CollisionManager (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.CompositeComponentBase
  - - artisynth.core.modelbase.RenderableCompositeBase
    - - artisynth.core.mechmodels.CollisionManager

All Implemented Interfaces:

Constrainer, HasAuxState, ComponentChangeListener, CompositeComponent, IndexedComponentList, ModelComponent, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class CollisionManager
extends RenderableCompositeBase
implements ScalableUnits, Constrainer, HasAuxState
```
A special component that manages collisions between collidable bodies on behalf of a MechModel.
Because collision handling can be expensive, and also because it is not as accurate as other aspects of the simulation (due largely to its discontinuous nature), it is important to be able to control very precisely how it is applied. The CollisionManager allows collision behavior to be specified through
(a) default collision behaviors between generic collidable groups, and
(b) specific behaviors between pairs of collidables which override the default behaviors.
The CollisionManager maintains:
(1) A set of default behaviors;
(2) A set of override behaviors, which are stored as invisible model components;
(3) A behavior map which describes the collision behavior for every CollidableBody in the MechModel and which is updated on demand;
(4) A set of CollisionHandlers which provides a collision handler for every active collision behavior in the behavior map and which is also updated on demand;
Collidable components can be arranged hierarchically. Any component which is a descendant of a Collidable A is known as a sub-collidable of A (a sub-collidable does not need to be an immediate child; it only need to be a descendant). Within a hierarchy, only the leaf nodes do that actual colliding, and these should be instances of the sub-interface CollidableBody.
Normally collidables within a hierarchy do not collide with each other. The exception is when either (a) self-collision is specified for one of the ancestor nodes in the hierarchy, or (b) an explicit collision behavior is set between members of the hierarchy. If a self-collision behavior is specified for an ancestor node A, and A is deformable (i.e., its isDeformable() method returns true), then that behavior will be passed on to all pairs of sub-collidables of A for which A's method allowSelfCollisions() returns true.
When a collision behavior is specified between two collidables A and B that are *not* part of the same hierarchy, then that behavior is imparted to all pairs of leaf-nodes located at or below A and B.

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class CollisionManager.ColliderType
Specifies the collider that generates contact information between the two meshes.
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState
  HasAuxState.StateContext
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.NavpanelVisibility
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
  CompositeComponent.NavpanelDisplay

Nested Classes
Modifier and Type	Class and Description
`static class`	`CollisionManager.ColliderType` Specifies the collider that generates contact information between the two meshes.

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

CollisionManager(MechModel mech)

Constructors
Constructor and Description
`CollisionManager(MechModel mech)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
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)`
`void`	`advanceAuxState(double t0, double t1)` Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers.
`CollisionBehaviorList`	`behaviors()`
`void`	`clear()`
`boolean`	`clearBehavior(Collidable c0, Collidable c1)` Implements `MechModel.clearCollisionBehavior(c0,c1)`.
`void`	`clearBehaviors()` Implements `MechModel.clearCollisionBehaviors()`.
`void`	`clearCachedData()`
`boolean`	`clearResponse(Collidable c0, Collidable c1)` Implements `MechModel.clearCollisionResponse(c0,c1)`.
`void`	`clearResponses()` Implements `MechModel.clearCollisionResponses()`.
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`RenderProps`	`createRenderProps()` Factory method to create render properties appropriate to this object.
`double`	`getAcceleration()` Returns the desired collision acceleration.
`PropertyMode`	`getAccelerationMode()`
`CollisionBehavior`	`getActingBehavior(Collidable c0, Collidable c1)` Implements `MechModel.getActingCollisionBehavior()`.
`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.
`CollisionBehavior`	`getBehavior(Collidable c0, Collidable c1)` Implements `MechModel.getCollisionBehavior(c0,c1)`.
`CollisionBehavior`	`getBehavior(int idx)`
`int`	`getBilateralImpulses(VectorNd lam, int idx)`
`int`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)`
