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java.lang.Objectus.ihmc.utilities.math.geometry.FrameBox3d
public class FrameBox3d
Constructor Summary | |
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FrameBox3d(FrameBox3d other)
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FrameBox3d(ReferenceFrame referenceFrame)
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FrameBox3d(ReferenceFrame referenceFrame,
Box3d box3d)
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FrameBox3d(ReferenceFrame referenceFrame,
double lengthX,
double widthY,
double heightZ)
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FrameBox3d(ReferenceFrame referenceFrame,
javax.media.j3d.Transform3D configuration,
double lengthX,
double widthY,
double heightZ)
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Method Summary | |
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void |
applyTransform(javax.media.j3d.Transform3D transformation)
Apply the given transform to translate and rotate this shape. |
FrameBox3d |
applyTransformCopy(javax.media.j3d.Transform3D transform3D)
Create a copy of this shape, then apply the given transform to translate and rotate the copy. |
void |
changeFrame(ReferenceFrame desiredFrame)
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FrameBox3d |
changeFrameCopy(ReferenceFrame desiredFrame)
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void |
checkReferenceFrameMatch(ReferenceFrame frame)
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void |
checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
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void |
computeVertices(javax.vecmath.Point3d[] vertices)
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double |
distance(FramePoint point)
Find the distance from the closest point on this shape to the given point. |
Box3d |
getBox3d()
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FramePoint |
getCenter()
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void |
getCenter(FramePoint pointToPack)
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FramePoint |
getCenterCopy()
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void |
getClosestPointAndNormalAt(FramePoint intersectionToPack,
FrameVector normalToPack,
FramePoint pointToCheck)
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)
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FramePlane3d |
getFace(Box3d.FaceName faceName)
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ReferenceFrame |
getReferenceFrame()
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void |
getRotation(javax.vecmath.Matrix3d rotationMatrixToPack)
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javax.vecmath.Matrix3d |
getRotationCopy()
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void |
getTransform(javax.media.j3d.Transform3D transformToPack)
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javax.media.j3d.Transform3D |
getTransformCopy()
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boolean |
isInsideOrOnSurface(FramePoint pointToTest)
Determine whether the given point is on or inside the surface of this shape. |
boolean |
isInsideOrOnSurface(FramePoint pointToTest,
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 point)
Find the closest point on the surface of this shape to the given point. |
FramePoint |
orthogonalProjectionCopy(FramePoint point)
Find the closest point on the surface of this shape to the given point. |
void |
packFramePose(FramePose framePoseToPack)
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void |
scale(double scale)
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void |
setAndChangeFrame(FrameBox3d other)
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void |
setTransform(javax.media.j3d.Transform3D transform3D)
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java.lang.String |
toString()
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Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public FrameBox3d(FrameBox3d other)
public FrameBox3d(ReferenceFrame referenceFrame)
public FrameBox3d(ReferenceFrame referenceFrame, Box3d box3d)
public FrameBox3d(ReferenceFrame referenceFrame, javax.media.j3d.Transform3D configuration, double lengthX, double widthY, double heightZ)
public FrameBox3d(ReferenceFrame referenceFrame, double lengthX, double widthY, double heightZ)
Method Detail |
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public Box3d getBox3d()
public FramePoint getCenter()
public void getCenter(FramePoint pointToPack)
public FramePoint getCenterCopy()
public double getDimension(Direction direction)
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 FramePlane3d getFace(Box3d.FaceName faceName)
public void setTransform(javax.media.j3d.Transform3D transform3D)
public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder) throws ReferenceFrameMismatchException
checkReferenceFrameMatch
in interface ReferenceFrameHolder
ReferenceFrameMismatchException
public void checkReferenceFrameMatch(ReferenceFrame frame) throws ReferenceFrameMismatchException
checkReferenceFrameMatch
in interface ReferenceFrameHolder
ReferenceFrameMismatchException
public ReferenceFrame getReferenceFrame()
getReferenceFrame
in interface ReferenceFrameHolder
public FrameBox3d changeFrameCopy(ReferenceFrame desiredFrame)
changeFrameCopy
in interface ReferenceFrameHolder
public void changeFrame(ReferenceFrame desiredFrame)
public double distance(FramePoint point)
FrameShape3d
distance
in interface FrameShape3d
public FramePoint orthogonalProjectionCopy(FramePoint point)
FrameShape3d
orthogonalProjectionCopy
in interface FrameShape3d
public void orthogonalProjection(FramePoint point)
FrameShape3d
orthogonalProjection
in interface FrameShape3d
point
- both an input parameter (the point to check),
and an output parameter (packed with the resulting ortho point).public FrameBox3d applyTransformCopy(javax.media.j3d.Transform3D transform3D)
FrameShape3d
applyTransformCopy
in interface FrameShape3d
public void applyTransform(javax.media.j3d.Transform3D transformation)
FrameShape3d
applyTransform
in interface FrameShape3d
public boolean isInsideOrOnSurface(FramePoint pointToTest)
FrameShape3d
isInsideOrOnSurface
in interface FrameShape3d
public boolean isInsideOrOnSurface(FramePoint pointToTest, double epsilon)
FrameShape3d
isInsideOrOnSurface
in interface FrameShape3d
public void getClosestPointAndNormalAt(FramePoint intersectionToPack, FrameVector normalToPack, FramePoint pointToCheck)
FrameShape3d
getClosestPointAndNormalAt
in interface FrameShape3d
intersectionToPack
- out parameter packed with the resulting closest point on the shapenormalToPack
- out parameter packed with the resulting normal vectorpublic void setAndChangeFrame(FrameBox3d other)
public java.lang.String toString()
toString
in class java.lang.Object
public void packFramePose(FramePose framePoseToPack)
public void scale(double scale)
public void computeVertices(javax.vecmath.Point3d[] vertices)
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