Class ContactObject

  • All Implemented Interfaces:
    X3DNode, Contact

    public class ContactObject
    extends X3DConcreteNode
    implements Contact
    Contact nodes are produced as output events when two collidable objects or spaces make contact.

    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 org.web3d.x3d.jsail concrete class is used for implementing a standalone X3D object as a Plain Old Java Object (POJO). If you are writing Java code for use inside an X3D Script node, compile separate code using only the org.web3d.x3d.sai package instead.
    See Also:
    X3D Abstract Specification: Contact, X3D Tooltips: Contact, X3D Scene Authoring Hints
    • Field Detail

      • appliedParametersChoices

        public static final java.util.ArrayList<java.lang.String> appliedParametersChoices
        List of specification-defined enumeration values, with additional author-defined enumeration values not allowed.

        Allowed values: ""BOUNCE"", ""USER_FRICTION"", ""FRICTION_COEFFICIENT-2"", ""ERROR_REDUCTION"", ""CONSTANT_FORCE"", ""SPEED-1"", ""SPEED-2"", ""SLIP-1"", ""SLIP-2"".

        Default global parameters for collision outputs of rigid body physics system. Contact node can override parent CollisionCollection node. Multiple optional values, but appliedParameters enumerations cannot be extended.
        See Also:
        https://www.web3d.org/documents/specifications/19775-1/V3.3/Part01/components/rigid_physics.html#t-AppliedParametersValidValues
      • APPLIEDPARAMETERS_BOUNCE

        public static final java.lang.String APPLIEDPARAMETERS_BOUNCE
        Tooltip: The bounce field value is used. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "BOUNCE" (Java syntax) or '"BOUNCE"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_USER_FRICTION

        public static final java.lang.String APPLIEDPARAMETERS_USER_FRICTION
        Tooltip: The system will normally calculate the friction direction vector that is perpendicular to the contact normal. This setting indicates that the user-supplied value in this contact should be used. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "USER_FRICTION" (Java syntax) or '"USER_FRICTION"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_FRICTION_COEFFICIENT_2

        public static final java.lang.String APPLIEDPARAMETERS_FRICTION_COEFFICIENT_2
        Tooltip: Apply frictionCoefficients values. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "FRICTION_COEFFICIENT-2" (Java syntax) or '"FRICTION_COEFFICIENT-2"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_ERROR_REDUCTION

        public static final java.lang.String APPLIEDPARAMETERS_ERROR_REDUCTION
        Tooltip: Apply softnessErrorCorrection value. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "ERROR_REDUCTION" (Java syntax) or '"ERROR_REDUCTION"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_CONSTANT_FORCE

        public static final java.lang.String APPLIEDPARAMETERS_CONSTANT_FORCE
        Tooltip: Apply softnessConstantForceMix value. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "CONSTANT_FORCE" (Java syntax) or '"CONSTANT_FORCE"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_SPEED_1

        public static final java.lang.String APPLIEDPARAMETERS_SPEED_1
        Tooltip: Apply first component of surfaceSpeed array. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "SPEED-1" (Java syntax) or '"SPEED-1"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_SPEED_2

        public static final java.lang.String APPLIEDPARAMETERS_SPEED_2
        Tooltip: Apply second component of surfaceSpeed array. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "SPEED-2" (Java syntax) or '"SPEED-2"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_SLIP_1

        public static final java.lang.String APPLIEDPARAMETERS_SLIP_1
        Tooltip: Apply first component of slipFactors array. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "SLIP-1" (Java syntax) or '"SLIP-1"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • APPLIEDPARAMETERS_SLIP_2

        public static final java.lang.String APPLIEDPARAMETERS_SLIP_2
        Tooltip: Apply second component of slipFactors array. MFString field named appliedParameters with X3DUOM baseType appliedParametersChoices is an array that can only include one of the quoted enumeration values "SLIP-2" (Java syntax) or '"SLIP-2"' (XML syntax).
        See Also:
        appliedParametersChoices, Constant Field Values
      • NAME

        public static final java.lang.String NAME
        String constant NAME provides name of this element: Contact.
        See Also:
        Constant Field Values
      • COMPONENT

        public static final java.lang.String COMPONENT
        String constant COMPONENT defines X3D component for the Contact element: RigidBodyPhysics
        See Also:
        Constant Field Values
      • LEVEL

        public static final int LEVEL
        Integer constant LEVEL provides default X3D RigidBodyPhysics component level for this element: 2
        See Also:
        Constant Field Values
      • APPLIEDPARAMETERS_DEFAULT_VALUE

        public static final java.util.ArrayList<java.lang.String> APPLIEDPARAMETERS_DEFAULT_VALUE
        MFString field named appliedParameters has default quoted value new String[] {"BOUNCE"} (Java syntax) or quoted value "BOUNCE" (XML syntax).
      • BODY1_DEFAULT_VALUE

        public static final RigidBodyObject BODY1_DEFAULT_VALUE
        SFNode field named body1 has default value null (Java syntax) or NULL (XML syntax).
      • BODY2_DEFAULT_VALUE

        public static final RigidBodyObject BODY2_DEFAULT_VALUE
        SFNode field named body2 has default value null (Java syntax) or NULL (XML syntax).
      • BOUNCE_DEFAULT_VALUE

        public static final float BOUNCE_DEFAULT_VALUE
        SFFloat field named bounce has default value 0f (Java syntax) or 0 (XML syntax).
        See Also:
        Constant Field Values
      • CONTACTNORMAL_DEFAULT_VALUE

        public static final float[] CONTACTNORMAL_DEFAULT_VALUE
        SFVec3f field named contactNormal has default value {0f,1f,0f} (Java syntax) or 0 1 0 (XML syntax).
      • DEPTH_DEFAULT_VALUE

