org.web3d.vrml.renderer.common.nodes.AbstractNode

org.web3d.vrml.renderer.common.nodes.rigidphysics.BaseCollisionCollection

All Implemented Interfaces:: VRMLNode, FrameStateListener, VRMLChildNodeType, VRMLNBodyGroupNodeType, VRMLNodeType, VRMLWorldRootChildNodeType

Direct Known Subclasses:: NRCollisionCollection, OGLCollisionCollection

public abstract class BaseCollisionCollection extends AbstractNode implements VRMLNBodyGroupNodeType, VRMLChildNodeType

Implementation of the Collidable node.

The base class provides most of the basic functionality, including interacting with the ODE portions. However, for returning the scene graph object appropriate for the renderer will require the derived class to take care of it.

The X3D definition of CollisionCollection is:

 CollisionCollection : X3DChildNode {
   SFBool [in,out] autoSendContacts TRUE
   MFNode [in,out] collidables NULL  [X3DNBodyCollisionSpaceNode, X3DNBodyCollidableNode]
   SFBool [in,out] enabled     TRUE
   SFNode [in,out] metadata    NULL  [X3DMetadataObject]
 }

Version:: $Revision: 1.13 $
Author:: Justin Couch

Field Summary

Fields

Modifier and Type

Field

Description

protected static final String

COLLIDABLE_NODE_MSG

Message for when the node in setValue() is not a primitive

protected static final String

COLLIDABLE_PROTO_MSG

Message for when the node in setValue() is not a primitive

protected static final int

FIELD_APPLIED_PARAMETERS

The field index for appliedParameters

protected static final int

FIELD_BOUNCE

The field index for bounce

protected static final int

FIELD_BOUNCE_SPEED

The field index for bounceSpeed

protected static final int

FIELD_COLLIDABLES

The field index for collidables

protected static final int

FIELD_ENABLED

The field index for enabled

protected static final int

FIELD_FRICTION_COEFFICIENTS

The field index for frictionCoefficients

protected static final int

FIELD_SLIP_COEFFICIENTS

The field index for slipCoefficients

protected static final int

FIELD_SOFTNESS_CFM

The field index for softnessConstantForceMix

protected static final int

FIELD_SOFTNESS_ERP

The field index for softnessErrorCorrection

protected static final int

FIELD_SURFACE_SPEED

The field index for surfaceSpeed

protected static final Map<String,Integer>

internalParamIdMap

Separate param map to map the strings to our local internal constants.

protected static final int

LAST_COLLECTION_INDEX

Last index used by this base node

protected static final String

NEG_BOUNCE_MSG

Message when a negative bounce value is given

protected static final String

NEG_BOUNCE_SPEED_MSG

Message when a negative bounce speed is given

protected static final String

NEG_CFM_MSG

Message when a negative force mix value is given

protected static final String

NEG_ERP_MSG

Message when a negative error correction value is given

protected int

numAppliedParameters

The number of valid parameters to apply

protected static final Map<String,Integer>

parameterIdMap

Mapping of parameter field names to the ODE constants

protected String[]

vfAppliedParameters

The value of the appliedParameters field

protected float

vfBounce

The value of the bounce field

protected float

vfBounceSpeed

The value of the bounceSpeed field

protected boolean

vfEnabled

The value of the enabled field

protected float[]

vfFrictionCoefficients

The value of the frictionCoefficients field

protected float[]

vfSlipCoefficients

The value of the slipCoefficients field

protected float

vfSoftnessConstantForceMix

The value of the softnessConstantForceMix field

protected float

vfSoftnessErrorCorrection

The value of the softnessErrorCorrection field

protected float[]

vfSurfaceSpeed

The value of the surfaceSpeed field

Fields inherited from class org.web3d.vrml.renderer.common.nodes.AbstractNode
errorReporter, FIELD_METADATA, fieldLocalData, hasChanged, inSetup, isDEF, isStatic, LAST_NODE_INDEX, layerIds, nodeName, pMetadata, refCounts, removedLayerIds, stateManager, STATIC_SCENE_GRAPH, vfMetadata, vrmlMajorVersion, vrmlMinorVersion
Constructor Summary

Constructors

Constructor

Description

BaseCollisionCollection()

Construct a new default CollisionCollection node object.

