|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectus.ihmc.utilities.math.geometry.Box3d
public class Box3d
Nested Class Summary | |
---|---|
static class |
Box3d.FaceName
|
Field Summary | |
---|---|
static int |
NUM_SIDES
|
static int |
NUM_VERTICES
|
static int |
NUM_VERTICES_PER_FACE
|
Constructor Summary | |
---|---|
Box3d()
|
|
Box3d(Box3d other)
|
|
Box3d(double lengthX,
double widthY,
double heightZ)
|
|
Box3d(javax.media.j3d.Transform3D configuration,
double[] dimensions)
|
|
Box3d(javax.media.j3d.Transform3D configuration,
double lengthX,
double widthY,
double heightZ)
|
Method Summary | |
---|---|
void |
applyTransform(javax.media.j3d.Transform3D transform)
Apply the given transform to translate and rotate this shape. |
Box3d |
applyTransformCopy(javax.media.j3d.Transform3D transform3D)
Create a copy of this shape, then apply the given transform to translate and rotate the copy. |
void |
computeVertices(javax.vecmath.Point3d[] verticesToPack)
|
void |
computeVertices(javax.vecmath.Point3d[] verticesToPack,
Box3d.FaceName faceName)
|
double |
distance(javax.vecmath.Point3d point)
Find the distance from the closest point on this shape to the given point. |
void |
getCenter(javax.vecmath.Tuple3d centerToPack)
|
javax.vecmath.Point3d |
getCenterCopy()
|
Plane3d |
getClosestFace(javax.vecmath.Point3d point)
|
void |
getClosestPointAndNormalAt(javax.vecmath.Point3d closestPointToPack,
javax.vecmath.Vector3d normalToPack,
javax.vecmath.Point3d pointInWorldToCheck)
Find the closest point on the surface of this shape to the given point as well as the surface normal at that point. |
double |
getDimension(Direction direction)
|
Plane3d |
getFace(Box3d.FaceName faceName)
|
double |
getHeight()
|
double |
getLength()
|
void |
getRotation(javax.vecmath.Matrix3d rotationMatrixToPack)
|
javax.vecmath.Matrix3d |
getRotationCopy()
|
void |
getTransform(javax.media.j3d.Transform3D transformToPack)
|
javax.media.j3d.Transform3D |
getTransformCopy()
|
javax.vecmath.Point3d[] |
getVertices()
|
double |
getWidth()
|
boolean |
isInsideOrOnSurface(javax.vecmath.Point3d point)
Determine whether the given point is on or inside the surface of this shape. |
boolean |
isInsideOrOnSurface(javax.vecmath.Point3d point,
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(javax.vecmath.Point3d point)
Find the closest point on the surface of this shape to the given point. |
javax.vecmath.Point3d |
orthogonalProjectionCopy(javax.vecmath.Point3d point)
Find the closest point on the surface of this shape to the given point. |
void |
scale(double scale)
|
void |
set(Box3d other)
|
void |
setDimensions(double lengthX,
double widthY,
double heightZ)
|
void |
setDimensions(java.util.EnumMap<Direction,java.lang.Double> dimensions)
|
void |
setRotation(javax.vecmath.Matrix3d rotation)
|
void |
setTransform(javax.media.j3d.Transform3D transform)
|
void |
setTranslation(javax.vecmath.Tuple3d translation)
|
void |
setYawPitchRoll(double yaw,
double pitch,
double roll)
|
java.lang.String |
toString()
|
Methods inherited from class java.lang.Object |
---|
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
---|
public static final int NUM_VERTICES
public static final int NUM_SIDES
public static final int NUM_VERTICES_PER_FACE
Constructor Detail |
---|
public Box3d()
public Box3d(javax.media.j3d.Transform3D configuration, double lengthX, double widthY, double heightZ)
public Box3d(Box3d other)
public Box3d(double lengthX, double widthY, double heightZ)
public Box3d(javax.media.j3d.Transform3D configuration, double[] dimensions)
Method Detail |
---|
public void getCenter(javax.vecmath.Tuple3d centerToPack)
public javax.vecmath.Point3d getCenterCopy()
public void getTransform(javax.media.j3d.Transform3D transformToPack)
public javax.media.j3d.Transform3D getTransformCopy()
public void getRotation(javax.vecmath.Matrix3d rotationMatrixToPack)
public javax.vecmath.Matrix3d getRotationCopy()
public double getDimension(Direction direction)
public double getLength()
public double getWidth()
public double getHeight()
public Plane3d getFace(Box3d.FaceName faceName)
public void set(Box3d other)
public void setDimensions(java.util.EnumMap<Direction,java.lang.Double> dimensions)
public void setDimensions(double lengthX, double widthY, double heightZ)
public void scale(double scale)
public double distance(javax.vecmath.Point3d point)
Shape3d
distance
in interface Shape3d
public void orthogonalProjection(javax.vecmath.Point3d point)
Shape3d
orthogonalProjection
in interface Shape3d
point
- both an input parameter (the point to check),
and an output parameter (packed with the resulting ortho point).public javax.vecmath.Point3d orthogonalProjectionCopy(javax.vecmath.Point3d point)
Shape3d
orthogonalProjectionCopy
in interface Shape3d
public void applyTransform(javax.media.j3d.Transform3D transform)
Shape3d
applyTransform
in interface Shape3d
public Box3d applyTransformCopy(javax.media.j3d.Transform3D transform3D)
Shape3d
applyTransformCopy
in interface Shape3d
public void setTransform(javax.media.j3d.Transform3D transform)
public void setRotation(javax.vecmath.Matrix3d rotation)
public void setYawPitchRoll(double yaw, double pitch, double roll)
public void setTranslation(javax.vecmath.Tuple3d translation)
public boolean isInsideOrOnSurface(javax.vecmath.Point3d point)
Shape3d
isInsideOrOnSurface
in interface Shape3d
public boolean isInsideOrOnSurface(javax.vecmath.Point3d point, double epsilon)
Shape3d
isInsideOrOnSurface
in interface Shape3d
public void getClosestPointAndNormalAt(javax.vecmath.Point3d closestPointToPack, javax.vecmath.Vector3d normalToPack, javax.vecmath.Point3d pointInWorldToCheck)
Shape3d
getClosestPointAndNormalAt
in interface Shape3d
closestPointToPack
- out parameter packed with the resulting closest point on the shapenormalToPack
- out parameter packed with the resulting normal vectorpublic Plane3d getClosestFace(javax.vecmath.Point3d point)
public javax.vecmath.Point3d[] getVertices()
public void computeVertices(javax.vecmath.Point3d[] verticesToPack)
public void computeVertices(javax.vecmath.Point3d[] verticesToPack, Box3d.FaceName faceName)
public java.lang.String toString()
toString
in class java.lang.Object
|
||||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | |||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |