange
```
public ScalarRange getColorMapRange()
```
  - 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.
  - isCompliant
```
public boolean isCompliant()
```
  - set
```
public void set(CollisionBehavior behav)
```
  - getRenderProps
```
public RenderProps getRenderProps()
```
    Description copied from interface: HasRenderProps
    
    Returns the render properities for this object. If no render properties are assigned, this routines returns null.
    
    Specified by:
    
    getRenderProps in interface HasRenderProps
    
    Returns:
    
    current render properties for this object
  - setRenderProps
```
public void setRenderProps(RenderProps props)
```
    Description copied from interface: HasRenderProps
    
    Assigns a new set of render properties to this object. An argument of null will remove render properties from this object.
    
    Specified by:
    
    setRenderProps in interface HasRenderProps
    
    Parameters:
    
    props - new render properties for this object
  - 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
    
    Parameters:
    
    list - list of objects to be rendered
  - render
```
public void render(Renderer renderer,
                   int flags)
```
    Render method for this component is just a stub - it is needed because this class extends RenderableComponentBase, which is done to export the fact that the class has render properties, and also exports them as a property.
    
    Specified by:
    
    render in interface IsRenderable
    
    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.
  - 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
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - getSelection
```
public void getSelection(java.util.LinkedList<java.lang.Object> list,
                         int qid)
```
    Description copied from interface: IsSelectable
    
    Append to list the component (or components) associated with the qid-th selection query issued by this component's render method. This will only be called if this component manages its own selection (i.e., the number nums returned by IsSelectable.numSelectionQueriesNeeded() is positive), and qid will in turn be a number between 0 and nums-1.
    
    Specified by:
    
    getSelection in interface IsSelectable
    
    Parameters:
    
    list - selected objects are appended to the end of this list
    
    qid - index of the selection query
  - 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
    
    Returns:
    
    new render properties for this object
  - getRenderHints
```
public int getRenderHints()
```
    Description copied from interface: IsRenderable
    
    Returns a bit code giving rendering hints about this renderable. Current bit codes include TRANSPARENT and TWO_DIMENSIONAL.
    
    Specified by:
    
    getRenderHints in interface IsRenderable
    
    Returns:
    
    bit code of rendering hints.
  - isSelectable
```
public boolean isSelectable()
```
    Returns true if this object is in fact selectable.
    
    Specified by:
    
    isSelectable in interface IsSelectable
    
    Returns:
    
    true if this object is selectable
  - numSelectionQueriesNeeded
```
public int numSelectionQueriesNeeded()
```
    Description copied from interface: IsSelectable
    
    If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required. Otherwise, this method should return -1.
    
    Specified by:
    
    numSelectionQueriesNeeded in interface IsSelectable
    
    Returns:
    
    maximum number of selection queries needed by this component, or -1 if this component does not manage its own selection.
  - scaleDistance
```
public void scaleDistance(double s)
```
  - scaleMass
```
public void scaleMass(double s)
```
  - collidable0MatchesBody
```
public boolean collidable0MatchesBody(CollidableBody cbody)
```
    Queries whether a collidable body matches the first collidable of this behavior.

Class CollisionBehavior

Nested Class Summary

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

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.mechmodels.CollisionComponent

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Field Detail

myProps

Constructor Detail

CollisionBehavior

CollisionBehavior

CollisionBehavior

Method Detail

getAllPropertyInfo

isEnabled

setEnabled

getFriction

setFriction

setFrictionMode

getFrictionMode

getMethod

setMethod

setMethodMode

getMethodMode

getBilateralVertexContact

setBilateralVertexContact

setBilateralVertexContactMode

getBilateralVertexContactMode

getColliderType

setColliderType

setColliderTypeMode

getColliderTypeMode

getPenetrationTol

setPenetrationTol

setPenetrationTolMode

getPenetrationTolMode

getCompliance

setCompliance

setComplianceMode

getComplianceMode

getDamping

setDamping

setDampingMode

getDampingMode

getStictionCreep

setStictionCreep

setStictionCreepMode

getStictionCreepMode

getStictionCompliance

setStictionCompliance

setStictionComplianceMode

getStictionComplianceMode

getStictionDamping

setStictionDamping

setStictionDampingMode

getStictionDampingMode

getAcceleration

setAcceleration

setAccelerationMode

getAccelerationMode

getReportNegContactForces

setReportNegContactForces

setReportNegContactForcesMode

getReportNegContactForcesMode

getRigidRegionTol

setRigidRegionTol

setRigidRegionTolMode

getRigidRegionTolMode

getRigidPointTol

setRigidPointTol

setRigidPointTolMode

getRigidPointTolMode

setForceBehavior

getForceBehavior

getReduceConstraints