us.ihmc.simulationconstructionset.physics.Contacts Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of simulation-construction-set

Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset.physics;

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

/**
 * A list of points between the two shapes which are in contact with each other.
 */
public interface Contacts
{
   public abstract CollisionShape getShapeA();

   public abstract CollisionShape getShapeB();

   /**
    * Total number of contacts found between the two shapes.
    */
   public int getNumberOfContacts();

   /**
    * Location on shapeA that the contact occurred. World coordinates.
    *
    * @param which    Contact index.
    * @param location Storage for location. If null a new instance will be declared.
    */
   public void getWorldA(int which, Point3D locationAToPack);

   /**
    * Location on shapeB that the contact occurred. World coordinates.
    *
    * @param which    Contact index.
    * @param location Storage for location. If null a new instance will be declared.
    */
   public void getWorldB(int which, Point3D locationBToPack);

   /**
    * Distance between the two points.
    */
   public double getDistance(int which);

   /**
    * The normal between the collision in world coordinates. The normal can be in reference to object A
    * or B. Call {@link #isNormalOnA()} to determin which one it is.
    *
    * @param which Contact index.
    * @return Normal in world coordinates.
    */
   public void getWorldNormal(int which, Vector3D normalToPack);

   /**
    * Is the normal for the surface of A or B.
    *
    * @return true for normal being on A and false for B.
    */
   public boolean isNormalOnA();

   public abstract void set(Contacts contacts);

   public abstract void addAll(Contacts contacts);
}