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

Class BaseContact

java.lang.Object

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

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

All Implemented Interfaces:

VRMLNode, FrameStateListener, VRMLNodeType

Direct Known Subclasses:

NRContact, OGLContact

public abstract class BaseContact
extends AbstractNode

Implementation of the Contact node for rigid body physics.

Version:

$Revision: 1.12 $

Author:

Justin Couch

Field Summary

Fields

Modifier and Type	Field	Description
protected static final String	BODY_NODE_MSG	Message for when the node in setValue() is not a Body
protected static final String	BODY_PROTO_MSG	Message for when the proto is not a Body
protected int	contactIndex	The index of this contact's place in the big array
protected static final int	FIELD_APPLIED_PARAMETERS	The field index for appliedParameters
protected static final int	FIELD_BODY1	The field index for body1
protected static final int	FIELD_BODY2	The field index for body2
protected static final int	FIELD_BOUNCE	The field index for bounce
protected static final int	FIELD_CONTACT_NORMAL	The field index for contactNormal
protected static final int	FIELD_DEPTH	The field index for depth
protected static final int	FIELD_FRICTION_COEFFICIENTS	The field index for frictionCoefficients
protected static final int	FIELD_FRICTION_DIRECTION	The field index for frictionDirection
protected static final int	FIELD_GEOMETRY1	The field index for geometry1
protected static final int	FIELD_GEOMETRY2	The field index for geometry2
protected static final int	FIELD_MIN_BOUNCE_SPEED	The field index for minBounceSpeed
protected static final int	FIELD_POSITION	The field index for position
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 String	GEOMETRY_NODE_MSG	Message for when the node in setValue() is not a collidable
protected static final String	GEOMETRY_PROTO_MSG	Message for when the proto is not a collidable
protected static final int	LAST_CONTACT_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 org.odejava.collision.BulkContact	odeContact	The ODE object to send values to
protected static final Map<String,Integer>	parameterIdMap	Mapping of parameter field names to the ODE constants
protected VRMLProtoInstance	pBody1	The proto version of the body1
protected VRMLProtoInstance	pBody2	The proto version of the body2
protected VRMLProtoInstance	pGeometry1	The proto version of the geom1
protected VRMLProtoInstance	pGeometry2	The proto version of the geom2
protected String[]	vfAppliedParameters	The value of the appliedParameters field
protected VRMLRigidBodyNodeType	vfBody1	The value of the body1 field
protected VRMLRigidBodyNodeType	vfBody2	The value of the body2 field
protected float	vfBounce	The value of the bounce field
protected float[]	vfContactNormal	The value of the contactNormal field
protected float	vfDepth	The value of the depth field
protected float[]	vfFrictionCoefficients	The value of the frictionCoefficients field
protected float[]	vfFrictionDirection	The value of the frictionDirection field
protected VRMLNBodyCollidableNodeType	vfGeometry1	The value of the geom1 field
protected VRMLNBodyCollidableNodeType	vfGeometry2	The value of the geom2 field
protected float	vfMinBounceSpeed	The value of the minBounceSpeed field
protected float[]	vfPosition	The value of the position 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
BaseContact()	Construct a new default contact node object.
BaseContact(VRMLNodeType node)	Construct a new instance of this node based on the details from the given node.

Method Summary

Modifier and Type	Method	Description
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.
void	setupFinished()	Notification that the construction phase of this node has finished.
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.

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, 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

Field Details

FIELD_APPLIED_PARAMETERS

protected static final int FIELD_APPLIED_PARAMETERS

The field index for appliedParameters

See Also:

• Constant Field Values

FIELD_BODY1

protected static final int FIELD_BODY1

The field index for body1

See Also:

• Constant Field Values

FIELD_BODY2

protected static final int FIELD_BODY2

The field index for body2

See Also:

• Constant Field Values

FIELD_BOUNCE

protected static final int FIELD_BOUNCE

The field index for bounce

See Also:

• Constant Field Values

FIELD_CONTACT_NORMAL

protected static final int FIELD_CONTACT_NORMAL

The field index for contactNormal

See Also:

