com.yobotics.simulationconstructionset.util.ground
Interface Contactable

All Known Implementing Classes:
ArticulatedContactable, ContactablePinJointRobot, ContactableRobot, ContactableSelectableBoxRobot, ContactableSphereRobot, ContactableStaticCylinderRobot, ContactableStaticRobot, ContactableToroidRobot

public interface Contactable


Method Summary
 void closestIntersectionAndNormalAt(javax.vecmath.Point3d intersectionToPack, javax.vecmath.Vector3d normalToPack, javax.vecmath.Point3d pointInWorldToCheck)
           
 int getAndLockAvailableContactPoint()
           
 GroundContactPoint getLockedContactPoint(int contactPointIndex)
           
 boolean isClose(javax.vecmath.Point3d pointInWorldToCheck)
           
 boolean isPointOnOrInside(javax.vecmath.Point3d pointInWorldToCheck)
           
 void unlockContactPoint(GroundContactPoint groundContactPoint)
           
 void updateContactPoints()
           
 

Method Detail

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)