BaseCollisionCollection(VRMLNodeType node)

Construct a new instance of this node based on the details from the given node.
Method Summary

Modifier and Type

Method

Description

protected void

addCollidable(VRMLNodeType node)

Add a single child node to the list of available children.

void

applyContacts()

Apply the contacts right now.

protected void

clearCollidables()

Clear the child node list of all children in the VRML node.

void

delete()

This node is about to be deleted due to a change in loaded world.

void

evaluateCollisions()

Tell the group to evaluate its contents now.

org.odejava.collision.BulkContact

getContacts()

Fetch the most recent set of contacts that have been evaluated for this space.

VRMLFieldDeclaration

getFieldDeclaration(int index)

Get the declaration of the field at the given index.

int

getFieldIndex(String fieldName)

Get the index of the given field name.

VRMLFieldData

getFieldValue(int index)

Get the value of a field.

int[]

getNodeFieldIndices()

Get the list of indices that correspond to fields that contain nodes ie MFNode and SFNode).

int

getNumFields()

Get the number of fields.

int

getPrimaryType()

Get the primary type of this node.

boolean

isEnabled()

Is this group enabled for use right now?

int

numContacts()

Fetch the number of contacts that were generated during the last evaluation.

void

sendRoute(double time, int srcIndex, VRMLNodeType destNode, int destIndex)

Send a routed value from this node to the given destination node.

void

setOwningWorld(org.odejava.World wld)

Set the owning world for this collision space.

void

setupFinished()

Notification that the construction phase of this node has finished.

void

setValue(int index, boolean value)

Set the value of the field at the given index as a single boolean.

void

setValue(int index, float value)

Set the value of the field at the given index as a single float.

void

setValue(int index, float[] value, int numValid)

Set the value of the field at the given index as an array of floats.

void

setValue(int index, String[] value, int numValid)

Set the value of the field at the given index as an array of strings.

void

setValue(int index, VRMLNodeType child)

Set the value of the field at the given index as a node.

void

setValue(int index, VRMLNodeType[] children, int numValid)

Set the value of the field at the given index as an array of nodes.

Methods inherited from class org.web3d.vrml.renderer.common.nodes.AbstractNode
addNodeListener, allEventsComplete, checkNodeType, checkSecondaryType, checkSecondaryType, clearRemovedLayerIds, fireFieldChanged, getLayerIds, getMetadataObject, getRefCount, getRemovedLayerIds, getSecondaryType, getUserData, getVRMLNodeName, hasFieldChanged, isDEF, isSetupFinished, notifyExternProtoLoaded, removeNodeListener, setDEF, setErrorReporter, setFrameStateManager, setMetadataObject, setUserData, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setVersion, throwInitOnlyWriteException, throwInputOnlyWriteException, throwInvalidNodeException, throwInvalidProtoException, throwOutputOnlyWriteException, updateRefCount, updateRefs

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

Methods inherited from interface org.web3d.vrml.nodes.FrameStateListener
allEventsComplete

Methods inherited from interface org.web3d.vrml.lang.VRMLNode
getSecondaryType, getUserData, getVRMLNodeName, isDEF, setErrorReporter, setUserData, setVersion

Methods inherited from interface org.web3d.vrml.nodes.VRMLNodeType
addNodeListener, clearRemovedLayerIds, getLayerIds, getMetadataObject, getRefCount, getRemovedLayerIds, hasFieldChanged, isSetupFinished, notifyExternProtoLoaded, removeNodeListener, setDEF, setFrameStateManager, setMetadataObject, setValue, setValue, setValue, setValue, setValue, setValue, setValue, setValue, updateRefCount

Field Details
- FIELD_COLLIDABLES
  protected static final int FIELD_COLLIDABLES
  
  The field index for collidables
  
  See Also:
  
  Constant Field Values
- FIELD_ENABLED
  protected static final int FIELD_ENABLED
  
  The field index for enabled
  
  See Also:
  
