Package org.web3d.x3d.sai.RigidBodyPhysics

Interface Contact

All Superinterfaces:
X3DNode
All Known Implementing Classes:
Contact
public interface Contact extends X3DNode
Contact nodes are produced as output events when two collidable objects or spaces make contact.

Warning: this is an abstract interface that cannot be instantiated as a concrete object. Java programmers typically only need to use concrete objects provided by the org.web3d.x3d.jsail classes. X3D node tooltip: (X3D version 3.2 or later) [X3DNode] Contact nodes are produced as output events when two collidable objects or spaces make contact. Hint: each Contact node contains two RigidBody nodes (containerField='body1' and containerField='body2') as well as two CollidableShape or CollidableOffset nodes (containerField='geometry1' and containerField='geometry2'). Warning: Contact nodes are transient and can only occur at run time. It is an error to define this transient node in an X3D file. *


Package hint: This interface is defined by the X3D Java Language Binding Specification for the Scene Authoring Interface (SAI).
See Also:

  • Method Summary

    Modifier and Type
    Method
    Description
    String[]
    getAppliedParameters()
    Provide array of String enumeration results (baseType MFString) ['"BOUNCE"' | '"USER_FRICTION"' | '"FRICTION_COEFFICIENT-2"' | '"ERROR_REDUCTION"' | '"CONSTANT_FORCE"' | '"SPEED-1"' | '"SPEED-2"' | '"SLIP-1"' | '"SLIP-2"'] from inputOutput MFString field named appliedParameters.
    RigidBody
    getBody1()
    Provide org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) from inputOutput SFNode field body1.
    RigidBody
    getBody2()
    Provide org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) from inputOutput SFNode field body2.
    float
    getBounce()
    Provide float value within allowed range of [0,1] from inputOutput SFFloat field named bounce.
    float[]
    getContactNormal()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named contactNormal.
    float
    getDepth()
    Provide float value from inputOutput SFFloat field named depth.
    float[]
    getFrictionCoefficients()
    Provide array of 2-tuple float results within allowed range of [0,infinity) from inputOutput SFVec2f field named frictionCoefficients.
    float[]
    getFrictionDirection()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named frictionDirection.
    X3DNBodyCollidableNode
    getGeometry1()
    Provide org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) from inputOutput SFNode field geometry1.
    X3DNBodyCollidableNode
    getGeometry2()
    Provide org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) from inputOutput SFNode field geometry2.
    X3DMetadataObject
    getMetadata()
    Provide org.web3d.x3d.sai.Core.X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.
    float
    getMinBounceSpeed()
    Provide float value within allowed range of [0,infinity) from inputOutput SFFloat field named minBounceSpeed.
    float[]
    getPosition()
    Provide array of 3-tuple float results from inputOutput SFVec3f field named position.
    float[]
    getSlipCoefficients()
    Provide array of 2-tuple float results from inputOutput SFVec2f field named slipCoefficients.
    float
    getSoftnessConstantForceMix()
    Provide float value within allowed range of [0,1] from inputOutput SFFloat field named softnessConstantForceMix.
    float
    getSoftnessErrorCorrection()
    Provide float value within allowed range of [0,1] from inputOutput SFFloat field named softnessErrorCorrection.
    float[]
    getSurfaceSpeed()
    Provide array of 2-tuple float results from inputOutput SFVec2f field named surfaceSpeed.
    Contact
    setAppliedParameters(String[] newValue)
    Accessor method to assign String enumeration array (""BOUNCE"" | ""USER_FRICTION"" | ""FRICTION_COEFFICIENT-2"" | ""ERROR_REDUCTION"" | ""CONSTANT_FORCE"" | ""SPEED-1"" | ""SPEED-2"" | ""SLIP-1"" | ""SLIP-2"") to inputOutput MFString field named appliedParameters.
    Contact
    setBody1(RigidBody newValue)
    Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) to inputOutput SFNode field body1.
    Contact
    setBody2(RigidBody newValue)
    Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) to inputOutput SFNode field body2.
    Contact
    setBounce(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named bounce.
    Contact
    setContactNormal(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named contactNormal.
    Contact
    setDepth(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named depth.
    Contact
    setFrictionCoefficients(float[] newValue)
    Accessor method to assign 2-tuple float array to inputOutput SFVec2f field named frictionCoefficients.
    Contact
    setFrictionDirection(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named frictionDirection.
    Contact
    setGeometry1(X3DNBodyCollidableNode newValue)
    Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) to inputOutput SFNode field geometry1.
    Contact
    setGeometry2(X3DNBodyCollidableNode newValue)
    Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) to inputOutput SFNode field geometry2.
    Contact
    setMetadata(X3DMetadataObject newValue)
    Accessor method to assign org.web3d.x3d.sai.Core.X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.
    Contact
    setMinBounceSpeed(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named minBounceSpeed.
    Contact
    setPosition(float[] newValue)
    Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named position.
    Contact
    setSlipCoefficients(float[] newValue)
    Accessor method to assign 2-tuple float array to inputOutput SFVec2f field named slipCoefficients.
    Contact
    setSoftnessConstantForceMix(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named softnessConstantForceMix.
    Contact
    setSoftnessErrorCorrection(float newValue)
    Accessor method to assign float value to inputOutput SFFloat field named softnessErrorCorrection.
    Contact
    setSurfaceSpeed(float[] newValue)
    Accessor method to assign 2-tuple float array to inputOutput SFVec2f field named surfaceSpeed.