        public static final float DEPTH_DEFAULT_VALUE
        SFFloat field named depth has default value 0f (Java syntax) or 0 (XML syntax).
        See Also:
        Constant Field Values
      • FRICTIONCOEFFICIENTS_DEFAULT_VALUE

        public static final float[] FRICTIONCOEFFICIENTS_DEFAULT_VALUE
        SFVec2f field named frictionCoefficients has default value {0f,0f} (Java syntax) or 0 0 (XML syntax).
      • FRICTIONDIRECTION_DEFAULT_VALUE

        public static final float[] FRICTIONDIRECTION_DEFAULT_VALUE
        SFVec3f field named frictionDirection has default value {0f,1f,0f} (Java syntax) or 0 1 0 (XML syntax).
      • GEOMETRY1_DEFAULT_VALUE

        public static final X3DNBodyCollidableNode GEOMETRY1_DEFAULT_VALUE
        SFNode field named geometry1 has default value null (Java syntax) or NULL (XML syntax).
      • GEOMETRY2_DEFAULT_VALUE

        public static final X3DNBodyCollidableNode GEOMETRY2_DEFAULT_VALUE
        SFNode field named geometry2 has default value null (Java syntax) or NULL (XML syntax).
      • IS_DEFAULT_VALUE

        public static final ISObject IS_DEFAULT_VALUE
        SFNode field named IS has default value null (Java syntax) or NULL (XML syntax).
      • METADATA_DEFAULT_VALUE

        public static final X3DMetadataObject METADATA_DEFAULT_VALUE
        SFNode field named metadata has default value null (Java syntax) or NULL (XML syntax).
      • MINBOUNCESPEED_DEFAULT_VALUE

        public static final float MINBOUNCESPEED_DEFAULT_VALUE
        SFFloat field named minBounceSpeed has default value 0f (Java syntax) or 0 (XML syntax).
        See Also:
        Constant Field Values
      • POSITION_DEFAULT_VALUE

        public static final float[] POSITION_DEFAULT_VALUE
        SFVec3f field named position has default value {0f,0f,0f} (Java syntax) or 0 0 0 (XML syntax).
      • SLIPCOEFFICIENTS_DEFAULT_VALUE

        public static final float[] SLIPCOEFFICIENTS_DEFAULT_VALUE
        SFVec2f field named slipCoefficients has default value {0f,0f} (Java syntax) or 0 0 (XML syntax).
      • SOFTNESSCONSTANTFORCEMIX_DEFAULT_VALUE

        public static final float SOFTNESSCONSTANTFORCEMIX_DEFAULT_VALUE
        SFFloat field named softnessConstantForceMix has default value 0.0001f (Java syntax) or 0.0001 (XML syntax).
        See Also:
        Constant Field Values
      • SOFTNESSERRORCORRECTION_DEFAULT_VALUE

        public static final float SOFTNESSERRORCORRECTION_DEFAULT_VALUE
        SFFloat field named softnessErrorCorrection has default value 0.8f (Java syntax) or 0.8 (XML syntax).
        See Also:
        Constant Field Values
      • SURFACESPEED_DEFAULT_VALUE

        public static final float[] SURFACESPEED_DEFAULT_VALUE
        SFVec2f field named surfaceSpeed has default value {0f,0f} (Java syntax) or 0 0 (XML syntax).
      • fromField_APPLIEDPARAMETERS

        public static final java.lang.String fromField_APPLIEDPARAMETERS
        fromField ROUTE name for MFString field named appliedParameters.
        See Also:
        Constant Field Values
      • toField_APPLIEDPARAMETERS

        public static final java.lang.String toField_APPLIEDPARAMETERS
        toField ROUTE name for MFString field named appliedParameters.
        See Also:
        Constant Field Values
      • fromField_BODY1

        public static final java.lang.String fromField_BODY1
        fromField ROUTE name for SFNode field named body1.
        See Also:
        Constant Field Values
      • toField_BODY1

        public static final java.lang.String toField_BODY1
        toField ROUTE name for SFNode field named body1.
        See Also:
        Constant Field Values
      • fromField_BODY2

        public static final java.lang.String fromField_BODY2
        fromField ROUTE name for SFNode field named body2.
        See Also:
        Constant Field Values
      • toField_BODY2

        public static final java.lang.String toField_BODY2
        toField ROUTE name for SFNode field named body2.
        See Also:
        Constant Field Values
      • fromField_BOUNCE

        public static final java.lang.String fromField_BOUNCE
        fromField ROUTE name for SFFloat field named bounce.
        See Also:
        Constant Field Values
      • toField_BOUNCE

        public static final java.lang.String toField_BOUNCE
        toField ROUTE name for SFFloat field named bounce.
        See Also:
        Constant Field Values
      • fromField_CONTACTNORMAL

        public static final java.lang.String fromField_CONTACTNORMAL
        fromField ROUTE name for SFVec3f field named contactNormal.
        See Also:
        Constant Field Values
      • toField_CONTACTNORMAL

        public static final java.lang.String toField_CONTACTNORMAL
        toField ROUTE name for SFVec3f field named contactNormal.
        See Also:
        Constant Field Values
      • fromField_DEPTH

        public static final java.lang.String fromField_DEPTH
        fromField ROUTE name for SFFloat field named depth.
        See Also:
        Constant Field Values
      • toField_DEPTH

        public static final java.lang.String toField_DEPTH
        toField ROUTE name for SFFloat field named depth.
        See Also:
        Constant Field Values
      • fromField_FRICTIONCOEFFICIENTS

        public static final java.lang.String fromField_FRICTIONCOEFFICIENTS
        fromField ROUTE name for SFVec2f field named frictionCoefficients.
        See Also:
        Constant Field Values
      • toField_FRICTIONCOEFFICIENTS

        public static final java.lang.String toField_FRICTIONCOEFFICIENTS
        toField ROUTE name for SFVec2f field named frictionCoefficients.
        See Also:
        Constant Field Values
      • fromField_FRICTIONDIRECTION

