Examples of jinngine.geometry.contact.ContactGenerator$ContactPoint

jinngine.geometry.contact.ContactGenerator
A simple structure class representing a contact point with a normal and a penetration depth

    // boxes by changing the transform of the bodies)
    final Body body1 = new Body("box1", box1);    
    final Body body2 = new Body("box2", box2);
        
    // contact generator
    ContactGenerator g = new SupportMapContactGenerator(box1,box1,box2,box2);
    


    /*
     * Test 1, displace along positive y-axis 
     */
    
    // displace box2
    body2.setPosition(0, 1.5, 0);
    
    // run contact point generation
    g.run();
    
    // extract contact points
    result.clear();
    Iterator<ContactPoint> i = g.getContacts();
    while (i.hasNext()) {
      ContactPoint cp = i.next();
      System.out.println(cp.point);
      System.out.println("dist="+cp.distance);
      result.add(new Vector3(cp.point));
    }
    
    // expected contact points, in counter clock-wise order 
    expect.clear();
    expect.add(new Vector3(0.5,0.75,0.5));
    expect.add(new Vector3(-0.5,0.75,0.5));
    expect.add(new Vector3(-0.5,0.75,-0.5));
    expect.add(new Vector3(0.5,0.75,-0.5));


    // check
    assertTrue(verifyPolygon(expect, result));


  
    /*
     * Test 2, displace along negative y-axis 
     */
    
    // displace box2
    body2.setPosition(0, -1.5, 0);
    
    // run contact point generation
    g.run();
    
    // extract contact points
    result.clear();
    i = g.getContacts();
    while (i.hasNext()) {
      ContactPoint cp = i.next();
      System.out.println(cp.point);
      System.out.println("dist="+cp.distance);
      result.add(new Vector3(cp.point));
    }
    
    // expected contact points, in counter clock-wise order 
    expect.clear();
    expect.add(new Vector3( 0.5,-0.75,-0.5));
    expect.add(new Vector3(-0.5,-0.75,-0.5));
    expect.add(new Vector3(-0.5,-0.75, 0.5));
    expect.add(new Vector3( 0.5,-0.75, 0.5));


    // check
    assertTrue(verifyPolygon(expect, result));


  
    /*
     * Test 3, displace along positive x-axis 
     */
    
    // displace box2
    body2.setPosition(1.5, 0, 0);
    
    // run contact point generation
    g.run();
    
    // extract contact points
    result.clear();
    i = g.getContacts();
    while (i.hasNext()) {
      ContactPoint cp = i.next();
      System.out.println(cp.point);
      System.out.println("dist="+cp.distance);
      result.add(new Vector3(cp.point));

View Full Code Here

              geometrypair = new Pair<Geometry>(inputpair.getSecond(),inputpair.getFirst());            
            }
            
                                
            //add a new contact generator to this contact constraint
            ContactGenerator generator = getContactGenerator(geometrypair);
            contactGenerators.put(geometrypair, generator);
            contactConstraint.addGenerator(generator);


          //no contact constraint is present
          } else {          
            //do not act if some other constraint(joint) is already present
            //in the contact graph
            if (constraintGraph.getEdge(bodypair) == null)  {
              //create a new contact generator
              ContactGenerator generator = getContactGenerator(inputpair);
              
              // try custom contact constraint generators
              for ( ContactConstraintCreator c : contactConstraintCreators) {
                contactConstraint = c.createContactConstraint(bodypair.getFirst(), bodypair.getSecond(), generator);
                if (contactConstraint != null)
                  break;
              }
              
              // if no contact constraint was obtained, use the default creator
              if ( contactConstraint == null) {
                contactConstraint = defaultcreator.createContactConstraint(bodypair.getFirst(), bodypair.getSecond(), generator);
              }
                  
              //insert into data structures
              contactConstraints.put(bodypair, contactConstraint);
              contactGenerators.put(inputpair, generator);
              constraintGraph.addEdge( bodypair, contactConstraint);
              
              // signal handlers
              for (Handler h: handlers) {
                h.contactConstraintCreated(bodypair, contactConstraint);
              }
              
            }
          }
        }
        
        @Override
        public final void separation(Pair<Geometry> geometrypair) {
          //retrieve the bodies associated with overlapping geometries
          Body a = geometrypair.getFirst().getBody();
          Body b = geometrypair.getSecond().getBody();
          Pair<Body> bodypair = new Pair<Body>(a,b);


          //ignore overlaps stemming from the same body        
          if ( a == b) return;
          //ignore overlaps for non-body geometries
          if ( a == null || b == null) return;
          //ignore overlaps of fixed bodies
          if ( a.isFixed() && b.isFixed() ) return;
          
          //if this geometry pair has an acting contact constraint,
          //we must remove the contact generator
          if (contactConstraints.containsKey(bodypair)) {
            //check that we have the generator (if not, something is very wrong)
            if (contactGenerators.containsKey(geometrypair)) {
          
              //remove the generator from the contact constraint
              ContactConstraint constraint = contactConstraints.get(bodypair);
              ContactGenerator cg = contactGenerators.get(geometrypair);
              
              //notify contact generator (for possible clean-up)
              cg.remove();
              
              // remove from contact constraint
              constraint.removeGenerator(cg);
              
              //remove the generator from our list

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    contactConstraintCreators.remove(c);
  }
  
  private ContactGenerator getContactGenerator(Pair<Geometry> pair) {
    for ( ContactGeneratorClassifier gc: geometryClassifiers) {
      ContactGenerator g = gc.getGenerator(pair.getFirst(), pair.getSecond());
      
      if (g!=null) {
        return g;
      }
    }

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Related Classes of jinngine.geometry.contact.ContactGenerator$ContactPoint

jinngine.physics.constraint.contact.DefaultContactConstraintManager

jinngine.test.unit.SupportMapContactGeneratorTest

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