  Constant Field Values
- FIELD_BOUNCE
  protected static final int FIELD_BOUNCE
  
  The field index for bounce
  
  See Also:
  
  Constant Field Values
- FIELD_BOUNCE_SPEED
  protected static final int FIELD_BOUNCE_SPEED
  
  The field index for bounceSpeed
  
  See Also:
  
  Constant Field Values
- FIELD_FRICTION_COEFFICIENTS
  protected static final int FIELD_FRICTION_COEFFICIENTS
  
  The field index for frictionCoefficients
  
  See Also:
  
  Constant Field Values
- FIELD_SLIP_COEFFICIENTS
  protected static final int FIELD_SLIP_COEFFICIENTS
  
  The field index for slipCoefficients
  
  See Also:
  
  Constant Field Values
- FIELD_SURFACE_SPEED
  protected static final int FIELD_SURFACE_SPEED
  
  The field index for surfaceSpeed
  
  See Also:
  
  Constant Field Values
- FIELD_APPLIED_PARAMETERS
  protected static final int FIELD_APPLIED_PARAMETERS
  
  The field index for appliedParameters
  
  See Also:
  
  Constant Field Values
- FIELD_SOFTNESS_CFM
  protected static final int FIELD_SOFTNESS_CFM
  
  The field index for softnessConstantForceMix
  
  See Also:
  
  Constant Field Values
- FIELD_SOFTNESS_ERP
  protected static final int FIELD_SOFTNESS_ERP
  
  The field index for softnessErrorCorrection
  
  See Also:
  
  Constant Field Values
- LAST_COLLECTION_INDEX
  protected static final int LAST_COLLECTION_INDEX
  
  Last index used by this base node
  
  See Also:
  
  Constant Field Values
- COLLIDABLE_PROTO_MSG
  protected static final String COLLIDABLE_PROTO_MSG
  
  Message for when the node in setValue() is not a primitive
  
  See Also:
  
  Constant Field Values
- COLLIDABLE_NODE_MSG
  protected static final String COLLIDABLE_NODE_MSG
  
  Message for when the node in setValue() is not a primitive
  
  See Also:
  
  Constant Field Values
- NEG_BOUNCE_MSG
  protected static final String NEG_BOUNCE_MSG
  
  Message when a negative bounce value is given
  
  See Also:
  
  Constant Field Values
- NEG_BOUNCE_SPEED_MSG
  protected static final String NEG_BOUNCE_SPEED_MSG
  
  Message when a negative bounce speed is given
  
  See Also:
  
  Constant Field Values
- NEG_ERP_MSG
  protected static final String NEG_ERP_MSG
  
  Message when a negative error correction value is given
  
  See Also:
  
  Constant Field Values
- NEG_CFM_MSG
  protected static final String NEG_CFM_MSG
  
  Message when a negative force mix value is given
  
  See Also:
  
  Constant Field Values
- parameterIdMap
  
  protected static final Map<String,Integer> parameterIdMap
  
  Mapping of parameter field names to the ODE constants
- internalParamIdMap
  
  protected static final Map<String,Integer> internalParamIdMap
  
  Separate param map to map the strings to our local internal constants. The values in OdeConstants are not really constants at all - they're automatically generated each time the application starts up. GRRrrrr. Means we can't use them in switch statements. :(
- vfEnabled
  
  protected boolean vfEnabled
  
  The value of the enabled field
- vfBounce
  
  protected float vfBounce
  
  The value of the bounce field
- vfBounceSpeed
  
  protected float vfBounceSpeed
  
  The value of the bounceSpeed field
- vfFrictionCoefficients
  
  protected float[] vfFrictionCoefficients
  
  The value of the frictionCoefficients field
- vfSlipCoefficients
  
  protected float[] vfSlipCoefficients
  
  The value of the slipCoefficients field
- vfSurfaceSpeed
  
  protected float[] vfSurfaceSpeed
  
  The value of the surfaceSpeed field
- vfAppliedParameters
  
  protected String[] vfAppliedParameters
  
  The value of the appliedParameters field
- numAppliedParameters
  
  protected int numAppliedParameters
  
  The number of valid parameters to apply
- vfSoftnessErrorCorrection
  
  protected float vfSoftnessErrorCorrection
  
  The value of the softnessErrorCorrection field
- vfSoftnessConstantForceMix
  
  protected float vfSoftnessConstantForceMix
  
  The value of the softnessConstantForceMix field
Constructor Details
- BaseCollisionCollection
  
  public BaseCollisionCollection()
  
  Construct a new default CollisionCollection node object.
- BaseCollisionCollection
  
  public BaseCollisionCollection(VRMLNodeType node)
  
  Construct a new instance of this node based on the details from the given node. If the node is not the same type, an exception will be thrown.
  