        public static final java.lang.String fromField_FRICTIONDIRECTION
        fromField ROUTE name for SFVec3f field named frictionDirection.
        See Also:
        Constant Field Values
      • toField_FRICTIONDIRECTION

        public static final java.lang.String toField_FRICTIONDIRECTION
        toField ROUTE name for SFVec3f field named frictionDirection.
        See Also:
        Constant Field Values
      • fromField_GEOMETRY1

        public static final java.lang.String fromField_GEOMETRY1
        fromField ROUTE name for SFNode field named geometry1.
        See Also:
        Constant Field Values
      • toField_GEOMETRY1

        public static final java.lang.String toField_GEOMETRY1
        toField ROUTE name for SFNode field named geometry1.
        See Also:
        Constant Field Values
      • fromField_GEOMETRY2

        public static final java.lang.String fromField_GEOMETRY2
        fromField ROUTE name for SFNode field named geometry2.
        See Also:
        Constant Field Values
      • toField_GEOMETRY2

        public static final java.lang.String toField_GEOMETRY2
        toField ROUTE name for SFNode field named geometry2.
        See Also:
        Constant Field Values
      • fromField_IS

        public static final java.lang.String fromField_IS
        fromField ROUTE name for SFNode field named IS.
        See Also:
        Constant Field Values
      • fromField_METADATA

        public static final java.lang.String fromField_METADATA
        fromField ROUTE name for SFNode field named metadata.
        See Also:
        Constant Field Values
      • toField_METADATA

        public static final java.lang.String toField_METADATA
        toField ROUTE name for SFNode field named metadata.
        See Also:
        Constant Field Values
      • fromField_MINBOUNCESPEED

        public static final java.lang.String fromField_MINBOUNCESPEED
        fromField ROUTE name for SFFloat field named minBounceSpeed.
        See Also:
        Constant Field Values
      • toField_MINBOUNCESPEED

        public static final java.lang.String toField_MINBOUNCESPEED
        toField ROUTE name for SFFloat field named minBounceSpeed.
        See Also:
        Constant Field Values
      • fromField_POSITION

        public static final java.lang.String fromField_POSITION
        fromField ROUTE name for SFVec3f field named position.
        See Also:
        Constant Field Values
      • toField_POSITION

        public static final java.lang.String toField_POSITION
        toField ROUTE name for SFVec3f field named position.
        See Also:
        Constant Field Values
      • fromField_SLIPCOEFFICIENTS

        public static final java.lang.String fromField_SLIPCOEFFICIENTS
        fromField ROUTE name for SFVec2f field named slipCoefficients.
        See Also:
        Constant Field Values
      • toField_SLIPCOEFFICIENTS

        public static final java.lang.String toField_SLIPCOEFFICIENTS
        toField ROUTE name for SFVec2f field named slipCoefficients.
        See Also:
        Constant Field Values
      • fromField_SOFTNESSCONSTANTFORCEMIX

        public static final java.lang.String fromField_SOFTNESSCONSTANTFORCEMIX
        fromField ROUTE name for SFFloat field named softnessConstantForceMix.
        See Also:
        Constant Field Values
      • toField_SOFTNESSCONSTANTFORCEMIX

        public static final java.lang.String toField_SOFTNESSCONSTANTFORCEMIX
        toField ROUTE name for SFFloat field named softnessConstantForceMix.
        See Also:
        Constant Field Values
      • fromField_SOFTNESSERRORCORRECTION

        public static final java.lang.String fromField_SOFTNESSERRORCORRECTION
        fromField ROUTE name for SFFloat field named softnessErrorCorrection.
        See Also:
        Constant Field Values
      • toField_SOFTNESSERRORCORRECTION

        public static final java.lang.String toField_SOFTNESSERRORCORRECTION
        toField ROUTE name for SFFloat field named softnessErrorCorrection.
        See Also:
        Constant Field Values
      • fromField_SURFACESPEED

        public static final java.lang.String fromField_SURFACESPEED
        fromField ROUTE name for SFVec2f field named surfaceSpeed.
        See Also:
        Constant Field Values
      • toField_SURFACESPEED

        public static final java.lang.String toField_SURFACESPEED
        toField ROUTE name for SFVec2f field named surfaceSpeed.
        See Also:
        Constant Field Values
    • Constructor Detail

      • ContactObject

        public ContactObject()
        Constructor for ContactObject to initialize member variables with default values.
      • ContactObject

        public ContactObject​(java.lang.String DEFlabel)
        Utility constructor that assigns DEF label after initializing member variables with default values.
        Parameters:
        DEFlabel - unique DEF name for this X3D node
    • Method Detail

      • getElementName

        public final java.lang.String getElementName()
        Provides name of this element: Contact
        Specified by:
        getElementName in class X3DConcreteElement
        Returns:
        name of this element
      • getComponent

        public final java.lang.String getComponent()
        Defines X3D component for the Contact element: RigidBodyPhysics
        Specified by:
        getComponent in class X3DConcreteElement
        Returns:
        X3D component for this element
      • getComponentLevel

        public final int getComponentLevel()
        Provides default X3D component level for this element: 2
        Specified by:
        getComponentLevel in class X3DConcreteElement
        Returns:
        default X3D component level for this element
      • getFieldType

        public java.lang.String getFieldType​(java.lang.String fieldName)
        Indicate type corresponding to given fieldName.
        Specified by:
        getFieldType in class X3DConcreteElement
        Parameters:
        fieldName - name of field in this X3D node
        Returns:
        X3D type (SFvec3f etc.), otherwise ConfigurationProperties.ERROR_UNKNOWN_FIELD_TYPE if not recognized
        See Also:
        ConfigurationProperties.ERROR_UNKNOWN_FIELD_TYPE
      • getAccessType

        public java.lang.String getAccessType​(java.lang.String fieldName)
        Indicate accessType corresponding to given fieldName.
        Specified by:
        getAccessType in class X3DConcreteElement
        Parameters:
        fieldName - name of field in this X3D node
        Returns:
        X3D accessType (inputOnly etc.), otherwise ConfigurationProperties.ERROR_UNKNOWN_FIELD_ACCESSTYPE if not recognized
        See Also:
        ConfigurationProperties.ERROR_UNKNOWN_FIELD_ACCESSTYPE
      • initialize

        public final void initialize()
        Initialize all member variables to default values.
        Overrides:
        initialize in class X3DConcreteNode
      • getAppliedParameters

        public java.lang.String[] getAppliedParameters()
        Provide array of String enumeration results ( baseType appliedParametersChoices) [""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.


