artisynth.core.mechmodels

Class CollisionHandlerTable

java.lang.Object

artisynth.core.mechmodels.CollisionHandlerTable

public class CollisionHandlerTable
extends java.lang.Object

Structure to store ColllisionHandlers within a CollisionManager. The structure takes the form of a n X n sparse upper triangular matrix, where n is the total number of collidable bodies that can be associated with the handlers. The "indices" for this matrix are provided by each body's collision index, as returned by its getCollidableIndex() method. Each handler is associated with a pair of bodies, and since these pairings are symmetric, we only need store the upper triangular part of the matrix.

Each body is associated with an Anchor structure that contains linked lists to the other handlers in both the k-th row and column. Note that entries within these lists a not sorted in index order. Each body's anchor is obtained using a HashMap.

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	useCollidableIndices

Constructor Summary

Constructors

Constructor and Description
CollisionHandlerTable(CollisionManager manager)

Method Summary

Modifier and Type	Method and Description
void	clear()
void	collectHandlers(java.util.ArrayList<CollisionHandler> handlers, CollidablePair pair)
CollisionHandler	get(CollidableBody col0, CollidableBody col1)
void	getState(DataBuffer data)
void	initialize(java.util.List<CollidableBody> collidables)
void	printTable() For debugging
CollisionHandler	put(CollidableBody col0, CollidableBody col1, CollisionBehavior behav, artisynth.core.mechmodels.CollisionManager.BehaviorSource src)
void	reinitialize(java.util.List<CollidableBody> collidables) Reinitializes the table with a new set of collidables.
void	setState(DataBuffer data)
int	size() Number of handlers currently in the table

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

useCollidableIndices

public static boolean useCollidableIndices

Constructor Detail

CollisionHandlerTable

public CollisionHandlerTable(CollisionManager manager)

Method Detail

collectHandlers

public void collectHandlers(java.util.ArrayList<CollisionHandler> handlers,
                            CollidablePair pair)

clear

public void clear()

initialize

public void initialize(java.util.List<CollidableBody> collidables)

reinitialize

public void reinitialize(java.util.List<CollidableBody> collidables)

Reinitializes the table with a new set of collidables. Keeps any existing active handlers for collidables that were previously present, and discards handlers that are inactive or belong to collidables that are not in the new set.

Parameters:

collidables - new collidables

get

public CollisionHandler get(CollidableBody col0,
                            CollidableBody col1)

put

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

size

public int size()

Number of handlers currently in the table

getState

public void getState(DataBuffer data)

setState

public void setState(DataBuffer data)

printTable

public void printTable()

For debugging