  • Method Details

    • getAppliedParameters

      String[] getAppliedParameters()
      Provide array of String enumeration results (baseType MFString) ['"BOUNCE"' | '"USER_FRICTION"' | '"FRICTION_COEFFICIENT-2"' | '"ERROR_REDUCTION"' | '"CONSTANT_FORCE"' | '"SPEED-1"' | '"SPEED-2"' | '"SLIP-1"' | '"SLIP-2"'] from inputOutput MFString field named appliedParameters.

      Tooltip: Default global parameters for collision outputs of rigid body physics system. Contact node can override parent CollisionCollection node. Selectable values for array: "BOUNCE" "USER_FRICTION" "FRICTION_COEFFICIENT_2" "ERROR_REDUCTION" "CONSTANT_FORCE" "SPEED_1" "SPEED_2" "SLIP_1" "SLIP_2". Hint: BOUNCE: bounce value is used; USER_FRICTION: apply user-supplied value; FRICTION_COEFFICIENT_2: apply frictionCoefficients values; ERROR_REDUCTION: apply softnessErrorCorrection value; CONSTANT_FORCE: apply softnessConstantForceMix value; SPEED_1: apply first component of surfaceSpeed array; SPEED_2: apply second component of surfaceSpeed array; SLIP_1: apply first component of slipFactors array; SLIP_2: apply second component of slipFactors array. *
      Returns:
      value of appliedParameters field

    • setAppliedParameters

      Contact setAppliedParameters(String[] newValue)
      Accessor method to assign String enumeration array (""BOUNCE"" | ""USER_FRICTION"" | ""FRICTION_COEFFICIENT-2"" | ""ERROR_REDUCTION"" | ""CONSTANT_FORCE"" | ""SPEED-1"" | ""SPEED-2"" | ""SLIP-1"" | ""SLIP-2"") to inputOutput MFString field named appliedParameters.

      Tooltip: Default global parameters for collision outputs of rigid body physics system. Contact node can override parent CollisionCollection node. Selectable values for array: "BOUNCE" "USER_FRICTION" "FRICTION_COEFFICIENT_2" "ERROR_REDUCTION" "CONSTANT_FORCE" "SPEED_1" "SPEED_2" "SLIP_1" "SLIP_2". Hint: BOUNCE: bounce value is used; USER_FRICTION: apply user-supplied value; FRICTION_COEFFICIENT_2: apply frictionCoefficients values; ERROR_REDUCTION: apply softnessErrorCorrection value; CONSTANT_FORCE: apply softnessConstantForceMix value; SPEED_1: apply first component of surfaceSpeed array; SPEED_2: apply second component of surfaceSpeed array; SLIP_1: apply first component of slipFactors array; SLIP_2: apply second component of slipFactors array. *
      Parameters:
      newValue - is new value for the appliedParameters field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getBody1

      RigidBody getBody1()
      Provide org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) from inputOutput SFNode field body1.

      Tooltip: [RigidBody] The body1 and body2 fields specify two top-level nodes that should be evaluated in the physics model as a single set of interactions with respect to each other. *
      Returns:
      value of body1 field

    • setBody1

      Contact setBody1(RigidBody newValue)
      Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) to inputOutput SFNode field body1.

      Tooltip: [RigidBody] The body1 and body2 fields specify two top-level nodes that should be evaluated in the physics model as a single set of interactions with respect to each other. *
      Parameters:
      newValue - is new value for the body1 field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getBody2

      RigidBody getBody2()
      Provide org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) from inputOutput SFNode field body2.

      Tooltip: [RigidBody] The body1 and body2 fields specify two top-level nodes that should be evaluated in the physics model as a single set of interactions with respect to each other. *
      Returns:
      value of body2 field

    • setBody2

      Contact setBody2(RigidBody newValue)
      Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.RigidBody instance (using a properly typed node) to inputOutput SFNode field body2.