        Available enumeration values for string comparison: BOUNCE, USER_FRICTION, FRICTION_COEFFICIENT_2, ERROR_REDUCTION, CONSTANT_FORCE, SPEED_1, SPEED_2, SLIP_1, SLIP_2.
        Specified by:
        getAppliedParameters in interface Contact
        Returns:
        value of appliedParameters field
      • getAppliedParametersList

        public java.util.ArrayList<java.lang.String> getAppliedParametersList()
        Utility method to get ArrayList value of MFString appliedParameters field, similar to getAppliedParameters().
        Returns:
        value of appliedParameters field
      • setAppliedParameters

        public ContactObject setAppliedParameters​(java.lang.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.

        Warning: authors can only choose from a strict list of enumeration values (BOUNCE, USER_FRICTION, FRICTION_COEFFICIENT_2, ERROR_REDUCTION, CONSTANT_FORCE, SPEED_1, SPEED_2, SLIP_1, SLIP_2).

        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.
        Specified by:
        setAppliedParameters in interface Contact
        Parameters:
        newValue - is new value for the appliedParameters field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setAppliedParameters

        public ContactObject setAppliedParameters​(MFStringObject newValue)
        Assign typed object value to MFString appliedParameters field, similar to setAppliedParameters(String[]).
        Parameters:
        newValue - is new value for the appliedParameters field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setAppliedParameters

        public ContactObject setAppliedParameters​(java.util.ArrayList<java.lang.String> newValue)
        Assign ArrayList value of MFString appliedParameters field, similar to setAppliedParameters(String[]).
        Parameters:
        newValue - is new value for the appliedParameters field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • clearAppliedParameters

        public ContactObject clearAppliedParameters()
        Utility method to clear MFString value of appliedParameters field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • addAppliedParameters

        public ContactObject addAppliedParameters​(java.lang.String newValue)
        Add singleton String value to MFString appliedParameters field.
        Parameters:
        newValue - is new value to add to the appliedParameters field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        MFStringObject.cleanupEnumerationValues(String)
      • addAppliedParameters

        public ContactObject addAppliedParameters​(SFStringObject newValue)
        Add singleton SFStringObject value to MFString appliedParameters field.
        Parameters:
        newValue - is new value to add to the appliedParameters field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        MFStringObject.cleanupEnumerationValues(String)
      • getBody1

        public RigidBody getBody1()
        Provide RigidBodyObject instance (using a properly typed node) from inputOutput SFNode field body1.
        Specified by:
        getBody1 in interface Contact
        Returns:
        value of body1 field
        See Also:
        getBody1ProtoInstance()
      • setBody1

        public ContactObject setBody1​(RigidBody newValue)
        Accessor method to assign RigidBodyObject instance (using a properly typed node) to inputOutput SFNode field body1.
        Specified by:
        setBody1 in interface Contact
        Parameters:
        newValue - is new value for the body1 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setBody1(ProtoInstanceObject)
      • clearBody1

        public ContactObject clearBody1()
        Utility method to clear SFNode value of body1 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • setBody1

        public ContactObject setBody1​(ProtoInstanceObject newValue)
        Assign ProtoInstance (using a properly typed node) to inputOutput SFNode field body1.
        Parameters:
        newValue - is new value for the body1 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setBody1(RigidBody)
      • hasBody1

        public boolean hasBody1()
        Indicate whether an object is available for inputOutput SFNode field body1.
        Returns:
        whether a properly typed node or ProtoInstance or CommentsBlock is available.
        See Also:
        getBody1(), getBody1ProtoInstance()
      • getBody2

        public RigidBody getBody2()
        Provide RigidBodyObject instance (using a properly typed node) from inputOutput SFNode field body2.
        Specified by:
        getBody2 in interface Contact
        Returns:
        value of body2 field
        See Also:
        getBody2ProtoInstance()
      • setBody2

        public ContactObject setBody2​(RigidBody newValue)
        Accessor method to assign RigidBodyObject instance (using a properly typed node) to inputOutput SFNode field body2.
        Specified by:
        setBody2 in interface Contact
        Parameters:
        newValue - is new value for the body2 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setBody2(ProtoInstanceObject)
      • clearBody2

        public ContactObject clearBody2()
        Utility method to clear SFNode value of body2 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • setBody2

        public ContactObject setBody2​(ProtoInstanceObject newValue)
        Assign ProtoInstance (using a properly typed node) to inputOutput SFNode field body2.
        Parameters:
        newValue - is new value for the body2 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setBody2(RigidBody)
      • hasBody2

        public boolean hasBody2()
        Indicate whether an object is available for inputOutput SFNode field body2.
        Returns:
        whether a properly typed node or ProtoInstance or CommentsBlock is available.
        See Also:
        getBody2(), getBody2ProtoInstance()
      • getBounce

        public 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). *
        Specified by:
        getBounce in interface Contact
        Returns:
        value of bounce field
      • setBounce

        public ContactObject 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). *
        Specified by:
        setBounce in interface Contact
        Parameters:
        newValue - is new value for the bounce field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setBounce

