artisynth.core.mechmodels

Class CollisionHandler

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.ConstrainerBase

artisynth.core.mechmodels.CollisionHandler

All Implemented Interfaces:

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

public class CollisionHandler
extends ConstrainerBase
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.mechmodels.HasAuxState

HasAuxState.StateContext

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	computeTimings
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

Constructor Summary

Constructors

Constructor and Description
CollisionHandler(CollisionManager manager)
CollisionHandler(CollisionManager manager, CollidableBody col0, CollidableBody col1, CollisionBehavior behav)

Method Summary

Modifier and Type	Method and Description
int	addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)
int	addFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo, int numf)
int	addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu)
static boolean	attachedNearContact(ContactPoint cpnt, Collidable collidable, java.util.Set<Vertex3d> attachedVertices)
void	clearContactActivity()
double	computeCollisionConstraints(ContactInfo cinfo)
RenderProps	createRenderProps() Factory method to create render properties appropriate to this object.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
void	getAuxState(DataBuffer data) Saves state information for this component by adding data to the supplied DataBuffer.
void	getBilateralConstraints(java.util.List<ContactConstraint> list)
int	getBilateralImpulses(VectorNd lam, int idx)
int	getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)
void	getBilateralSizes(VectorNi sizes)
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)
void	getConstrainedComponents(java.util.List<DynamicComponent> list)
ContactConstraint	getContact(java.util.HashMap<ContactPoint,ContactConstraint> contacts, ContactPoint cpnt0, ContactPoint cpnt1, boolean hashUsingFace, double distance)
CollisionHandler	getDown() Returns next handler in a column of a CollisionHandlerTable.
void	getInitialAuxState(DataBuffer newData, DataBuffer oldData) Saves initial state information data for this component by adding data to the supplied data buffer.
ContactInfo	getLastContactInfo()
CollisionHandler	getNext() Returns next handler in a row of a CollisionHandlerTable.
CollidableBody	getOtherCollidable(CollidableBody cb)
ContactInfo	getRenderContactInfo() Get most recent ContactInfo info, for rendering purposes.
RenderProps	getRenderProps() Returns the render properities for this object.
int	getUnilateralImpulses(VectorNd the, int idx)
int	getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)
void	getUnilateralSizes(VectorNi sizes)
int	maxFrictionConstraintSets()
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	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)
void	setAuxState(DataBuffer data) Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
int	setBilateralImpulses(VectorNd lam, double h, int idx)
void	setDown(CollisionHandler down) Sets next handler in a column of a CollisionHandlerTable.
void	setNext(CollisionHandler next) Sets next handler in a row of a CollisionHandlerTable.
int	setUnilateralImpulses(VectorNd the, double h, int idx)
void	skipAuxState(DataBuffer data) Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets.
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.
double	updateConstraints(double t, int flags)
void	zeroImpulses()

Methods inherited from class artisynth.core.mechmodels.ConstrainerBase

advanceAuxState, hasState

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

copy, getRenderHints, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps

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, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, 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

setRenderProps

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

computeTimings

public static boolean computeTimings

myProps

public static PropertyList myProps

Constructor Detail

CollisionHandler

public CollisionHandler(CollisionManager manager)

CollisionHandler

public CollisionHandler(CollisionManager manager,
                        CollidableBody col0,
                        CollidableBody col1,
                        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

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 RenderableComponentBase

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,
                                    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)

Specified by:

updateConstraints in interface Constrainer

Specified by:

updateConstraints in class ConstrainerBase

getConstrainedComponents

public void getConstrainedComponents(java.util.List<DynamicComponent> list)

Specified by:

getConstrainedComponents in interface Constrainer

Specified by:

getConstrainedComponents in class ConstrainerBase

getConstrainedComponents

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

getBilateralSizes

public void getBilateralSizes(VectorNi sizes)

Specified by:

getBilateralSizes in interface Constrainer

Specified by:

getBilateralSizes in class ConstrainerBase

getUnilateralSizes

public void getUnilateralSizes(VectorNi sizes)

Specified by:

getUnilateralSizes in interface Constrainer

Overrides:

getUnilateralSizes in class ConstrainerBase

getBilateralConstraints

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

addBilateralConstraints

public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)

