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. Contact 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:

• SAI Java Specification
• X3D Abstract Specification: Contact
• X3D Tooltips: Contact
• X3D Scene Authoring Hints

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 https://www.web3d.org/specifications/X3Dv4/ISO-IEC19775-1v4-IS /Part01/components/core.html#Metadata

Specified by:

getMetadata in interface X3DNode

Returns:

value of metadata field

See Also:

• X3D Scene Authoring Hints: Metadata Nodes

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 https://www.web3d.org/specifications/X3Dv4/ISO-IEC19775-1v4-IS /Part01/components/core.html#Metadata

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:

• X3D Scene Authoring Hints: Metadata Nodes

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).