• Constant Field Values

FIELD_DEPTH

protected static final int FIELD_DEPTH

The field index for depth

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_FRICTION_DIRECTION

protected static final int FIELD_FRICTION_DIRECTION

The field index for frictionDirection

See Also:

• Constant Field Values

FIELD_GEOMETRY1

protected static final int FIELD_GEOMETRY1

The field index for geometry1

See Also:

• Constant Field Values

FIELD_GEOMETRY2

protected static final int FIELD_GEOMETRY2

The field index for geometry2

See Also:

• Constant Field Values

FIELD_MIN_BOUNCE_SPEED

protected static final int FIELD_MIN_BOUNCE_SPEED

The field index for minBounceSpeed

See Also:

• Constant Field Values

FIELD_POSITION

protected static final int FIELD_POSITION

The field index for position

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_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_CONTACT_INDEX

protected static final int LAST_CONTACT_INDEX

Last index used by this base node

See Also:

• Constant Field Values

BODY_PROTO_MSG

protected static final String BODY_PROTO_MSG

Message for when the proto is not a Body

See Also:

• Constant Field Values

BODY_NODE_MSG

protected static final String BODY_NODE_MSG

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

See Also:

• Constant Field Values

GEOMETRY_PROTO_MSG

protected static final String GEOMETRY_PROTO_MSG

Message for when the proto is not a collidable

See Also:

• Constant Field Values

GEOMETRY_NODE_MSG

protected static final String GEOMETRY_NODE_MSG

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

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

vfBody1

protected VRMLRigidBodyNodeType vfBody1

The value of the body1 field

pBody1

protected VRMLProtoInstance pBody1

The proto version of the body1

vfBody2

protected VRMLRigidBodyNodeType vfBody2

The value of the body2 field

pBody2

protected VRMLProtoInstance pBody2

The proto version of the body2

vfGeometry1

protected VRMLNBodyCollidableNodeType vfGeometry1

The value of the geom1 field

pGeometry1

protected VRMLProtoInstance pGeometry1

The proto version of the geom1

vfGeometry2

protected VRMLNBodyCollidableNodeType vfGeometry2

The value of the geom2 field

pGeometry2

protected VRMLProtoInstance pGeometry2

The proto version of the geom2

vfAppliedParameters

protected String[] vfAppliedParameters

The value of the appliedParameters field

numAppliedParameters

protected int numAppliedParameters

The number of valid parameters to apply

vfBounce

protected float vfBounce

The value of the bounce field

vfMinBounceSpeed

protected float vfMinBounceSpeed

The value of the minBounceSpeed field

vfDepth

protected float vfDepth

The value of the depth field

vfContactNormal

protected float[] vfContactNormal

The value of the contactNormal field

vfFrictionCoefficients

protected float[] vfFrictionCoefficients

The value of the frictionCoefficients field

vfFrictionDirection

protected float[] vfFrictionDirection

The value of the frictionDirection field

vfPosition

protected float[] vfPosition

The value of the position field

vfSlipCoefficients

protected float[] vfSlipCoefficients

The value of the slipCoefficients field

vfSurfaceSpeed

protected float[] vfSurfaceSpeed

The value of the surfaceSpeed field

vfSoftnessErrorCorrection

protected float vfSoftnessErrorCorrection

The value of the softnessErrorCorrection field

vfSoftnessConstantForceMix

protected float vfSoftnessConstantForceMix

The value of the softnessConstantForceMix field

odeContact

protected org.odejava.collision.BulkContact odeContact

The ODE object to send values to

contactIndex

protected int contactIndex

The index of this contact's place in the big array

Constructor Details

BaseContact

public BaseContact()

Construct a new default contact node object.

BaseContact

public BaseContact(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

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.

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.

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.

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.

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.

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,
 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 InvalidFieldValueException,
InvalidFieldException

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:

InvalidFieldException - The field index is not know

InvalidFieldValueException - The value provided does not fit this type of node