ContactPoint (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ContactPoint

All Implemented Interfaces:

MeshFieldPoint
```
public class ContactPoint
extends java.lang.Object
implements MeshFieldPoint
```
Stores information about a contact point, including its position value (in world coordinates), and, if necessary, the associated vertices and weights.

Constructor Summary

Constructors
Constructor and Description
`ContactPoint()`
`ContactPoint(ContactPoint cpnt)`
`ContactPoint(Point3d pnt)`
`ContactPoint(Point3d pnt, Face face, Vector2d coords)`
`ContactPoint(Point3d pnt, HalfEdge he, double w1)`
`ContactPoint(Vertex3d vtx)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`computeContactArea(Vector3d nrml)` Computes an estimate of the local contact for this point, assuming that it is associated with a vertex or edge-edge contact.
`boolean`	`equals(java.lang.Object obj)` Queries whether this contact point equals another object, based on equality of the vertices.
`MeshBase`	`getMesh()` Returns the mesh of the first vertex associated with this contact point, or `null` if there are no vertices.
`Point3d`	`getPosition()` Returns the position of this contact point, in world coordinates.
`static void`	`getState(DataBuffer data, ContactPoint cpnt)` Save the information of contact point `cpnt` into a data buffer.
`Vertex3d[]`	`getVertices()` Returns the mesh vertices associated with this contact, if any.
`double[]`	`getWeights()` Returns the mesh vertex weight associated with this contact, if any.
`int`	`hashCode()` Returns a hash code for this contact point.
`int`	`numVertices()` Returns the number of mesh vertices associated with this contact, or 0 if there are no vertices.
`void`	`set(ContactPoint cpnt)` Sets this contact point to be identical to another contact point.
`void`	`set(Point3d pnt)` Sets this contact point to correspond to a specific position in world coordinates, with no mesh vertices.
`void`	`set(Point3d pnt, Face face, Vector2d coords)` Sets this contact point to correspond to point on a mesh face, with specified barycentric coordinates.
`void`	`set(Point3d pnt, HalfEdge he, double w1)` Sets this contact point to correspond to a point on a mesh half edge.
`void`	`set(Vertex3d vtx)` Sets this contact point to correspond to a single mesh vertex.
`static ContactPoint`	`setState(DataBuffer data, PolygonalMesh mesh)` Creates a contact point for information stored in a data buffer, using additional information supplied by the point's collision mesh.
`java.lang.String`	`toString(java.lang.String fmtStr)` Produces a string representation of this contact point, giving the position and vertex indices.
`boolean`	`verticesEqual(ContactPoint pnt)` Queries the vertices associated with this contact point equal those of another.

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

- Constructor Detail
  - ContactPoint
```
public ContactPoint()
```
  - ContactPoint
```
public ContactPoint(Point3d pnt)
```
  - ContactPoint
```
public ContactPoint(Vertex3d vtx)
```
  - ContactPoint
```
public ContactPoint(ContactPoint cpnt)
```
  - ContactPoint
```
public ContactPoint(Point3d pnt,
                    Face face,
                    Vector2d coords)
```
  - ContactPoint
```
public ContactPoint(Point3d pnt,
                    HalfEdge he,
                    double w1)
```
- Method Detail
  - getPosition
```
public Point3d getPosition()
```
    Returns the position of this contact point, in world coordinates.
    
    Specified by:
    
    getPosition in interface MeshFieldPoint
    
    Returns:
    
    point position. Should not be modified.
  - getVertices
```
public Vertex3d[] getVertices()
```
    Returns the mesh vertices associated with this contact, if any. If there are no vertices, the returned array with have a length of 0.
    
    Specified by:
    
    getVertices in interface MeshFieldPoint
    
    Returns:
    
    vertices associated with this contact. Should not be modified.
  - numVertices
```
public int numVertices()
```
    Returns the number of mesh vertices associated with this contact, or 0 if there are no vertices.
    
    Specified by:
    
    numVertices in interface MeshFieldPoint
    
    Returns:
    
    number of mesh vertices
  - getWeights
```
public double[] getWeights()
```
    Returns the mesh vertex weight associated with this contact, if any. If there are no vertices, this method will return null.
    
    Specified by:
    
    getWeights in interface MeshFieldPoint
    
    Returns:
    
    vertex weights associated with this contact, or null. Should not be modified.
  - set
```
public void set(Point3d pnt)
```
    Sets this contact point to correspond to a specific position in world coordinates, with no mesh vertices.
  - set
```
public void set(Vertex3d vtx)
```
    Sets this contact point to correspond to a single mesh vertex.
  - set
```
public void set(ContactPoint cpnt)
```
    Sets this contact point to be identical to another contact point.
  - set
```
public void set(Point3d pnt,
                Face face,
                Vector2d coords)
```
    Sets this contact point to correspond to point on a mesh face, with specified barycentric coordinates.
  - set
```
public void set(Point3d pnt,
                HalfEdge he,
                double w1)
```
    Sets this contact point to correspond to a point on a mesh half edge.
  - getState
```
public static void getState(DataBuffer data,
                            ContactPoint cpnt)
```
    Save the information of contact point cpnt into a data buffer.
  - setState
```
public static ContactPoint setState(DataBuffer data,
                                    PolygonalMesh mesh)
```
    Creates a contact point for information stored in a data buffer, using additional information supplied by the point's collision mesh.
  - hashCode
```
public int hashCode()
```
    Returns a hash code for this contact point. If the point has associated vertices, the code is computed based on them, allowing contact points to be stored in a hash map based solely on their vertex structure.
    
    Overrides:
    
    hashCode in class java.lang.Object
    
    Returns:
    
    hash code for this contact point
  - verticesEqual
```
public boolean verticesEqual(ContactPoint pnt)
```
    Queries the vertices associated with this contact point equal those of another. Vertex orderings are assumed to be the same.
    
    Parameters:
    
    pnt - contact point to which vertices are compared
    
    Returns:
    
    true if this point's vertices equal those of pnt
  - equals
```
public boolean equals(java.lang.Object obj)
```
    Queries whether this contact point equals another object, based on equality of the vertices. This allows contact points to be stored in a hash map based solely on their vertex structure.
    
    Overrides:
    
    equals in class java.lang.Object
    
    Parameters:
    
    obj - object to which this contact point is compared
    
    Returns:
    
    true if obj is a contact point whose vertices equal those of this point
  - getMesh
```
public MeshBase getMesh()
```
    Returns the mesh of the first vertex associated with this contact point, or null if there are no vertices.
    
    Returns:
    
    mesh of the first vertex
  - computeContactArea
```
public double computeContactArea(Vector3d nrml)
```
    Computes an estimate of the local contact for this point, assuming that it is associated with a vertex or edge-edge contact. Otherwise, the method returns -1.
    
    Parameters:
    
    nrml - contact normal
    
    Returns:
    
    area estimate, or -1 if not vertex or edge-edge.
  - toString
```
public java.lang.String toString(java.lang.String fmtStr)
```
    Produces a string representation of this contact point, giving the position and vertex indices.
    
    Parameters:
    
    fmtStr - numeric format for the position information
    
    Returns:
    
    string representation of this contact point

Class ContactPoint

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

ContactPoint

ContactPoint

ContactPoint

ContactPoint

ContactPoint

ContactPoint

Method Detail

getPosition

getVertices

numVertices

getWeights

set

set

set

set

set

getState

setState

hashCode

verticesEqual

equals

getMesh

computeContactArea

toString