artisynth.core.mechmodels

Class CollisionHandler

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.ConstrainerBase

artisynth.core.mechmodels.RenderableConstrainerBase

artisynth.core.mechmodels.CollisionHandler

All Implemented Interfaces:

Constrainer, HasNumericState, ModelComponent, PostScannable, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class CollisionHandler
extends RenderableConstrainerBase
implements HasRenderProps, Renderable

Class that generates the contact constraints between a specific pair of collidable bodies. CollisionHandlers are created on-demand by the CollisionManager whenever two bodies are found to collide.

Nested Class Summary

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	computeTimings
static boolean	myPrune
static boolean	preventBilateralSeparation

Fields inherited from class artisynth.core.mechmodels.RenderableConstrainerBase

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

Constructor Summary

Constructors

Constructor and Description
CollisionHandler(CollisionManager manager)
CollisionHandler(CollisionManager manager, CollidableBody col0, CollidableBody col1, CollisionBehavior behav, artisynth.core.mechmodels.CollisionManager.BehaviorSource src)

Method Summary

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.
static boolean	attachedNearContact(ContactPoint cpnt, Collidable collidable, java.util.Set<Vertex3d> attachedVertices)
void	clearContactActivity()
double	computeCollisionConstraints(ContactInfo cinfo)
void	getBilateralConstraints(java.util.List<ContactConstraint> list)
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.
int	getBodyIndex(Collidable col) Returns 0 if a specified collidable is associated with this handler's first collidable body, 1 if it is associated with the second body, and -1 if it is associated with neither.
CollidableBody	getCollidable(int cidx)
CollidablePair	getCollidablePair()
void	getConstrainedComponents(java.util.HashSet<DynamicComponent> set) Collected all the dynamic components constrained by this constrainer.
ContactConstraint	getContact(java.util.HashMap<ContactPoint,ContactConstraint> contacts, ContactPoint cpnt0, ContactPoint cpnt1, boolean hashUsingFace, boolean pnt0OnCollidable1, double distance)
CollisionHandler	getDown() Returns next handler in a column of a CollisionHandlerTable.
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).
int	getFrictionState(VectorNi state, int idx)
ContactInfo	getLastContactInfo()
CollisionHandler	getNext() Returns next handler in a row of a CollisionHandlerTable.
CollidableBody	getOtherCollidable(CollidableBody cb)
RenderProps	getRenderProps() Returns the render properities for this object.
void	getState(DataBuffer data) Saves state information for this component by adding data to the supplied DataBuffer.
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)
int	maxFrictionConstraintSets() Returns the maximum number of friction constraint sets that can be expected for this constraint.
int	numBilateralConstraints()
int	numUnilateralConstraints()
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	prerender(RenderProps props)
void	printNetContactForces()
void	removeInactiveContacts()
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	render(Renderer renderer, RenderProps props, int flags)
int	setBilateralForces(VectorNd lam, double s, int idx) Sets the bilateral forces that were computed to enforce this constraint.
void	setDown(CollisionHandler down) Sets next handler in a column of a CollisionHandlerTable.
int	setFrictionForces(VectorNd phi, double s, int idx) Sets the friction forces that were computed to enforce this constraint.
int	setFrictionState(VectorNi state, int idx)
void	setNext(CollisionHandler next) Sets next handler in a row of a CollisionHandlerTable.
void	setState(DataBuffer data) Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
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	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.
double	updateConstraints(double t, int flags) Updates the current set of constraints, and returns the maximum penetration > 0 associated with all of them.
void	zeroForces() Zeros all bilateral and unilateral constraint forces in this constraint.

Methods inherited from class artisynth.core.mechmodels.RenderableConstrainerBase

copy, createRenderProps, defaultRenderPropsAreNull, getAllPropertyInfo, getRenderHints, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps

Methods inherited from class artisynth.core.mechmodels.ConstrainerBase

hasState

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, 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

Methods inherited from interface maspack.render.IsSelectable

getSelection, isSelectable, numSelectionQueriesNeeded

Methods inherited from interface maspack.render.IsRenderable

getRenderHints

Methods inherited from interface maspack.render.HasRenderProps

createRenderProps, setRenderProps

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

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

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, numAuxVars, requiresAdvance, setAuxVarState

Field Detail

computeTimings

public static boolean computeTimings

preventBilateralSeparation

public static boolean preventBilateralSeparation

myPrune

public static boolean myPrune

Constructor Detail

CollisionHandler

public CollisionHandler(CollisionManager manager)

CollisionHandler

public CollisionHandler(CollisionManager manager,
                        CollidableBody col0,
                        CollidableBody col1,
                        CollisionBehavior behav,
                        artisynth.core.mechmodels.CollisionManager.BehaviorSource src)

