ContactInfo (Artisynth API documentation)

java.lang.Object
- maspack.collision.ContactInfo

```
public class ContactInfo
extends java.lang.Object
```
This class returns information describing contact between two polygonal meshes, as determined by the getContacts method of AbstractCollider. This information includes the interpenetrating vertices of mesh, and the contact regions formed from matching interpenetration zones. Contact information produced by SurfaceMeshCollider also includes the intersection contours and interpenetration regions on each mesh.
Contact information can be used to produce dynamic constraints for handling the contact.

Constructor Summary

Constructors
Constructor and Description

ContactInfo(PolygonalMesh m0, PolygonalMesh m1)

Constructors
Constructor and Description
`ContactInfo(PolygonalMesh m0, PolygonalMesh m1)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`boolean`	`equals(ContactInfo cinfo, java.lang.StringBuilder msg)`
`java.util.HashMap<PenetrationRegion,PenetrationRegion>`	`findMatchingRegions()` Finds the penetration regions on each mesh that correspond to each other, in terms of sharing the same intersection contours.
`java.util.ArrayList<ContactPlane>`	`getContactPlanes()` Returns a set of contact planes for this contact.
`double`	`getContactPlaneTol()` Returns the tolerance used to compute contact planes.
`java.util.ArrayList<IntersectionContour>`	`getContours()` Returns the intersection contours associated with this contact.
`void`	`getContourState(DataBuffer state, java.util.ArrayList<IntersectionContour> contours)`
`java.util.ArrayList<EdgeEdgeContact>`	`getEdgeEdgeContacts()` Returns the edge-edge contacts for this contact.
`java.util.ArrayList<TriTriIntersection>`	`getIntersections()` Returns the triangle intersections for this contact.
`PolygonalMesh`	`getMesh(int meshNum)` Returns the first or second mesh associated with this contact information, as indicated by `meshNum`, which should be either 0 or 1.
`java.util.ArrayList<PenetratingPoint>`	`getPenetratingPoints(int meshNum)` Returns the penetrating points of the mesh indicated by `meshNum` (which should be 0 or 1).
`double`	`getPointTol()` Returns the nearest point tolerance used to compute contact planes.
`java.util.ArrayList<PenetrationRegion>`	`getRegions(int meshNum)` Returns the contact penetration regions associated with the mesh indicated by `meshNum` (which should be 0 or 1).
`SurfaceMeshIntersector.RegionType`	`getRegionsType(int meshNum)` Returns which type of penetration regions (inside, outside, or none) have been computed for the mesh indicated by `meshNum` (which should be 0 or 1).
`void`	`getState(DataBuffer state)`
`int`	`numContourPoints()`
`int`	`numContours()` Returns the number of intersection contours associated with this contact.
`void`	`setContactPlaneTol(double tol)` Sets the tolerance used to compute contact planes.
`java.util.ArrayList<IntersectionContour>`	`setContourState(DataBuffer state)`
`void`	`setEdgeEdgeContacts(java.util.ArrayList<EdgeEdgeContact> contacts)` Directly set edge-edge contacts for the contact.
`void`	`setPenetratingPoints(java.util.ArrayList<PenetratingPoint> points, int meshNum)` Directly set the penetrating points for the indicated mesh.
`void`	`setPointTol(double tol)` Sets the nearest point tolerance used to compute contact planes.
`void`	`setState(DataBuffer state)`

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

- Constructor Detail
  - ContactInfo
```
public ContactInfo(PolygonalMesh m0,
                   PolygonalMesh m1)
```
- Method Detail
  - getMesh
```
public PolygonalMesh getMesh(int meshNum)
```
    Returns the first or second mesh associated with this contact information, as indicated by meshNum, which should be either 0 or 1.
    
    Parameters:
    
    meshNum - number of the requested mesh (0 or 1)
    
    Returns:
    
    mesh indicated by meshNum
  - setPointTol
```
public void setPointTol(double tol)
```
    Sets the nearest point tolerance used to compute contact planes.
    
    Parameters:
    
    tol - nearest point tolerance
  - getPointTol
```
public double getPointTol()
```
    Returns the nearest point tolerance used to compute contact planes.
    
    Returns:
    
    nearest point tolerance for contact planes
  - setContactPlaneTol
```
public void setContactPlaneTol(double tol)
```
    Sets the tolerance used to compute contact planes.
    
    Parameters:
    
    tol - contact plane tolerance
  - getContactPlaneTol
```
public double getContactPlaneTol()
```
    Returns the tolerance used to compute contact planes.
    
    Returns:
    
    contact plane tolerance
  - getRegions
```
public java.util.ArrayList<PenetrationRegion> getRegions(int meshNum)
```
    Returns the contact penetration regions associated with the mesh indicated by meshNum (which should be 0 or 1). Each region represents a connected subset of the indicated mesh that is either "inside" or "outside" the other mesh. If the collider that produced this contact information is not capable of computing penetration regions, or if no regions were requested, null is returned. At present, only SurfaceMeshCollider can compute penetration regions.
    