`void`	`getBilateralSizes(VectorNi sizes)`
`boolean`	`getBodyFaceContact()` Queries whether body face contact is enabled.
`PropertyMode`	`getBodyFaceContactMode()`
`CollisionManager.ColliderType`	`getColliderType()` Returns the collider type to be used for determining.
`PropertyMode`	`getColliderTypeMode()`
`double`	`getCollisionArenaRadius()`
`CollisionResponse`	`getCollisionResponse(Collidable c0, Collidable c1)` Implements `MechModel.getCollisionResponse(c0,c1)`.
`ColorMapBase`	`getColorMap()`
`double`	`getCompliance()` Gets the contact compliance associated with this behavior.
`PropertyMode`	`getComplianceMode()`
`void`	`getConstrainedComponents(java.util.List<DynamicComponent> list)`
`double`	`getContactNormalLen()`
`double`	`getDamping()` Gets the contact damping associated with this behavior.
`PropertyMode`	`getDampingMode()`
`CollisionBehavior`	`getDefaultBehavior(Collidable.Group groupA, Collidable.Group groupB)` Implements for `MechModel#getDefaultCollisionBehavior(groupA,groupB)`; see documentation for that method.
`static CollisionManager.ColliderType`	`getDefaultColliderType()`
`double`	`getDefaultContactNormalLen()`
`double`	`getDefaultRigidPointTol()`
`double`	`getDefaultRigidRegionTol()`
`boolean`	`getDrawContactNormals()`
`PropertyMode`	`getDrawContactNormalsMode()`
`boolean`	`getDrawIntersectionContours()`
`PropertyMode`	`getDrawIntersectionContoursMode()`
`boolean`	`getDrawIntersectionFaces()`
`PropertyMode`	`getDrawIntersectionFacesMode()`
`boolean`	`getDrawIntersectionPoints()`
`PropertyMode`	`getDrawIntersectionPointsMode()`
`ContactForceBehavior`	`getForceBehavior()`
`double`	`getFriction()` Gets the Coulomb friction coefficient
`PropertyMode`	`getFrictionMode()`
`void`	`getInitialAuxState(DataBuffer newData, DataBuffer oldData)` Saves initial state information data for this component by adding data to the supplied data buffer.
`ScalarRange`	`getPenetrationDepthRange()`
`boolean`	`getReduceConstraints()` Queries whether constraint reduction is enabled.
`PropertyMode`	`getReduceConstraintsMode()`
`CollisionResponse`	`getResponse(Collidable c0, Collidable c1)` Implements `MechModel.getCollisionResponse(c0,c1)`.
`CollisionResponse`	`getResponse(int idx)`
`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`	`getTopCollidables(java.util.List<Collidable> list)`
`int`	`getUnilateralImpulses(VectorNd the, int idx)`
`int`	`getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)`
`void`	`getUnilateralSizes(VectorNi sizes)`
`void`	`initialize()`
`int`	`maxFrictionConstraintSets()`
`int`	`numBehaviors()`
`int`	`numDefaultPairs()`
`int`	`numResponses()`
`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`	`reduceBilateralConstraints(java.util.ArrayList<CollisionHandler> handlers, int idx0)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`CollisionResponseList`	`responses()`
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`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`	`setAuxState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`void`	`setBehavior(Collidable c0, Collidable c1, CollisionBehavior behavior)` Implements `MechModel.setCollisionBehavior(c0,c1,behavior)`; see documentation for that method.
`int`	`setBilateralImpulses(VectorNd lam, double h, int idx)`
`void`	`setBodyFaceContact(boolean enable)` Enables or disables body face contact.
`void`	`setBodyFaceContactMode(PropertyMode mode)`
`void`	`setColliderType(CollisionManager.ColliderType ctype)` Set the collider type to be used for determining collisions.
`void`	`setColliderTypeMode(PropertyMode mode)`
`void`	`setCollisionArenaRadius(double rad)`
`void`	`setColorMap(ColorMapBase map)`
`void`	`setCompliance(double c)` Sets the contact compliance associated with this behavior.
`void`	`setComplianceMode(PropertyMode mode)`
`void`	`setContactNormalLen(double len)`
`void`	`setDamping(double d)` Sets the contact damping associated with this behavior.
`void`	`setDampingMode(PropertyMode mode)`
`void`	`setDefaultBehavior(Collidable.Group groupA, Collidable.Group groupB, CollisionBehavior behavior)` Implements `MechModel.setDefaultCollisionBehavior(groupA,groupB,behavior)`; see documentation for that method.
`static void`	`setDefaultColliderType(CollisionManager.ColliderType type)`
`void`	`setDrawContactNormals(boolean enable)`
`void`	`setDrawContactNormalsMode(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`	`setForceBehavior(ContactForceBehavior fb)`
`void`	`setFriction(double mu)` Sets the Coulomb friction coefficent
`void`	`setFrictionMode(PropertyMode mode)`
`void`	`setPenetrationDepthRange(ScalarRange range)`
`void`	`setReduceConstraints(boolean enable)` Sets whether or not constraint reduction is enabled.