      Tooltip: [RigidBody] The body1 and body2 fields specify two top-level nodes that should be evaluated in the physics model as a single set of interactions with respect to each other. *
      Parameters:
      newValue - is new value for the body2 field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getBounce

      float getBounce()
      Provide float value within allowed range of [0,1] from inputOutput SFFloat field named bounce.

      Tooltip: [0,1] bounce indicates bounciness (0 = no bounce at all, 1 = maximum bounce). *
      Returns:
      value of bounce field

    • setBounce

      Contact setBounce(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named bounce.

      Tooltip: [0,1] bounce indicates bounciness (0 = no bounce at all, 1 = maximum bounce). *
      Parameters:
      newValue - is new value for the bounce field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getContactNormal

      float[] getContactNormal()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named contactNormal.

      Tooltip: contactNormal is unit vector describing normal between two colliding bodies. *
      Returns:
      value of contactNormal field

    • setContactNormal

      Contact setContactNormal(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named contactNormal.

      Tooltip: contactNormal is unit vector describing normal between two colliding bodies. *
      Parameters:
      newValue - is new value for the contactNormal field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getDepth

      float getDepth()
      Provide float value from inputOutput SFFloat field named depth.

      Tooltip: [0,1] depth indicates how deep the current intersection is along normal vector. *
      Returns:
      value of depth field

    • setDepth

      Contact setDepth(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named depth.

      Tooltip: [0,1] depth indicates how deep the current intersection is along normal vector. *
      Parameters:
      newValue - is new value for the depth field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getFrictionCoefficients

      float[] getFrictionCoefficients()
      Provide array of 2-tuple float results within allowed range of [0,infinity) from inputOutput SFVec2f field named frictionCoefficients.

      Tooltip: frictionCoefficients used for computing surface drag. *
      Returns:
      value of frictionCoefficients field

    • setFrictionCoefficients

      Contact setFrictionCoefficients(float[] newValue)
      Accessor method to assign 2-tuple float array to inputOutput SFVec2f field named frictionCoefficients.

      Tooltip: frictionCoefficients used for computing surface drag. *
      Parameters:
      newValue - is new value for the frictionCoefficients field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getFrictionDirection

      float[] getFrictionDirection()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named frictionDirection.

      Tooltip: frictionDirection controls friction vector. Hint: value of (0 0 0) indicates no friction. *
      Returns:
      value of frictionDirection field

    • setFrictionDirection

      Contact setFrictionDirection(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named frictionDirection.

      Tooltip: frictionDirection controls friction vector. Hint: value of (0 0 0) indicates no friction. *
      Parameters:
      newValue - is new value for the frictionDirection field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getGeometry1

      X3DNBodyCollidableNode getGeometry1()
      Provide org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) from inputOutput SFNode field geometry1.

      Tooltip: [X3DNBodyCollidableNode] The geometry1 and geometry2 fields specify collision-related information about body1 and body2. *
      Returns:
      value of geometry1 field

    • setGeometry1

      Contact setGeometry1(X3DNBodyCollidableNode newValue)
      Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) to inputOutput SFNode field geometry1.

      Tooltip: [X3DNBodyCollidableNode] The geometry1 and geometry2 fields specify collision-related information about body1 and body2. *
      Parameters:
      newValue - is new value for the geometry1 field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getGeometry2

      X3DNBodyCollidableNode getGeometry2()
      Provide org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) from inputOutput SFNode field geometry2.

      Tooltip: [X3DNBodyCollidableNode] The geometry1 and geometry2 fields specify collision-related information about body1 and body2. *
      Returns:
      value of geometry2 field

    • setGeometry2

      Contact setGeometry2(X3DNBodyCollidableNode newValue)
      Accessor method to assign org.web3d.x3d.sai.RigidBodyPhysics.X3DNBodyCollidableNode instance (using a properly typed node) to inputOutput SFNode field geometry2.

      Tooltip: [X3DNBodyCollidableNode] The geometry1 and geometry2 fields specify collision-related information about body1 and body2. *
      Parameters:
      newValue - is new value for the geometry2 field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getMetadata

      X3DMetadataObject getMetadata()
      Provide org.web3d.x3d.sai.Core.X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.