  Parameters:
  
  node - The node to copy
  
  Throws:
  
  IllegalArgumentException - The node is not the same type
Method Details
- setOwningWorld
  
  public void setOwningWorld(org.odejava.World wld)
  
  Set the owning world for this collision space. This is a hack to get around a bad assumption made by ODE - that there is only ever one world current at time. This is the owner world of this collsion system.
  
  Specified by:
  
  setOwningWorld in interface VRMLNBodyGroupNodeType
  
  Parameters:
  
  wld - The world instance we're using.
- delete
  
  public void delete()
  
  This node is about to be deleted due to a change in loaded world. Clear up the ODE resources in use.
  
  Specified by:
  
  delete in interface VRMLNBodyGroupNodeType
- evaluateCollisions
  
  public void evaluateCollisions()
  
  Tell the group to evaluate its contents now. This will generate contacts as needed.
  
  Specified by:
  
  evaluateCollisions in interface VRMLNBodyGroupNodeType
- numContacts
  
  public int numContacts()
  
  Fetch the number of contacts that were generated during the last evaluation. Needed so that we can iterate through the BulkContact object returned from getContacts().
  
  Specified by:
  
  numContacts in interface VRMLNBodyGroupNodeType
  
  Returns:
  
  A non-negative size indicator
- getContacts
  
  public org.odejava.collision.BulkContact getContacts()
  
  Fetch the most recent set of contacts that have been evaluated for this space. The bulk object can be used to step through all the available contacts that were generated.
  
  Specified by:
  
  getContacts in interface VRMLNBodyGroupNodeType
  
  Returns:
  
  The set of bulk contacts generated
- applyContacts
  
  public void applyContacts()
  
  Apply the contacts right now. All processing is complete, so it's fine to continue the evaluation from before.
  
  Specified by:
  
  applyContacts in interface VRMLNBodyGroupNodeType
- isEnabled
  
  public boolean isEnabled()
  
  Is this group enabled for use right now?
  
  Specified by:
  
  isEnabled in interface VRMLNBodyGroupNodeType
  
  Returns:
  
  true if this is enabled
- setupFinished
  
  public void setupFinished()
  
  Notification that the construction phase of this node has finished. If the node would like to do any internal processing, such as setting up geometry, then go for it now.
  
  Specified by:
  
  setupFinished in interface VRMLNodeType
  
  Overrides:
  
  setupFinished in class AbstractNode
- getFieldIndex
  
  public int getFieldIndex(String fieldName)
  
  Get the index of the given field name. If the name does not exist for this node then return a value of -1.
  
  Specified by:
  
  getFieldIndex in interface VRMLNode
  
  Parameters:
  
  fieldName - The name of the field we want the index from
  
  Returns:
  
  The index of the field name or -1
- getNodeFieldIndices
  
  public int[] getNodeFieldIndices()
  
  Get the list of indices that correspond to fields that contain nodes ie MFNode and SFNode). Used for blind scene graph traversal without needing to spend time querying for all fields etc. If a node does not have any fields that contain nodes, this shall return null. The field list covers all field types, regardless of whether they are readable or not at the VRML-level.
  
  Specified by:
  
  getNodeFieldIndices in interface VRMLNode
  
  Returns:
  
  The list of field indices that correspond to SF/MFnode fields or null if none
- getPrimaryType
  
  public int getPrimaryType()
  
  Get the primary type of this node. Replaces the instanceof mechanism for use in switch statements.
  
  Specified by:
  
  getPrimaryType in interface VRMLNode
  
  Returns:
  
  The primary type
- getFieldDeclaration
  
  public VRMLFieldDeclaration getFieldDeclaration(int index)
  
  Get the declaration of the field at the given index. This allows for reverse lookup if needed. If the field does not exist, this will give a value of null.
  
  Specified by:
  
  getFieldDeclaration in interface VRMLNode
  
  Parameters:
  
  index - The index of the field to get information
  
  Returns:
  
  A shape of this field's information
- getNumFields
  
  public int getNumFields()
  
  Get the number of fields.
  
  Specified by:
  
  getNumFields in interface VRMLNode
  
  Returns:
  
  The number of fields.
- getFieldValue
  
  public VRMLFieldData getFieldValue(int index) throws InvalidFieldException
  
  Get the value of a field. If the field is a primitive type, it will return a class representing the value. For arrays or nodes it will return the instance directly.
  
  Specified by:
  
  getFieldValue in interface VRMLNodeType
  
  Overrides:
  
  getFieldValue in class AbstractNode
  
  Parameters:
  
  index - The index of the field to change.
  
  Returns:
  
  The class representing the field value
  
  Throws:
  
  InvalidFieldException - The field index is not known
- sendRoute
  
  public void sendRoute(double time, int srcIndex, VRMLNodeType destNode, int destIndex)
  
  Send a routed value from this node to the given destination node. The route should use the appropriate setValue() method of the destination node. It should not attempt to cast the node up to a higher level. Routing should also follow the standard rules for the loop breaking and other appropriate rules for the specification.
  
  Specified by:
  
  sendRoute in interface VRMLNodeType
  
  Overrides:
  
  sendRoute in class AbstractNode
  
  Parameters:
  
  time - The time that this route occurred (not necessarily epoch time. Should be treated as a relative value only)
  
  srcIndex - The index of the field in this node that the value should be sent from
  
  destNode - The node reference that we will be sending the value to
  
  destIndex - The index of the field in the destination node that the value should be sent to.
- setValue
  
  public void setValue(int index, boolean value) throws InvalidFieldValueException, InvalidFieldException
  
  Set the value of the field at the given index as a single boolean. This would be used to set SFBool field types.
  
  Specified by:
  
  setValue in interface VRMLNodeType
  
  Overrides:
  
  setValue in class AbstractNode
  
  Parameters:
  
  index - The index of destination field to set
  
  value - The new value to use for the node
  
  Throws:
  
  InvalidFieldException - The field index is not know
  
  InvalidFieldValueException - The value provided is not in range or not appropriate for this field
- setValue
  
  public void setValue(int index, float value) throws InvalidFieldValueException, InvalidFieldException
  
  Set the value of the field at the given index as a single float. This would be used to set SFFloat field types.
  
  Specified by:
  
  setValue in interface VRMLNodeType
  
  Overrides:
  
  setValue in class AbstractNode
  
  Parameters:
  
  index - The index of destination field to set
  
  value - The new value to use for the node
  
  Throws:
  
  InvalidFieldException - The field index is not know
  
  InvalidFieldValueException - The value provided is not in range or not appropriate for this field
- setValue
  
  public void setValue(int index, float[] value, int numValid) throws InvalidFieldValueException, InvalidFieldException
  
  Set the value of the field at the given index as an array of floats. This would be used to set MFFloat, SFVec3f etc field types.
  
  Specified by:
  
  setValue in interface VRMLNodeType
  
  Overrides:
  
  setValue in class AbstractNode
  
  Parameters:
  
  index - The index of destination field to set
  
  value - The new value to use for the node
  
  numValid - The number of valid items to use from the array
  
  Throws:
  
  InvalidFieldException - The field index is not know
  
  InvalidFieldValueException - The value provided is not in range or not appropriate for this field
- setValue
  
  public void setValue(int index, String[] value, int numValid) throws InvalidFieldValueException, InvalidFieldException
  
  Set the value of the field at the given index as an array of strings. This would be used to set MFString field types.
  