`void`	`setReduceConstraintsMode(PropertyMode mode)`
`void`	`setResponse(Collidable c0, Collidable c1, CollisionResponse response)` Implements `MechModel.setCollisionResponse(c0,c1,response)`; see documentation for that method.
`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)`
`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.modelbase.RenderableCompositeBase
copy, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps

Methods inherited from class artisynth.core.modelbase.CompositeComponentBase
findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, hasChildren, hasState, hierarchyContainsReferences, indexOf, iterator, numComponents, postscan, setDisplayMode, updateNameMap

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

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, 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
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - CollisionManager
```
public CollisionManager(MechModel mech)
```
- Method Detail
  - setDefaultColliderType
```
public static void setDefaultColliderType(CollisionManager.ColliderType type)
```
  - getDefaultColliderType
```
public static CollisionManager.ColliderType getDefaultColliderType()
```
  - numDefaultPairs
```
public int numDefaultPairs()
```
  - 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
  - clear
```
public void clear()
```
  - getCollisionArenaRadius
```
public double getCollisionArenaRadius()
```
  - setCollisionArenaRadius
```
public void setCollisionArenaRadius(double rad)
```
  - setContactNormalLen
```
public void setContactNormalLen(double len)
```
  - getContactNormalLen
```
public double getContactNormalLen()
```
  - getDefaultContactNormalLen
```
public double getDefaultContactNormalLen()
```
  - getFriction
```
public double getFriction()
```
    Gets the Coulomb friction coefficient
    
    Returns:
    
    friction coefficient
  - setFriction
```
public void setFriction(double mu)
```
    Sets the Coulomb friction coefficent
    
    Parameters:
    
    mu - friction coefficient
  - setFrictionMode
```
public void setFrictionMode(PropertyMode mode)
```
  - getFrictionMode
```
public PropertyMode getFrictionMode()
```
  - 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()
```
  - getDefaultRigidRegionTol
```
public double getDefaultRigidRegionTol()
```
  - 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()
```
  - getDefaultRigidPointTol
```
public double getDefaultRigidPointTol()
```
  - getReduceConstraints
```
public boolean getReduceConstraints()
```
    Queries whether constraint reduction is enabled.
    
    Returns:
    
    true if constraint reduction is enabled
  - setReduceConstraints
```
public void setReduceConstraints(boolean enable)
```
    Sets whether or not constraint reduction is enabled.
    
    Parameters:
    
    enable - true if constraint reduction should be enabled
  - setReduceConstraintsMode
```
public void setReduceConstraintsMode(PropertyMode mode)
```
  - getReduceConstraintsMode
```
public PropertyMode getReduceConstraintsMode()
```
  - getBodyFaceContact
```
public boolean getBodyFaceContact()
```
    Queries whether body face contact is enabled. See setBodyFaceContact(boolean) for details.
    
    Returns:
    
    true if body face face is enabled
  - setBodyFaceContact
```
public void setBodyFaceContact(boolean enable)
```
    Enables or disables body face contact. If enabled, this means that for rigid-deformable contact, contacts are also computed based on the rigid body vertices that are penetrating the deformable body. The default value for this property is false, since such contacts can result in an overconstrained system.
    
    Parameters:
    
    enable - true if body face contact should be enabled
  - setBodyFaceContactMode
```
public void setBodyFaceContactMode(PropertyMode mode)
```
  - getBodyFaceContactMode
```
public PropertyMode getBodyFaceContactMode()
```
  - 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()
```
  - 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()
```
  - 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()
```
  - setColorMap
```
public void setColorMap(ColorMapBase map)
```
  - getColorMap
```
public ColorMapBase getColorMap()
```
  - setPenetrationDepthRange
```
public void setPenetrationDepthRange(ScalarRange range)
```
  - getPenetrationDepthRange
```
public ScalarRange getPenetrationDepthRange()
```
  - getForceBehavior
```
public ContactForceBehavior getForceBehavior()
```
  - setForceBehavior
```
public void setForceBehavior(ContactForceBehavior fb)
```
  - getColliderType
```
public CollisionManager.ColliderType getColliderType()
```
    Returns the collider type to be used for determining.
    