        public ContactObject setBounce​(SFFloatObject newValue)
        Assign typed object value to SFFloat bounce field, similar to setBounce(float).
        Parameters:
        newValue - is new value for the bounce field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setBounce

        public ContactObject setBounce​(double newValue)
        Utility method: double-precision set-parameter accessor for X3D floating-point type, similar to setBounce(float).
        Parameters:
        newValue - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getContactNormal

        public 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. *
        Specified by:
        getContactNormal in interface Contact
        Returns:
        value of contactNormal field
      • setContactNormal

        public ContactObject 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. *
        Specified by:
        setContactNormal in interface Contact
        Parameters:
        newValue - is new value for the contactNormal field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setContactNormal

        public ContactObject setContactNormal​(SFVec3fObject newValue)
        Assign typed object value to SFVec3f contactNormal field, similar to setContactNormal(float[]).
        Parameters:
        newValue - is new value for the contactNormal field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setContactNormal

        public ContactObject setContactNormal​(float x,
                                              float y,
                                              float z)
        Assign values to SFVec3f contactNormal field, similar to setContactNormal(float[]).
        Parameters:
        x - first component
        y - second component
        z - third component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setContactNormal

        public ContactObject setContactNormal​(double x,
                                              double y,
                                              double z)
        Utility method: double-precision set-parameters accessor for X3D floating-point type, similar to setContactNormal(float[]).
        Parameters:
        x - first component
        y - second component
        z - third component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setContactNormal

        public ContactObject setContactNormal​(double[] newArray)
        Utility method: double-precision set-array accessor for X3D floating-point type, similar to setContactNormal(float[]).
        Parameters:
        newArray - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getDepth

        public 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. *
        Specified by:
        getDepth in interface Contact
        Returns:
        value of depth field
      • setDepth

        public ContactObject 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. *
        Specified by:
        setDepth in interface Contact
        Parameters:
        newValue - is new value for the depth field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setDepth

        public ContactObject setDepth​(SFFloatObject newValue)
        Assign typed object value to SFFloat depth field, similar to setDepth(float).
        Parameters:
        newValue - is new value for the depth field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setDepth

        public ContactObject setDepth​(double newValue)
        Utility method: double-precision set-parameter accessor for X3D floating-point type, similar to setDepth(float).
        Parameters:
        newValue - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getFrictionCoefficients

        public 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. *
        Specified by:
        getFrictionCoefficients in interface Contact
        Returns:
        value of frictionCoefficients field
      • setFrictionCoefficients

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

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

        public ContactObject setFrictionCoefficients​(SFVec2fObject newValue)
        Assign typed object value to SFVec2f frictionCoefficients field, similar to setFrictionCoefficients(float[]).
        Parameters:
        newValue - is new value for the frictionCoefficients field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setFrictionCoefficients

        public ContactObject setFrictionCoefficients​(float x,
                                                     float y)
        Assign values to SFVec2f frictionCoefficients field, similar to setFrictionCoefficients(float[]).
        Parameters:
        x - first component
        y - second component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setFrictionCoefficients

        public ContactObject setFrictionCoefficients​(double x,
                                                     double y)
        Utility method: double-precision set-parameters accessor for X3D floating-point type, similar to setFrictionCoefficients(float[]).
        Parameters:
        x - first component
        y - second component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setFrictionCoefficients

        public ContactObject setFrictionCoefficients​(double[] newArray)
        Utility method: double-precision set-array accessor for X3D floating-point type, similar to setFrictionCoefficients(float[]).
        Parameters:
        newArray - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getFrictionDirection

        public 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.
        Specified by:
        getFrictionDirection in interface Contact
        Returns:
        value of frictionDirection field
      • setFrictionDirection

        public ContactObject 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.
        Specified by:
        setFrictionDirection in interface Contact
        Parameters:
        newValue - is new value for the frictionDirection field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setFrictionDirection

        public ContactObject setFrictionDirection​(SFVec3fObject newValue)
        Assign typed object value to SFVec3f frictionDirection field, similar to setFrictionDirection(float[]).
        Parameters:
        newValue - is new value for the frictionDirection field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setFrictionDirection

        public ContactObject setFrictionDirection​(float x,
                                                  float y,
                                                  float z)
        Assign values to SFVec3f frictionDirection field, similar to setFrictionDirection(float[]).
        Parameters:
        x - first component
        y - second component
        z - third component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setFrictionDirection

        public ContactObject setFrictionDirection​(double x,
                                                  double y,
                                                  double z)
        Utility method: double-precision set-parameters accessor for X3D floating-point type, similar to setFrictionDirection(float[]).
        Parameters:
        x - first component
        y - second component
        z - third component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setFrictionDirection

        public ContactObject setFrictionDirection​(double[] newArray)
        Utility method: double-precision set-array accessor for X3D floating-point type, similar to setFrictionDirection(float[]).
        Parameters:
        newArray - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getGeometry1

        public X3DNBodyCollidableNode getGeometry1()
        Provide X3DNBodyCollidableNode instance (using a properly typed node) from inputOutput SFNode field geometry1.
        Specified by:
        getGeometry1 in interface Contact
        Returns:
        value of geometry1 field
        See Also:
        getGeometry1ProtoInstance()
      • setGeometry1

        public ContactObject setGeometry1​(X3DNBodyCollidableNode newValue)
        Accessor method to assign X3DNBodyCollidableNode instance (using a properly typed node) to inputOutput SFNode field geometry1.
        Specified by:
        setGeometry1 in interface Contact
        Parameters:
        newValue - is new value for the geometry1 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setGeometry1(ProtoInstanceObject)
      • clearGeometry1

        public ContactObject clearGeometry1()
        Utility method to clear SFNode value of geometry1 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • setGeometry1