  Specified by:
  
  setValue in interface VRMLNodeType
  
  Overrides:
  
  setValue in class AbstractNode
  
  Parameters:
  
  index - The index of destination field to set
  
  value - The new value to use for the node
  
  numValid - The number of valid items to use from the array
  
  Throws:
  
  InvalidFieldException - The field index is not know
  
  InvalidFieldValueException - The value provided is not in range or not appropriate for this field
- setValue
  
  public void setValue(int index, VRMLNodeType child) throws InvalidFieldException, InvalidFieldValueException
  
  Set the value of the field at the given index as a node. This would be used to set SFNode field types.
  
  Specified by:
  
  setValue in interface VRMLNodeType
  
  Overrides:
  
  setValue in class AbstractNode
  
  Parameters:
  
  index - The index of destination field to set
  
  child - The new value to use for the node
  
  Throws:
  
  InvalidFieldValueException - The node does not match the required type.
  
  InvalidFieldException - The field index is not known
- setValue
  
  public void setValue(int index, VRMLNodeType[] children, int numValid) throws InvalidFieldException, InvalidFieldValueException, InvalidFieldAccessException
  
  Set the value of the field at the given index as an array of nodes. This would be used to set MFNode field types.
  
  Specified by:
  
  setValue in interface VRMLNodeType
  
  Overrides:
  
  setValue in class AbstractNode
  
  Parameters:
  
  index - The index of destination field to set
  
  children - The new value to use for the node
  
  numValid - The number of valid values to copy from the array
  
  Throws:
  
  InvalidFieldException - The field index is not known
  
  InvalidFieldValueException - The value provided is out of range for the field type.
  
  InvalidFieldAccessException - The call is attempting to write to a field that does not permit writing now
- clearCollidables
  
  protected void clearCollidables()
  
  Clear the child node list of all children in the VRML node. Override to provide.renderer-specific behaviour, but remember to also call this implementation too.
- addCollidable
  
  protected void addCollidable(VRMLNodeType node) throws InvalidFieldValueException
  
  Add a single child node to the list of available children. Override to provide.renderer-specific behaviour, but remember to also call this implementation too.
  
  Parameters:
  
  node - The node to add
  
  Throws:
  
  InvalidFieldValueException - This is a bindable node shared

Class BaseCollisionCollection

Field Summary

Fields inherited from class org.web3d.vrml.renderer.common.nodes.AbstractNode

Constructor Summary

Method Summary

Methods inherited from class org.web3d.vrml.renderer.common.nodes.AbstractNode

Methods inherited from class java.lang.Object

Methods inherited from interface org.web3d.vrml.nodes.FrameStateListener

Methods inherited from interface org.web3d.vrml.lang.VRMLNode

Methods inherited from interface org.web3d.vrml.nodes.VRMLNodeType

Field Details

FIELD_COLLIDABLES

FIELD_ENABLED

FIELD_BOUNCE

FIELD_BOUNCE_SPEED

FIELD_FRICTION_COEFFICIENTS

FIELD_SLIP_COEFFICIENTS

FIELD_SURFACE_SPEED

FIELD_APPLIED_PARAMETERS

FIELD_SOFTNESS_CFM

FIELD_SOFTNESS_ERP

LAST_COLLECTION_INDEX

COLLIDABLE_PROTO_MSG

COLLIDABLE_NODE_MSG

NEG_BOUNCE_MSG

NEG_BOUNCE_SPEED_MSG

NEG_ERP_MSG

NEG_CFM_MSG

parameterIdMap

internalParamIdMap

vfEnabled

vfBounce

vfBounceSpeed

vfFrictionCoefficients

vfSlipCoefficients

vfSurfaceSpeed

vfAppliedParameters

numAppliedParameters

vfSoftnessErrorCorrection

vfSoftnessConstantForceMix

Constructor Details

BaseCollisionCollection

BaseCollisionCollection

Method Details

setOwningWorld

delete

evaluateCollisions

numContacts

getContacts

applyContacts

isEnabled

setupFinished

getFieldIndex

getNodeFieldIndices

getPrimaryType

getFieldDeclaration

getNumFields

getFieldValue

sendRoute

setValue

setValue

setValue

setValue

setValue

setValue

clearCollidables

addCollidable