    Parameters:
    
    meshNum - number of the indicated mesh (0 or 1)
    
    Returns:
    
    list of the contact penetration regions for the indicated mesh, or null if this information is not available. Should not be modified.
  - getRegionsType
```
public SurfaceMeshIntersector.RegionType getRegionsType(int meshNum)
```
    Returns which type of penetration regions (inside, outside, or none) have been computed for the mesh indicated by meshNum (which should be 0 or 1). The regions themselves are returned by getRegions(int). If the collider that produced this contact information is not capable of computing penetration regions, or if no regions were requested for the mesh in question, SurfaceMeshIntersector.RegionType.NONE is returned. At present, only SurfaceMeshCollider can compute penetration regions.
    
    Parameters:
    
    meshNum - number of the indicated mesh (0 or 1)
    
    Returns:
    
    which type of penetration regions have been computed for the indicated mesh, or Regions.NONE if there are none.
  - getContours
```
public java.util.ArrayList<IntersectionContour> getContours()
```
    Returns the intersection contours associated with this contact. If the collider that produced this contact information is not capable of computing intersection contours, null is returned. At present, only SurfaceMeshCollider can compute contours.
    
    Returns:
    
    list of intersection contours, or null if they are not available. Should not be modified.
  - numContours
```
public int numContours()
```
    Returns the number of intersection contours associated with this contact. If the collider that produced this contact information is not capable of computing intersection contours, 0 is returned. At present, only SurfaceMeshCollider can compute contours.
    
    Returns:
    
    number of intersection contours, or 0 if they are not available.
  - setPenetratingPoints
```
public void setPenetratingPoints(java.util.ArrayList<PenetratingPoint> points,
                                 int meshNum)
```
    Directly set the penetrating points for the indicated mesh. The value is set by reference, so the specified array points is not copied. For internal use only.
  - getPenetratingPoints
```
public java.util.ArrayList<PenetratingPoint> getPenetratingPoints(int meshNum)
```
    Returns the penetrating points of the mesh indicated by meshNum (which should be 0 or 1). These represent all the vertices of the indicated mesh that are "inside" the other mesh, along with the corresponding nearest face on the other mesh. The penetrating points can be used to produce vertex-based contact constraints.
    This method computes the penetration points on demand and then caches the result.
    
    Parameters:
    
    meshNum - number of the indicated mesh (0 or 1)
    
    Returns:
    
    list of penetrating points of the indicated mesh with respect to the other mesh. Should not be modified.
  - getContactPlanes
```
public java.util.ArrayList<ContactPlane> getContactPlanes()
```
    Returns a set of contact planes for this contact. These are formed by identifying matching interpenetration zones between the meshes, and then fitting a plane to them, computing a reduced set of contact points projected into that plane, and estimating the interpenetration depth.
    Contact planes are typically used for handling rigid body contact, and their computation depends on the collider used for determining the contact information. If no suitable penetration zones are found between the meshes, no contact planes will be produced.
    The method computes contact planes on demand and then caches the result.
    
    Returns:
    
    list of contact planes determined for this contact information. Should not be modified.
  - findMatchingRegions
```
public java.util.HashMap<PenetrationRegion,PenetrationRegion> findMatchingRegions()
```
    Finds the penetration regions on each mesh that correspond to each other, in terms of sharing the same intersection contours. If the collider that produced this contact information is not capable of computing penetration regions, null is returned. At present, only SurfaceMeshCollider can compute penetration regions.
    
    Returns:
    
    matching penetration regions, or null if penetration regions are not available.
  - setEdgeEdgeContacts
```
public void setEdgeEdgeContacts(java.util.ArrayList<EdgeEdgeContact> contacts)
```
    Directly set edge-edge contacts for the contact. The values are * set by reference, so the specified array contacts is not copied. For internal use only.
  - getEdgeEdgeContacts
```
public java.util.ArrayList<EdgeEdgeContact> getEdgeEdgeContacts()
```
    Returns the edge-edge contacts for this contact. If the collider that produced this contact information is not capable of computing edge-edge contacts, null is returned. At present, only SurfaceMeshCollider can compute edge-edge contacts.
    The method computes the contacts on demand and then caches the result.
    
    Returns:
    
    list of edge-edge contacts, or null if this information is not available. Should not be modified.
  - getIntersections
```
public java.util.ArrayList<TriTriIntersection> getIntersections()
```
    Returns the triangle intersections for this contact. If the collider that produced this contact information does not compute individual triangle intersections, null is returned. At present, only MeshCollider produces triangle intersections.
    
    Returns:
    
    list of triangle intersections, or null if unavailable.
  - numContourPoints
```
public int numContourPoints()
```
  - getContourState
```
public void getContourState(DataBuffer state,
                            java.util.ArrayList<IntersectionContour> contours)
```
  - setContourState
```
public java.util.ArrayList<IntersectionContour> setContourState(DataBuffer state)
```
  - getState
```
public void getState(DataBuffer state)
```
  - setState
```
public void setState(DataBuffer state)
```
  - equals
```
public boolean equals(ContactInfo cinfo,
                      java.lang.StringBuilder msg)
```

Class ContactInfo

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

ContactInfo

Method Detail

getMesh

setPointTol

getPointTol

setContactPlaneTol

getContactPlaneTol

getRegions

getRegionsType

getContours

numContours

setPenetratingPoints

getPenetratingPoints

getContactPlanes

findMatchingRegions

setEdgeEdgeContacts

getEdgeEdgeContacts

getIntersections

numContourPoints

getContourState

setContourState

getState

setState

equals