      Tooltip: [X3DMetadataObject] Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node. Hint: X3D Architecture 7.2.4 Metadata <a href="https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-IS.proof//Part01/components/core.html#Metadata" target="_blank">https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-IS.proof//Part01/components/core.html#Metadata</a> *
      Specified by:
      getMetadata in interface X3DNode
      Returns:
      value of metadata field
      See Also:

    • setMetadata

      Contact setMetadata(X3DMetadataObject newValue)
      Accessor method to assign org.web3d.x3d.sai.Core.X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.

      Tooltip: [X3DMetadataObject] Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node. Hint: X3D Architecture 7.2.4 Metadata <a href="https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-IS.proof//Part01/components/core.html#Metadata" target="_blank">https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-IS.proof//Part01/components/core.html#Metadata</a> *
      Specified by:
      setMetadata in interface X3DNode
      Parameters:
      newValue - is new value for the metadata field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      See Also:

    • getMinBounceSpeed

      float getMinBounceSpeed()
      Provide float value within allowed range of [0,infinity) from inputOutput SFFloat field named minBounceSpeed.

      Tooltip: [0,+infinity) minBounceSpeed m/s needed to bounce. *
      Returns:
      value of minBounceSpeed field

    • setMinBounceSpeed

      Contact setMinBounceSpeed(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named minBounceSpeed.

      Tooltip: [0,+infinity) minBounceSpeed m/s needed to bounce. *
      Parameters:
      newValue - is new value for the minBounceSpeed field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getPosition

      float[] getPosition()
      Provide array of 3-tuple float results from inputOutput SFVec3f field named position.

      Tooltip: position (x, y, z in meters) of exact location of collision. *
      Returns:
      value of position field

    • setPosition

      Contact setPosition(float[] newValue)
      Accessor method to assign 3-tuple float array to inputOutput SFVec3f field named position.

      Tooltip: position (x, y, z in meters) of exact location of collision. *
      Parameters:
      newValue - is new value for the position field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getSlipCoefficients

      float[] getSlipCoefficients()
      Provide array of 2-tuple float results from inputOutput SFVec2f field named slipCoefficients.

      Tooltip: slipCoefficients used for computing surface drag. *
      Returns:
      value of slipCoefficients field

    • setSlipCoefficients

      Contact setSlipCoefficients(float[] newValue)
      Accessor method to assign 2-tuple float array to inputOutput SFVec2f field named slipCoefficients.

      Tooltip: slipCoefficients used for computing surface drag. *
      Parameters:
      newValue - is new value for the slipCoefficients field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getSoftnessConstantForceMix

      float getSoftnessConstantForceMix()
      Provide float value within allowed range of [0,1] from inputOutput SFFloat field named softnessConstantForceMix.

      Tooltip: [0,1] softnessConstantForceMix value applies a constant force value to make colliding surfaces appear to be somewhat soft. *
      Returns:
      value of softnessConstantForceMix field

    • setSoftnessConstantForceMix

      Contact setSoftnessConstantForceMix(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named softnessConstantForceMix.

      Tooltip: [0,1] softnessConstantForceMix value applies a constant force value to make colliding surfaces appear to be somewhat soft. *
      Parameters:
      newValue - is new value for the softnessConstantForceMix field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getSoftnessErrorCorrection

      float getSoftnessErrorCorrection()
      Provide float value within allowed range of [0,1] from inputOutput SFFloat field named softnessErrorCorrection.

      Tooltip: [0,1] softnessErrorCorrection indicates fraction of collision error fixed in a set of evaluations (0 = no error correction, 1 = all errors corrected in single step). *
      Returns:
      value of softnessErrorCorrection field

    • setSoftnessErrorCorrection

      Contact setSoftnessErrorCorrection(float newValue)
      Accessor method to assign float value to inputOutput SFFloat field named softnessErrorCorrection.

      Tooltip: [0,1] softnessErrorCorrection indicates fraction of collision error fixed in a set of evaluations (0 = no error correction, 1 = all errors corrected in single step). *
      Parameters:
      newValue - is new value for the softnessErrorCorrection field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

    • getSurfaceSpeed

      float[] getSurfaceSpeed()
      Provide array of 2-tuple float results from inputOutput SFVec2f field named surfaceSpeed.

      Tooltip: surfaceSpeed defines speed vectors for computing surface drag, if contact surfaces move independently of bodies. *
      Returns:
      value of surfaceSpeed field

    • setSurfaceSpeed

      Contact setSurfaceSpeed(float[] newValue)
      Accessor method to assign 2-tuple float array to inputOutput SFVec2f field named surfaceSpeed.

      Tooltip: surfaceSpeed defines speed vectors for computing surface drag, if contact surfaces move independently of bodies. *
      Parameters:
      newValue - is new value for the surfaceSpeed field.
      Returns:
      Contact - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).