us.ihmc.utilities.math.geometry
Class Ramp3d

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.Ramp3d
All Implemented Interfaces:
Shape3d

public class Ramp3d
extends java.lang.Object
implements Shape3d


Constructor Summary
Ramp3d(double width, double length, double height)
           
Ramp3d(Ramp3d ramp3d)
           
Ramp3d(javax.media.j3d.Transform3D transform, double width, double length, double height)
           
 
Method Summary
 void applyTransform(javax.media.j3d.Transform3D transform)
          Apply the given transform to translate and rotate this shape.
 Ramp3d 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(javax.vecmath.Point3d point)
          Find the distance from the closest point on this shape to the given 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 getHeight()
           
 double getLength()
           
 double getRampIncline()
           
 javax.vecmath.Vector3d getSurfaceNormal()
           
 javax.media.j3d.Transform3D getTransform()
           
 double getWidth()
           
 boolean isInsideOrOnSurface(javax.vecmath.Point3d pointToCheck)
          Determine whether the given point is on or inside the surface of this shape.
 boolean isInsideOrOnSurface(javax.vecmath.Point3d 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(javax.vecmath.Point3d pointToCheckAndPack)
          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 set(Ramp3d ramp3d)
           
 void setHeight(double height)
           
 void setLength(double length)
           
 void setTransform(javax.media.j3d.Transform3D newTransform)
           
 void setWidth(double width)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

Ramp3d

public Ramp3d(double width,
              double length,
              double height)

Ramp3d

public Ramp3d(javax.media.j3d.Transform3D transform,
              double width,
              double length,
              double height)

Ramp3d

public Ramp3d(Ramp3d ramp3d)
Method Detail

set

public void set(Ramp3d ramp3d)

getWidth

public double getWidth()

setWidth

public void setWidth(double width)

getHeight

public double getHeight()

setHeight

public void setHeight(double height)

getLength

public double getLength()

setLength

public void setLength(double length)

getTransform

public javax.media.j3d.Transform3D getTransform()

setTransform

public void setTransform(javax.media.j3d.Transform3D newTransform)

getSurfaceNormal

public javax.vecmath.Vector3d getSurfaceNormal()

getRampIncline

public double getRampIncline()

applyTransform

public void applyTransform(javax.media.j3d.Transform3D transform)
Description copied from interface: Shape3d
Apply the given transform to translate and rotate this shape.

Specified by:
applyTransform in interface Shape3d

applyTransformCopy

public Ramp3d applyTransformCopy(javax.media.j3d.Transform3D transform)
Description copied from interface: Shape3d
Create a copy of this shape, then apply the given transform to translate and rotate the copy.

Specified by:
applyTransformCopy in interface Shape3d
Returns:

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

distance

public double distance(javax.vecmath.Point3d point)
Description copied from interface: Shape3d
Find the distance from the closest point on this shape to the given point.

Specified by:
distance in interface Shape3d
Returns:

getClosestPointAndNormalAt

public void getClosestPointAndNormalAt(javax.vecmath.Point3d closestPointToPack,
                                       javax.vecmath.Vector3d normalToPack,
                                       javax.vecmath.Point3d pointInWorldToCheck)
Description copied from interface: Shape3d
Find the closest point on the surface of this shape to the given point as well as the surface normal at that point.

Specified by:
getClosestPointAndNormalAt in interface Shape3d
Parameters:
closestPointToPack - out parameter packed with the resulting closest point on the shape
normalToPack - out parameter packed with the resulting normal vector

isInsideOrOnSurface

public boolean isInsideOrOnSurface(javax.vecmath.Point3d pointToCheck)
Description copied from interface: Shape3d
Determine whether the given point is on or inside the surface of this shape.

Specified by:
isInsideOrOnSurface in interface Shape3d
Returns:

isInsideOrOnSurface

public boolean isInsideOrOnSurface(javax.vecmath.Point3d pointToCheck,
                                   double epsilon)
Description copied from interface: Shape3d
Determine whether the given point is on or inside the surface of this shape, within a given tolerance or error level.

Specified by:
isInsideOrOnSurface in interface Shape3d
Returns:

orthogonalProjection

public void orthogonalProjection(javax.vecmath.Point3d pointToCheckAndPack)
Description copied from interface: Shape3d
Find the closest point on the surface of this shape to the given point. If the given point is on or inside the shape, then it is not changed.

Specified by:
orthogonalProjection in interface Shape3d
Parameters:
pointToCheckAndPack - both an input parameter (the point to check), and an output parameter (packed with the resulting ortho point).

orthogonalProjectionCopy

public javax.vecmath.Point3d orthogonalProjectionCopy(javax.vecmath.Point3d point)
Description copied from interface: Shape3d
Find the closest point on the surface of this shape to the given point. If the given point is on or inside the shape, then it returned unchanged.

Specified by:
orthogonalProjectionCopy in interface Shape3d
Returns:
a new point on surface of the shape