        public ContactObject setGeometry1​(ProtoInstanceObject newValue)
        Assign ProtoInstance (using a properly typed node) to inputOutput SFNode field geometry1.
        Parameters:
        newValue - is new value for the geometry1 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setGeometry1(X3DNBodyCollidableNode)
      • hasGeometry1

        public boolean hasGeometry1()
        Indicate whether an object is available for inputOutput SFNode field geometry1.
        Returns:
        whether a properly typed node or ProtoInstance or CommentsBlock is available.
        See Also:
        getGeometry1(), getGeometry1ProtoInstance()
      • getGeometry2

        public X3DNBodyCollidableNode getGeometry2()
        Provide X3DNBodyCollidableNode instance (using a properly typed node) from inputOutput SFNode field geometry2.
        Specified by:
        getGeometry2 in interface Contact
        Returns:
        value of geometry2 field
        See Also:
        getGeometry2ProtoInstance()
      • setGeometry2

        public ContactObject setGeometry2​(X3DNBodyCollidableNode newValue)
        Accessor method to assign X3DNBodyCollidableNode instance (using a properly typed node) to inputOutput SFNode field geometry2.
        Specified by:
        setGeometry2 in interface Contact
        Parameters:
        newValue - is new value for the geometry2 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setGeometry2(ProtoInstanceObject)
      • clearGeometry2

        public ContactObject clearGeometry2()
        Utility method to clear SFNode value of geometry2 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • setGeometry2

        public ContactObject setGeometry2​(ProtoInstanceObject newValue)
        Assign ProtoInstance (using a properly typed node) to inputOutput SFNode field geometry2.
        Parameters:
        newValue - is new value for the geometry2 field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        setGeometry2(X3DNBodyCollidableNode)
      • hasGeometry2

        public boolean hasGeometry2()
        Indicate whether an object is available for inputOutput SFNode field geometry2.
        Returns:
        whether a properly typed node or ProtoInstance or CommentsBlock is available.
        See Also:
        getGeometry2(), getGeometry2ProtoInstance()
      • setIS

        public ContactObject setIS​(ISObject newValue)
        Accessor method to assign ISObject instance (using a properly typed node) to inputOutput SFNode field IS.
        Specified by:
        setIS in class X3DConcreteNode
        Parameters:
        newValue - is new value for the IS field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        X3D Tooltips: IS, X3D Tooltips: connect
      • clearIS

        public ContactObject clearIS()
        Utility method to clear SFNode value of IS field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • hasIS

        public boolean hasIS()
        Indicate whether an object is available for inputOutput SFNode field IS.
        Returns:
        whether a concrete statement or CommentsBlock is available.
        See Also:
        getIS()
      • clearMetadata

        public ContactObject clearMetadata()
        Utility method to clear SFNode value of metadata field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • hasMetadata

        public boolean hasMetadata()
        Indicate whether an object is available for inputOutput SFNode field metadata.
        Returns:
        whether a properly typed node or ProtoInstance or CommentsBlock is available.
        See Also:
        getMetadata(), getMetadataProtoInstance(), X3D Scene Authoring Hints: Metadata Nodes
      • getMinBounceSpeed

        public 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. *
        Specified by:
        getMinBounceSpeed in interface Contact
        Returns:
        value of minBounceSpeed field
      • setMinBounceSpeed

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

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

        public ContactObject setMinBounceSpeed​(SFFloatObject newValue)
        Assign typed object value to SFFloat minBounceSpeed field, similar to setMinBounceSpeed(float).
        Parameters:
        newValue - is new value for the minBounceSpeed field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setMinBounceSpeed

        public ContactObject setMinBounceSpeed​(double newValue)
        Utility method: double-precision set-parameter accessor for X3D floating-point type, similar to setMinBounceSpeed(float).
        Parameters:
        newValue - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getPosition

        public 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. *
        Specified by:
        getPosition in interface Contact
        Returns:
        value of position field
      • setPosition

        public ContactObject 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. *
        Specified by:
        setPosition in interface Contact
        Parameters:
        newValue - is new value for the position field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setPosition

        public ContactObject setPosition​(SFVec3fObject newValue)
        Assign typed object value to SFVec3f position field, similar to setPosition(float[]).
        Parameters:
        newValue - is new value for the position field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setPosition

        public ContactObject setPosition​(float x,
                                         float y,
                                         float z)
        Assign values to SFVec3f position field, similar to setPosition(float[]).
        Parameters:
        x - first component
        y - second component
        z - third component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setPosition

        public ContactObject setPosition​(double x,
                                         double y,
                                         double z)
        Utility method: double-precision set-parameters accessor for X3D floating-point type, similar to setPosition(float[]).
        Parameters:
        x - first component
        y - second component
        z - third component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setPosition

        public ContactObject setPosition​(double[] newArray)
        Utility method: double-precision set-array accessor for X3D floating-point type, similar to setPosition(float[]).
        Parameters:
        newArray - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getSlipCoefficients

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

        Tooltip: slipCoefficients used for computing surface drag. *
        Specified by:
        getSlipCoefficients in interface Contact
        Returns:
        value of slipCoefficients field
      • setSlipCoefficients