Method Detail

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

Overrides:

getRenderProps in class RenderableConstrainerBase

Returns:

current render properties for this object

getLastContactInfo

public ContactInfo getLastContactInfo()

attachedNearContact

public static boolean attachedNearContact(ContactPoint cpnt,
                                          Collidable collidable,
                                          java.util.Set<Vertex3d> attachedVertices)

getContact

public ContactConstraint getContact(java.util.HashMap<ContactPoint,ContactConstraint> contacts,
                                    ContactPoint cpnt0,
                                    ContactPoint cpnt1,
                                    boolean hashUsingFace,
                                    boolean pnt0OnCollidable1,
                                    double distance)

computeCollisionConstraints

public double computeCollisionConstraints(ContactInfo cinfo)

getCollidable

public CollidableBody getCollidable(int cidx)

getBodyIndex

public int getBodyIndex(Collidable col)

Returns 0 if a specified collidable is associated with this handler's first collidable body, 1 if it is associated with the second body, and -1 if it is associated with neither.

Parameters:

col - collidable to inspect

Returns:

index of the body associated with col.

getOtherCollidable

public CollidableBody getOtherCollidable(CollidableBody cb)

getCollidablePair

public CollidablePair getCollidablePair()

getNext

public CollisionHandler getNext()

Returns next handler in a row of a CollisionHandlerTable.

Returns:

next handler in the row

setNext

public void setNext(CollisionHandler next)

Sets next handler in a row of a CollisionHandlerTable.

Parameters:

next - next handler to add to the row

getDown

public CollisionHandler getDown()

Returns next handler in a column of a CollisionHandlerTable.

Returns:

next handler in the column

setDown

public void setDown(CollisionHandler down)

Sets next handler in a column of a CollisionHandlerTable.

Parameters:

down - next handler to add to the column

clearContactActivity

public void clearContactActivity()

removeInactiveContacts

public void removeInactiveContacts()

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

Specified by:

updateConstraints in class ConstrainerBase

getConstrainedComponents

public void getConstrainedComponents(java.util.HashSet<DynamicComponent> set)

Description copied from interface: Constrainer

Collected all the dynamic components constrained by this constrainer.

Specified by:

getConstrainedComponents in interface Constrainer

Specified by:

getConstrainedComponents in class ConstrainerBase

Parameters:

set - set to which constrained components should be added

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

Specified by:

getBilateralSizes in class ConstrainerBase

Parameters:

sizes - vector to which the block column sizes are appended

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

Overrides:

getUnilateralSizes in class ConstrainerBase

Parameters:

sizes - vector to which the block column sizes are appended

getBilateralConstraints

public void getBilateralConstraints(java.util.List<ContactConstraint> list)

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

Specified by:

addBilateralConstraints in class ConstrainerBase

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

Specified by:

getBilateralInfo in class ConstrainerBase

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

Specified by:

setBilateralForces in class ConstrainerBase

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

Specified by:

getBilateralForces in class ConstrainerBase

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

Specified by:

zeroForces in class ConstrainerBase

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

Overrides:

addUnilateralConstraints in class ConstrainerBase

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

Overrides:

getUnilateralInfo in class ConstrainerBase

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

Overrides:

setUnilateralForces in class ConstrainerBase

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

Overrides:

getUnilateralForces in class ConstrainerBase

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

Overrides:

setUnilateralState in class ConstrainerBase

getUnilateralState

public int getUnilateralState(VectorNi state,
                              int idx)

Specified by:

getUnilateralState in interface Constrainer

Overrides:

getUnilateralState in class ConstrainerBase

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

Overrides:

maxFrictionConstraintSets in class ConstrainerBase

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

Overrides:

addFrictionConstraints in class ConstrainerBase

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

Overrides:

setFrictionForces in class ConstrainerBase

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

Overrides:

getFrictionForces in class ConstrainerBase

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

Overrides:

setFrictionState in class ConstrainerBase

getFrictionState

public int getFrictionState(VectorNi state,
                            int idx)

Specified by:

getFrictionState in interface Constrainer

Overrides:

getFrictionState in class ConstrainerBase

printNetContactForces

public void printNetContactForces()

numBilateralConstraints

public int numBilateralConstraints()

numUnilateralConstraints

public int numUnilateralConstraints()

getState

public void getState(DataBuffer data)

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

Overrides:

getState in class ConstrainerBase

Parameters:

data - buffer for storing the state values.

setState

public void setState(DataBuffer data)

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

Overrides:

setState in class ConstrainerBase

Parameters:

data - buffer containing the state information

prerender

public void prerender(RenderProps props)

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 RenderableConstrainerBase

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 RenderableConstrainerBase

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.

render

public void render(Renderer renderer,
                   RenderProps props,
                   int flags)

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 RenderableConstrainerBase

Parameters:

pmin - minimum point

pmax - maximum point