• Home
• us.ihmc
• simulation-construction-set
• 0.22.10
• source code
• Contactable.java

×

Project download

Many resources are needed to download a project. Please understand that we have to compensate our server costs. Thank you in advance.
Project price only 1 $

You can buy this project and download/modify it how often you want.

us.ihmc.simulationconstructionset.util.ground.Contactable Maven / Gradle / Ivy

package us.ihmc.simulationconstructionset.util.ground;

import us.ihmc.euclid.tuple3D.Point3D;
import us.ihmc.euclid.tuple3D.Vector3D;
import us.ihmc.simulationconstructionset.GroundContactPoint;

public interface Contactable
{
   public abstract boolean isClose(Point3D pointInWorldToCheck);

   public abstract boolean isPointOnOrInside(Point3D pointInWorldToCheck);

   public abstract void closestIntersectionAndNormalAt(Point3D intersectionToPack, Vector3D normalToPack, Point3D pointInWorldToCheck);
   //   public abstract boolean checkIfInside(Point3D pointToCheck, Point3D intersectionToPack, Vector3d normalToPack);

   public abstract void updateContactPoints();

   public abstract int getAndLockAvailableContactPoint();

   public abstract void unlockContactPoint(GroundContactPoint groundContactPoint);

   public abstract GroundContactPoint getLockedContactPoint(int contactPointIndex);

}