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

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

        public ContactObject setSlipCoefficients​(SFVec2fObject newValue)
        Assign typed object value to SFVec2f slipCoefficients field, similar to setSlipCoefficients(float[]).
        Parameters:
        newValue - is new value for the slipCoefficients field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSlipCoefficients

        public ContactObject setSlipCoefficients​(float x,
                                                 float y)
        Assign values to SFVec2f slipCoefficients field, similar to setSlipCoefficients(float[]).
        Parameters:
        x - first component
        y - second component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSlipCoefficients

        public ContactObject setSlipCoefficients​(double x,
                                                 double y)
        Utility method: double-precision set-parameters accessor for X3D floating-point type, similar to setSlipCoefficients(float[]).
        Parameters:
        x - first component
        y - second component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSlipCoefficients

        public ContactObject setSlipCoefficients​(double[] newArray)
        Utility method: double-precision set-array accessor for X3D floating-point type, similar to setSlipCoefficients(float[]).
        Parameters:
        newArray - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getSoftnessConstantForceMix

        public 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. *
        Specified by:
        getSoftnessConstantForceMix in interface Contact
        Returns:
        value of softnessConstantForceMix field
      • setSoftnessConstantForceMix

        public ContactObject 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. *
        Specified by:
        setSoftnessConstantForceMix in interface Contact
        Parameters:
        newValue - is new value for the softnessConstantForceMix field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSoftnessConstantForceMix

        public ContactObject setSoftnessConstantForceMix​(SFFloatObject newValue)
        Assign typed object value to SFFloat softnessConstantForceMix field, similar to setSoftnessConstantForceMix(float).
        Parameters:
        newValue - is new value for the softnessConstantForceMix field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSoftnessConstantForceMix

        public ContactObject setSoftnessConstantForceMix​(double newValue)
        Utility method: double-precision set-parameter accessor for X3D floating-point type, similar to setSoftnessConstantForceMix(float).
        Parameters:
        newValue - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getSoftnessErrorCorrection

        public 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). *
        Specified by:
        getSoftnessErrorCorrection in interface Contact
        Returns:
        value of softnessErrorCorrection field
      • setSoftnessErrorCorrection

        public ContactObject 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). *
        Specified by:
        setSoftnessErrorCorrection in interface Contact
        Parameters:
        newValue - is new value for the softnessErrorCorrection field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSoftnessErrorCorrection

        public ContactObject setSoftnessErrorCorrection​(SFFloatObject newValue)
        Assign typed object value to SFFloat softnessErrorCorrection field, similar to setSoftnessErrorCorrection(float).
        Parameters:
        newValue - is new value for the softnessErrorCorrection field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSoftnessErrorCorrection

        public ContactObject setSoftnessErrorCorrection​(double newValue)
        Utility method: double-precision set-parameter accessor for X3D floating-point type, similar to setSoftnessErrorCorrection(float).
        Parameters:
        newValue - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getSurfaceSpeed

        public 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. *
        Specified by:
        getSurfaceSpeed in interface Contact
        Returns:
        value of surfaceSpeed field
      • setSurfaceSpeed

        public ContactObject 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. *
        Specified by:
        setSurfaceSpeed in interface Contact
        Parameters:
        newValue - is new value for the surfaceSpeed field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSurfaceSpeed

        public ContactObject setSurfaceSpeed​(SFVec2fObject newValue)
        Assign typed object value to SFVec2f surfaceSpeed field, similar to setSurfaceSpeed(float[]).
        Parameters:
        newValue - is new value for the surfaceSpeed field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSurfaceSpeed

        public ContactObject setSurfaceSpeed​(float x,
                                             float y)
        Assign values to SFVec2f surfaceSpeed field, similar to setSurfaceSpeed(float[]).
        Parameters:
        x - first component
        y - second component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSurfaceSpeed

        public ContactObject setSurfaceSpeed​(double x,
                                             double y)
        Utility method: double-precision set-parameters accessor for X3D floating-point type, similar to setSurfaceSpeed(float[]).
        Parameters:
        x - first component
        y - second component
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setSurfaceSpeed

        public ContactObject setSurfaceSpeed​(double[] newArray)
        Utility method: double-precision set-array accessor for X3D floating-point type, similar to setSurfaceSpeed(float[]).
        Parameters:
        newArray - is new value for field
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setDEF

        public final ContactObject setDEF​(java.lang.String newValue)
        Accessor method to assign String value to inputOutput SFString field named DEF.

        Tooltip: DEF defines a unique ID name for this node, referenceable by other nodes.

        Note that setting the DEF value clears the USE value.
        Specified by:
        setDEF in class X3DConcreteNode
        Parameters:
        newValue - is new value for the DEF field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setDEF

        public ContactObject setDEF​(SFStringObject newValue)
        Assign typed object value to SFString DEF field, similar to setDEF(String).
        Parameters:
        newValue - is new value for the DEF field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getUSE

        public java.lang.String getUSE()
        Provide String value from inputOutput SFString field named USE.

        Tooltip: USE means reuse an already DEF-ed node ID, excluding all child nodes and all other attributes (except for containerField, which can have a different value).
        • Hint: USE references to previously defined DEF geometry (instead of duplicating nodes) can improve performance.
        • Warning: do NOT include any child nodes, a DEF attribute, or any other attribute values (except for containerField) when defining a USE attribute.
        • Warning: each USE value must match a corresponding DEF value that is defined earlier in the scene.
        Overrides:
        getUSE in class X3DConcreteNode
        Returns:
        value of USE field
        See Also:
        X3D Scene Authoring Hints: Naming Conventions
      • setUSE

        public final ContactObject setUSE​(java.lang.String newValue)
        Accessor method to assign String value to inputOutput SFString field named USE.

        Tooltip: USE means reuse an already DEF-ed node ID, excluding all child nodes and all other attributes (except for containerField, which can have a different value).
        • Hint: USE references to previously defined DEF geometry (instead of duplicating nodes) can improve performance.
        • Warning: do NOT include any child nodes, a DEF attribute, or any other attribute values (except for containerField) when defining a USE attribute.
        • Warning: each USE value must match a corresponding DEF value that is defined earlier in the scene.


        Note: each USE node is still an independent object, with the USE value matching the DEF value in the preceding object.

        Warning: invoking the setUSE() method on this node resets all other fields to their default values (except for containerField) and also releases all child nodes.

        Warning: no other operations can be performed to modify a USE node other than setting an alternate containerField value.
        Specified by:
        setUSE in class X3DConcreteNode
        Parameters:
        newValue - is new value for the USE field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setUSE

        public ContactObject setUSE​(SFStringObject newValue)
        Assign typed object value to SFString USE field, similar to setUSE(String).
        Parameters:
        newValue - is new value for the USE field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • getCssClass

        public java.lang.String getCssClass()
        Provide String value from inputOutput SFString field named class.