    Returns:
    
    collider type
  - setColliderType
```
public void setColliderType(CollisionManager.ColliderType ctype)
```
    Set the collider type to be used for determining collisions.
    
    Parameters:
    
    ctype - type new collider type
  - setColliderTypeMode
```
public void setColliderTypeMode(PropertyMode mode)
```
  - getColliderTypeMode
```
public PropertyMode getColliderTypeMode()
```
  - behaviors
```
public CollisionBehaviorList behaviors()
```
  - numBehaviors
```
public int numBehaviors()
```
  - getBehavior
```
public CollisionBehavior getBehavior(int idx)
```
  - responses
```
public CollisionResponseList responses()
```
  - numResponses
```
public int numResponses()
```
  - getResponse
```
public CollisionResponse getResponse(int idx)
```
  - setDefaultBehavior
```
public void setDefaultBehavior(Collidable.Group groupA,
                               Collidable.Group groupB,
                               CollisionBehavior behavior)
```
    Implements MechModel.setDefaultCollisionBehavior(groupA,groupB,behavior); see documentation for that method.
    
    Parameters:
    
    groupA - first generic collidable group
    
    groupB - second generic collidable group
    
    behavior - desired collision behavior
  - getDefaultBehavior
```
public CollisionBehavior getDefaultBehavior(Collidable.Group groupA,
                                            Collidable.Group groupB)
```
    Implements for MechModel#getDefaultCollisionBehavior(groupA,groupB); see documentation for that method.
    
    Parameters:
    
    groupA - first generic collidable group
    
    groupB - second generic collidable group
    
    Returns:
    