Specified by:

addBilateralConstraints in interface Constrainer

Specified by:

addBilateralConstraints in class ConstrainerBase

getBilateralInfo

public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)

Specified by:

getBilateralInfo in interface Constrainer

Specified by:

getBilateralInfo in class ConstrainerBase

setBilateralImpulses

public int setBilateralImpulses(VectorNd lam,
                                double h,
                                int idx)

Specified by:

setBilateralImpulses in interface Constrainer

Specified by:

setBilateralImpulses in class ConstrainerBase

getBilateralImpulses

public int getBilateralImpulses(VectorNd lam,
                                int idx)

Specified by:

getBilateralImpulses in interface Constrainer

Specified by:

getBilateralImpulses in class ConstrainerBase

zeroImpulses

public void zeroImpulses()

Specified by:

zeroImpulses in interface Constrainer

Specified by:

zeroImpulses in class ConstrainerBase

addUnilateralConstraints

public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dn,
                                    int numu)

Specified by:

addUnilateralConstraints in interface Constrainer

Overrides:

addUnilateralConstraints in class ConstrainerBase

getUnilateralInfo

public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)

Specified by:

getUnilateralInfo in interface Constrainer

Overrides:

getUnilateralInfo in class ConstrainerBase

setUnilateralImpulses

public int setUnilateralImpulses(VectorNd the,
                                 double h,
                                 int idx)

Specified by:

setUnilateralImpulses in interface Constrainer

Overrides:

setUnilateralImpulses in class ConstrainerBase

getUnilateralImpulses

public int getUnilateralImpulses(VectorNd the,
                                 int idx)

Specified by:

getUnilateralImpulses in interface Constrainer

Overrides:

getUnilateralImpulses in class ConstrainerBase

maxFrictionConstraintSets

public int maxFrictionConstraintSets()

Specified by:

maxFrictionConstraintSets in interface Constrainer

Overrides:

maxFrictionConstraintSets in class ConstrainerBase

addFrictionConstraints

public int addFrictionConstraints(SparseBlockMatrix DT,
                                  MechSystem.FrictionInfo[] finfo,
                                  int numf)

Specified by:

addFrictionConstraints in interface Constrainer

Overrides:

addFrictionConstraints in class ConstrainerBase

numBilateralConstraints

public int numBilateralConstraints()

numUnilateralConstraints

public int numUnilateralConstraints()

skipAuxState

public void skipAuxState(DataBuffer data)

Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets. Essentially this a dummy read; the buffer offsets should be advanced over the state information, but that information should not actually be stored in the component.

Specified by:

skipAuxState in interface HasAuxState

Overrides:

skipAuxState in class ConstrainerBase

Parameters:

data - buffer containing the state information

getAuxState

public void getAuxState(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:

getAuxState in interface HasAuxState

Overrides:

getAuxState in class ConstrainerBase

Parameters:

data - buffer for storing the state values.

setAuxState

public void setAuxState(DataBuffer data)

Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.

Specified by:

setAuxState in interface HasAuxState

Overrides:

setAuxState in class ConstrainerBase

Parameters:

data - buffer containing the state information

getInitialAuxState

public void getInitialAuxState(DataBuffer newData,
                               DataBuffer oldData)

Saves initial state information data for this component by adding data to the supplied data buffer. Existing data in the buffer should not be disturbed.

If oldData is non-null, then this contains previously stored initial state information (starting at its current buffer offsets), which should be stored into newData in place of the current component state data. This may only be partially possible if the component's state structure has changed since oldData was written.

Specified by:

getInitialAuxState in interface HasAuxState

Overrides:

getInitialAuxState in class ConstrainerBase

Parameters:

newData - buffer for storing the state values.

oldData - if non-null, contains old state information that should be written into newData in place of the current 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 RenderableComponentBase

Parameters:

list - list of objects to be rendered

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

Overrides:

createRenderProps in class RenderableComponentBase

Returns:

new render properties for this object

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 RenderableComponentBase

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 RenderableComponentBase

Parameters:

pmin - minimum point

pmax - maximum point

getRenderContactInfo

public ContactInfo getRenderContactInfo()

Get most recent ContactInfo info, for rendering purposes. If no collision occured, this may be null.