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

Class BaseCollisionSensor

java.lang.Object

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

org.web3d.vrml.renderer.common.nodes.BaseSensorNode

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

All Implemented Interfaces:

VRMLNode, FrameStateListener, VRMLChildNodeType, VRMLNBodySensorNodeType, VRMLNodeType, VRMLSensorNodeType, VRMLWorldRootChildNodeType

Direct Known Subclasses:

NRCollisionSensor, OGLCollisionSensor

public abstract class BaseCollisionSensor
extends BaseSensorNode
implements VRMLNBodySensorNodeType

Implementation of the CollidableSensor node.

The X3D definition of CollisionSensor is:

 CollisionSensor : X3DNode {
   MFNode [in,out] collidables NULL  [CollisionCollection]
   SFBool [in,out] enabled     TRUE
   SFNode [in,out] metadata    NULL  [X3DMetadataObject]
   MFNode [out]    contacts
   SFBool [out]    isActive
 }
 

Version:

$Revision: 1.5 $

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_COLLIDABLES	The field index for collidables
protected static final int	FIELD_CONTACTS	The field index for contacts
protected static final int	FIELD_ENABLED	The field index for enabled
protected static final int	FIELD_INTERSECTIONS	The field index for contacts
protected static final int	LAST_COLLECTION_INDEX	Last index used by this base node
protected int	numContacts	The number of valid contacts from the last frame
protected int	numIntersections	The number of valid intersections from the last frame
protected VRMLProtoInstance	pCollidables	The proto version of the collidables
protected VRMLNBodyGroupNodeType	vfCollidables	The value of the collidables field
protected VRMLNodeType[]	vfContacts	Value of the output field contacts
protected VRMLNodeType[]	vfIntersections	Value of the output field intersections

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

FIELD_IS_ACTIVE, LAST_SENSOR_INDEX, vfEnabled, vfIsActive

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
BaseCollisionSensor()	Construct a new default CollisionSensor node object.
BaseCollisionSensor(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 abstract BaseContact	generateNewContact()	Generate me a default renderer-specific instance of the Contact node now.
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.
void	sendRoute(double time, int srcIndex, VRMLNodeType destNode, int destIndex)	Send a routed value from this node to the given destination node.
protected void	setCollidables(VRMLNodeType coll)	Set node content as replacement for the collidables field.
void	setupFinished()	Notification that the construction phase of this node has finished.
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.
void	updateContacts(org.j3d.util.IntHashMap bodyIdMap, org.j3d.util.IntHashMap geomIdMap)	Update the outputs of this sensor now, based on the given set of ODE contact information. // * @param contacts The list of contacts to process // * @param numContacts The number of contacts to process from the list

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

copy, getEnabled, getIsActive, setEnabled, setValue

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, 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, setValue, setValue, setValue, setValue, updateRefCount

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

getEnabled, getIsActive, setEnabled

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_CONTACTS

protected static final int FIELD_CONTACTS

The field index for contacts

See Also:

• Constant Field Values

FIELD_INTERSECTIONS

protected static final int FIELD_INTERSECTIONS

The field index for contacts

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

vfCollidables

protected VRMLNBodyGroupNodeType vfCollidables

The value of the collidables field

pCollidables

protected VRMLProtoInstance pCollidables

The proto version of the collidables

vfContacts

protected VRMLNodeType[] vfContacts

Value of the output field contacts

numContacts

protected int numContacts

The number of valid contacts from the last frame

vfIntersections

protected VRMLNodeType[] vfIntersections

Value of the output field intersections

numIntersections

protected int numIntersections

The number of valid intersections from the last frame

Constructor Details

BaseCollisionSensor

public BaseCollisionSensor()

Construct a new default CollisionSensor node object.

BaseCollisionSensor

public BaseCollisionSensor(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

updateContacts

public void updateContacts(org.j3d.util.IntHashMap bodyIdMap,
 org.j3d.util.IntHashMap geomIdMap)

Update the outputs of this sensor now, based on the given set of ODE contact information. // * @param contacts The list of contacts to process // * @param numContacts The number of contacts to process from the list

Specified by:

updateContacts in interface VRMLNBodySensorNodeType

Parameters:

bodyIdMap -

geomIdMap -

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 BaseSensorNode

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 BaseSensorNode

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,
 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

setCollidables

protected void setCollidables(VRMLNodeType coll)
                       throws InvalidFieldValueException

Set node content as replacement for the collidables field.

Parameters:

coll - The new Collidables node to use

Throws:

InvalidFieldValueException - The node does not match the required type.

generateNewContact

protected abstract BaseContact generateNewContact()

Generate me a default renderer-specific instance of the Contact node now.

Returns:

A new instance of the contact