Examples of jinngine.geometry.contact.ContactGenerator

jinngine.geometry.contact.ContactGenerator
A contact generator is used by the {@link ContactConstraint} to generate its contact information. ContactGenerator encapsulates all geometry and algorithm specific details. Therefore, it is the responsibility of the simulator (Model) to instantiate correct implementations of ContactGenerators, when various types of geometries in proximity are encountered during simulation. A ContactConstraint can handle one or more ContactGenerators. This allows for bodies in the simulation, which have more than one geometry instance attached.

    // 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

View Full Code Here

    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;
      }
    }

View Full Code Here

TOP

Related Classes of jinngine.geometry.contact.ContactGenerator

jinngine.physics.constraint.contact.DefaultContactConstraintManager

jinngine.test.unit.SupportMapContactGeneratorTest

All source code are property of their respective owners. Java is a trademark of Sun Microsystems, Inc and owned by ORACLE Inc. Contact coftware#gmail.com.