com.yobotics.simulationconstructionset.util.ground
Interface Contactable
- All Known Implementing Classes:
- ArticulatedContactable, ContactablePinJointRobot, ContactableRobot, ContactableSelectableBoxRobot, ContactableSphereRobot, ContactableStaticCylinderRobot, ContactableStaticRobot, ContactableToroidRobot
public interface Contactable
isClose
boolean isClose(javax.vecmath.Point3d pointInWorldToCheck)
isPointOnOrInside
boolean isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)
closestIntersectionAndNormalAt
void closestIntersectionAndNormalAt(javax.vecmath.Point3d intersectionToPack,
javax.vecmath.Vector3d normalToPack,
javax.vecmath.Point3d pointInWorldToCheck)
updateContactPoints
void updateContactPoints()
getAndLockAvailableContactPoint
int getAndLockAvailableContactPoint()
unlockContactPoint
void unlockContactPoint(GroundContactPoint groundContactPoint)
getLockedContactPoint
GroundContactPoint getLockedContactPoint(int contactPointIndex)