        Tooltip: The class attribute is a space-separated list of classes, reserved for use by CSS cascading stylesheets.
        • Warning: currently the class attribute is only supported in XML encoding of X3D scenes.
        • Hint: W3C Cascading Style Sheets https://www.w3.org/Style/CSS
        Overrides:
        getCssClass in class X3DConcreteNode
        Returns:
        value of class field
        See Also:
        W3C Cascading Style Sheets
      • setCssClass

        public final ContactObject setCssClass​(java.lang.String newValue)
        Accessor method to assign String value to inputOutput SFString field named class.

        Tooltip: The class attribute is a space-separated list of classes, reserved for use by CSS cascading stylesheets.
        • Warning: currently the class attribute is only supported in XML encoding of X3D scenes.
        • Hint: W3C Cascading Style Sheets https://www.w3.org/Style/CSS
        Specified by:
        setCssClass in class X3DConcreteNode
        Parameters:
        newValue - is new value for the class field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
        See Also:
        W3C Cascading Style Sheets
      • setCssClass

        public ContactObject setCssClass​(SFStringObject newValue)
        Assign typed object value to SFString cssClass field, similar to setCssClass(String).
        Parameters:
        newValue - is new value for the class field.
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • setUSE

        public ContactObject setUSE​(ContactObject DEFnode)
        Assign a USE reference to another DEF node of same node type, similar to setUSE(String).

        Warning: note that the setUSE() method on this node resets all other fields to their default values (except for containerField) and also releases all child nodes.

        Warning: no other operations can be performed to modify a USE node other than setting an alternate containerField value.
        Parameters:
        DEFnode - must have a DEF value defined
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
      • addComments

        public ContactObject addComments​(java.lang.String newComment)
        Add comment as String to contained commentsList.
        Specified by:
        addComments in class X3DConcreteElement
        Parameters:
        newComment - initial value
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • addComments

        public ContactObject addComments​(java.lang.String[] newComments)
        Add comments as String[] array to contained commentsList.
        Specified by:
        addComments in class X3DConcreteElement
        Parameters:
        newComments - array of comments
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • addComments

        public ContactObject addComments​(CommentsBlock newCommentsBlock)
        Add CommentsBlock to contained commentsList.
        Specified by:
        addComments in class X3DConcreteElement
        Parameters:
        newCommentsBlock - block of comments to add
        Returns:
        ContactObject - namely this same object to allow sequential method pipelining (i.e. consecutive setAttribute method invocations).
      • findElementByNameValue

        public X3DConcreteElement findElementByNameValue​(java.lang.String nameValue)
        Recursive method to provide object reference to node or statement by name attribute, if found as part of this element or in a contained element. Elements with name fields include meta, Metadata* nodes, field/fieldValue, ProtoDeclare/ExternProtoDeclare/ProtoInstance, CAD and HAnim nodes.

        Warning: first start with findAncestorSceneObject() to check entire scene graph, or findAncestorX3DObject() to check entire model document.

        Warning: more than one element may be found that has the same name, this method does not handle that case.
        Specified by:
        findElementByNameValue in class X3DConcreteElement
        Parameters:
        nameValue - is value of the name field being searched for in this element and child elements(if any)
        Returns:
        object reference to found element, null otherwise
        See Also:
        findNodeByDEF(String), X3DConcreteElement.hasAncestorSceneObject(), X3DConcreteElement.findAncestorX3DObject()
      • findElementByNameValue

        public X3DConcreteElement findElementByNameValue​(java.lang.String nameValue,
                                                         java.lang.String elementName)
        Recursive method to provide object reference to node or statement by name attribute, if found as part of this element or in a contained element. Elements with name fields include meta, Metadata* nodes, field/fieldValue, ProtoDeclare/ExternProtoDeclare/ProtoInstance, CAD and HAnim nodes.

        Warning: first start with findAncestorSceneObject() to check entire scene graph, or findAncestorX3DObject() to check entire model document.

        Warning: more than one element may be found that has the same name, this method does not handle that case.
        Specified by:
        findElementByNameValue in class X3DConcreteElement
        Parameters:
        nameValue - is value of the name field being searched for in this element and child elements(if any)
        elementName - identifies the element of interest (meta MetadataString ProtoDeclare CADassembly ProtoInstance HAnimHumanoid etc.)
        Returns:
        object reference to found element, null otherwise
        See Also:
        findNodeByDEF(String), X3DConcreteElement.hasAncestorSceneObject(), X3DConcreteElement.findAncestorX3DObject()
      • hasElementByNameValue

        public boolean hasElementByNameValue​(java.lang.String nameValue,
                                             java.lang.String elementName)
        Recursive method to determine whether node or statement with given name attribute is found, meaning both objects are attached to same scene graph.
        Parameters:
        nameValue - is value of the name field being searched for in this element and child elements(if any)
        elementName - identifies the element of interest (meta MetadataString ProtoDeclare CADassembly ProtoInstance HAnimHumanoid etc.)
        Returns:
        whether node is found
        See Also:
        findElementByNameValue(String, String)
      • hasNodeByDEF

        public boolean hasNodeByDEF​(java.lang.String DEFvalue)
        Recursive method to determine whether node with DEFvalue is found, meaning both objects are attached to same scene graph.
        Parameters:
        DEFvalue - is value of the name field being searched for in this element and child elements(if any)
        Returns:
        whether node is found
        See Also:
        findNodeByDEF(String)
      • validate

        public java.lang.String validate()
        Recursive method to validate this element plus all contained nodes and statements, using both datatype-specification value checks and regular expression (regex) checking of corresponding string values.
        Specified by:
        validate in class X3DConcreteElement
        Returns:
        validation results (if any)