    default collision behavior for the indicted collidable groups.
  - setBehavior
```
public void setBehavior(Collidable c0,
                        Collidable c1,
                        CollisionBehavior behavior)
```
    Implements MechModel.setCollisionBehavior(c0,c1,behavior); see documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    behavior - desired collision behavior
  - getBehavior
```
public CollisionBehavior getBehavior(Collidable c0,
                                     Collidable c1)
```
    Implements MechModel.getCollisionBehavior(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    specific behavior for this pair of collidables
  - clearBehavior
```
public boolean clearBehavior(Collidable c0,
                             Collidable c1)
```
    Implements MechModel.clearCollisionBehavior(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    true if the specific behavior had been set and was removed for the indicated collidable pair.
  - clearBehaviors
```
public void clearBehaviors()
```
    Implements MechModel.clearCollisionBehaviors(). See documentation for that method.
  - setResponse
```
public void setResponse(Collidable c0,
                        Collidable c1,
                        CollisionResponse response)
```
    Implements MechModel.setCollisionResponse(c0,c1,response); see documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    response - desired collision response
  - getResponse
```
public CollisionResponse getResponse(Collidable c0,
                                     Collidable c1)
```
    Implements MechModel.getCollisionResponse(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    specific response for this pair of collidables
  - clearResponse
```
public boolean clearResponse(Collidable c0,
                             Collidable c1)
```
    Implements MechModel.clearCollisionResponse(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    true if the specific response had been set and was removed for the indicated collidable pair.
  - clearResponses
```
public void clearResponses()
```
    Implements MechModel.clearCollisionResponses(). See documentation for that method.
  - getTopCollidables
```
public void getTopCollidables(java.util.List<Collidable> list)
```
  - getActingBehavior
```
public CollisionBehavior getActingBehavior(Collidable c0,
                                           Collidable c1)
```
    Implements MechModel.getActingCollisionBehavior(). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    behavior for this pair of collidables, or null if no common behavior is found.
  - getCollisionResponse
```
public CollisionResponse getCollisionResponse(Collidable c0,
                                              Collidable c1)
```
    Implements MechModel.getCollisionResponse(c0,c1). See documentation for that method.
    
    Parameters:
    
    c0 - first collidable. Must be a specific collidable.
    
    c1 - second collidable(s). May be a specific collidable or a colliable group.
    
    Returns:
    
    collision response object for the specified collidables
  - componentChanged
```
public void componentChanged(ComponentChangeEvent e)
```
    Description copied from class: CompositeComponentBase
    
    Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.
    This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.
    
    Specified by:
    
    componentChanged in interface ComponentChangeListener
    
    Specified by:
    
    componentChanged in interface CompositeComponent
    
    Overrides:
    
    componentChanged in class CompositeComponentBase
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - initialize
```
public void initialize()
```
  - clearCachedData
```
public void clearCachedData()
```
  - scan
```
public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException
```
    Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.
    
    Specified by:
    
    scan in interface ModelComponent
    
    Specified by:
    
    scan in interface Scannable
    
    Overrides:
    
    scan in class CompositeComponentBase
    
    Parameters:
    
    rtok - Tokenizer from which to scan the element
    
    ref - optional reference object which can be used for resolving references to other objects
    
    Throws:
    
