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public interface FrameShape3d
Method Summary | |
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void |
applyTransform(javax.media.j3d.Transform3D transform)
Apply the given transform to translate and rotate this shape. |
FrameShape3d |
applyTransformCopy(javax.media.j3d.Transform3D transform)
Create a copy of this shape, then apply the given transform to translate and rotate the copy. |
double |
distance(FramePoint point)
Find the distance from the closest point on this shape to the given point. |
void |
getClosestPointAndNormalAt(FramePoint closestPointToPack,
FrameVector normalToPack,
FramePoint pointInWorldToCheck)
Find the closest point on the surface of this shape to the given point as well as the surface normal at that point. |
boolean |
isInsideOrOnSurface(FramePoint pointToCheck)
Determine whether the given point is on or inside the surface of this shape. |
boolean |
isInsideOrOnSurface(FramePoint pointToCheck,
double epsilon)
Determine whether the given point is on or inside the surface of this shape, within a given tolerance or error level. |
void |
orthogonalProjection(FramePoint pointToCheckAndPack)
Find the closest point on the surface of this shape to the given point. |
FramePoint |
orthogonalProjectionCopy(FramePoint pointToCheck)
Find the closest point on the surface of this shape to the given point. |
Methods inherited from interface us.ihmc.utilities.math.geometry.ReferenceFrameHolder |
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changeFrameCopy, checkReferenceFrameMatch, checkReferenceFrameMatch, getReferenceFrame |
Method Detail |
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void applyTransform(javax.media.j3d.Transform3D transform)
transform
- FrameShape3d applyTransformCopy(javax.media.j3d.Transform3D transform)
transform
-
double distance(FramePoint point)
point
-
void getClosestPointAndNormalAt(FramePoint closestPointToPack, FrameVector normalToPack, FramePoint pointInWorldToCheck)
closestPointToPack
- out parameter packed with the resulting closest point on the shapenormalToPack
- out parameter packed with the resulting normal vectorpointInWorldToCheck
- boolean isInsideOrOnSurface(FramePoint pointToCheck)
pointToCheck
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boolean isInsideOrOnSurface(FramePoint pointToCheck, double epsilon)
pointToCheck
- epsilon
-
void orthogonalProjection(FramePoint pointToCheckAndPack)
pointToCheckAndPack
- both an input parameter (the point to check),
and an output parameter (packed with the resulting ortho point).FramePoint orthogonalProjectionCopy(FramePoint pointToCheck)
referencePoint
-
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