    java.io.IOException - if an I/O or formatting error occured
  - scaleDistance
```
public void scaleDistance(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - reduceBilateralConstraints
```
public void reduceBilateralConstraints(java.util.ArrayList<CollisionHandler> handlers,
                                       int idx0)
```
  - updateConstraints
```
public double updateConstraints(double t,
                                int flags)
```
    Specified by:
    
    updateConstraints in interface Constrainer
  - getBilateralSizes
```
public void getBilateralSizes(VectorNi sizes)
```
    Specified by:
    
    getBilateralSizes in interface Constrainer
  - addBilateralConstraints
```
public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)
```
    Specified by:
    
    addBilateralConstraints in interface Constrainer
  - getBilateralInfo
```
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)
```
    Specified by:
    
    getBilateralInfo in interface Constrainer
  - setBilateralImpulses
```
public int setBilateralImpulses(VectorNd lam,
                                double h,
                                int idx)
```
    Specified by:
    
    setBilateralImpulses in interface Constrainer
  - getBilateralImpulses
```
public int getBilateralImpulses(VectorNd lam,
                                int idx)
```
    Specified by:
    
    getBilateralImpulses in interface Constrainer
  - zeroImpulses
```
public void zeroImpulses()
```
    Specified by:
    
    zeroImpulses in interface Constrainer
  - getUnilateralSizes
```
public void getUnilateralSizes(VectorNi sizes)
```
    Specified by:
    
    getUnilateralSizes in interface Constrainer
  - addUnilateralConstraints
```
public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dn,
                                    int numu)
```
    Specified by:
    
    addUnilateralConstraints in interface Constrainer
  - getUnilateralInfo
```
public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)
```
    Specified by:
    
    getUnilateralInfo in interface Constrainer
  - setUnilateralImpulses
```
public int setUnilateralImpulses(VectorNd the,
                                 double h,
                                 int idx)
```
    Specified by:
    
    setUnilateralImpulses in interface Constrainer
  - getUnilateralImpulses
```
public int getUnilateralImpulses(VectorNd the,
                                 int idx)
```
    Specified by:
    
    getUnilateralImpulses in interface Constrainer
  - maxFrictionConstraintSets
```
public int maxFrictionConstraintSets()
```
    Specified by:
    
    maxFrictionConstraintSets in interface Constrainer
  - addFrictionConstraints
```
public int addFrictionConstraints(SparseBlockMatrix DT,
                                  MechSystem.FrictionInfo[] finfo,
                                  int numf)
```
    Specified by:
    
    addFrictionConstraints in interface Constrainer
  - getConstrainedComponents
```
public void getConstrainedComponents(java.util.List<DynamicComponent> list)
```
    Specified by:
    
    getConstrainedComponents in interface Constrainer
  - 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 RenderableCompositeBase
    
    Returns:
    
    new render properties for this object
  - 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 RenderableCompositeBase
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - 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 RenderableCompositeBase
    
    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 RenderableCompositeBase
    
    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.
  - advanceAuxState
```
public void advanceAuxState(double t0,
                            double t1)
```
    Description copied from interface: HasAuxState
    
    Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers. If no such updating is required, this method may do nothing.
    
    Specified by:
    
    advanceAuxState in interface HasAuxState
    
    Parameters:
    
    t0 - beginning time associated with the time step advance
    
    t1 - end time associated with the time step advance
  - skipAuxState
```
public void skipAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    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
    
    Parameters:
    
    data - buffer containing the state information
  - getAuxState
```
public void getAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    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
    
    Parameters:
    
    data - buffer for storing the state values.
  - getInitialAuxState
```
public void getInitialAuxState(DataBuffer newData,
                               DataBuffer oldData)
```
    Description copied from interface: HasAuxState
    
    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
    
    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.
  - setAuxState
```
public void setAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    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
    
    Parameters:
    
    data - buffer containing the state information

Class CollisionManager

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState

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

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

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.modelbase.RenderableCompositeBase

Methods inherited from class artisynth.core.modelbase.CompositeComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface maspack.util.Scannable

Field Detail

myProps

Constructor Detail

CollisionManager

Method Detail

setDefaultColliderType

getDefaultColliderType

numDefaultPairs

getAllPropertyInfo

clear

getCollisionArenaRadius

setCollisionArenaRadius

setContactNormalLen

getContactNormalLen

getDefaultContactNormalLen

getFriction

setFriction

setFrictionMode

getFrictionMode

getRigidRegionTol

setRigidRegionTol

setRigidRegionTolMode

getRigidRegionTolMode

getDefaultRigidRegionTol

getRigidPointTol

setRigidPointTol

setRigidPointTolMode

getRigidPointTolMode

getDefaultRigidPointTol

getReduceConstraints

setReduceConstraints

setReduceConstraintsMode

getReduceConstraintsMode

getBodyFaceContact

setBodyFaceContact

setBodyFaceContactMode

getBodyFaceContactMode

getCompliance

setCompliance

setComplianceMode

getComplianceMode

getDamping

setDamping

setDampingMode

getDampingMode

getAcceleration

setAcceleration

setAccelerationMode

getAccelerationMode

getDrawIntersectionContours

setDrawIntersectionContours

setDrawIntersectionContoursMode

getDrawIntersectionContoursMode

getDrawIntersectionFaces

setDrawIntersectionFaces

setDrawIntersectionFacesMode

getDrawIntersectionFacesMode

getDrawIntersectionPoints

setDrawIntersectionPoints

setDrawIntersectionPointsMode

getDrawIntersectionPointsMode

getDrawContactNormals