Package org.robwork.sdurw
Class Geometry
- java.lang.Object
-
- org.robwork.sdurw.Geometry
-
public class Geometry extends java.lang.Object
-
-
Constructor Summary
Constructors Constructor Description Geometry(long cPtr, boolean cMemoryOwn)
Geometry(GeometryDataPtr data)
constructor - autogenerated id from geometry type.Geometry(GeometryDataPtr data, double scale)
constructor - autogenerated id from geometry type.Geometry(GeometryDataPtr data, java.lang.String name)
constructor giving a specified id.Geometry(GeometryDataPtr data, java.lang.String name, double scale)
constructor giving a specified id.Geometry(GeometryDataPtr data, Transform3Dd t3d)
constructor - autogenerated id from geometry type.Geometry(GeometryDataPtr data, Transform3Dd t3d, double scale)
constructor - autogenerated id from geometry type.
-
Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
void
getColor(float[] color)
get the color stored for the objectstatic long
getCPtr(Geometry obj)
java.lang.String
getFilePath()
get file path of this geometryFrame
getFrame()
Get the reference frame.GeometryDataPtr
getGeometryData()
get geometry datajava.lang.String
getId()
get identifier of this geometryint
getMask()
Get the draw mask.java.lang.String
getName()
get name of this geometrydouble
getScale()
gets the scaling factor applied when using this geometryTransform3Dd
getTransform()
get transformationstatic GeometryPtr
makeBox(double x, double y, double z)
util function for creating a Box geometrystatic GeometryPtr
makeCone(double height, double radiusTop, double radiusBot)
util function for creating a Cone geometrystatic GeometryPtr
makeCylinder(float radius, float height)
util function for creating a Cylinder geometrystatic GeometryPtr
makeGrid(int dim_x, int dim_y)
Construct a grid.static GeometryPtr
makeGrid(int dim_x, int dim_y, double size_x)
Construct a grid.static GeometryPtr
makeGrid(int dim_x, int dim_y, double size_x, double size_y)
Construct a grid.static GeometryPtr
makeGrid(int dim_x, int dim_y, double size_x, double size_y, Vector3Dd xdir)
Construct a grid.static GeometryPtr
makeGrid(int dim_x, int dim_y, double size_x, double size_y, Vector3Dd xdir, Vector3Dd ydir)
Construct a grid.static GeometryPtr
makeSphere(double radi)
util function for creating a Sphere geometryvoid
setColor(short red, short green, short blue)
set the color of the geometryvoid
setFilePath(java.lang.String name)
set file path this geometryvoid
setGeometryData(GeometryDataPtr data)
set transformationvoid
setId(java.lang.String id)
set identifier of this geometryvoid
setMask(int mask)
Set the draw mask.void
setName(java.lang.String name)
set name of this geometryvoid
setScale(double scale)
set the scaling factor that should be applied to
this geometry when used.void
setTransform(Transform3Dd t3d)
set transformation
-
-
-
Constructor Detail
-
Geometry
public Geometry(long cPtr, boolean cMemoryOwn)
-
Geometry
public Geometry(GeometryDataPtr data, double scale)
constructor - autogenerated id from geometry type.- Parameters:
data
-scale
-
-
Geometry
public Geometry(GeometryDataPtr data)
constructor - autogenerated id from geometry type.- Parameters:
data
-
-
Geometry
public Geometry(GeometryDataPtr data, java.lang.String name, double scale)
constructor giving a specified id.- Parameters:
data
- [in] pointer to geometry dataname
- [in] Unique name to be assigned for the geometryscale
- [in] scaling factor
-
Geometry
public Geometry(GeometryDataPtr data, java.lang.String name)
constructor giving a specified id.- Parameters:
data
- [in] pointer to geometry dataname
- [in] Unique name to be assigned for the geometry
-
Geometry
public Geometry(GeometryDataPtr data, Transform3Dd t3d, double scale)
constructor - autogenerated id from geometry type.- Parameters:
data
- [in] pointer to geometry datat3d
- [in] transformscale
- [in] scaling factor
-
Geometry
public Geometry(GeometryDataPtr data, Transform3Dd t3d)
constructor - autogenerated id from geometry type.- Parameters:
data
- [in] pointer to geometry datat3d
- [in] transform
-
-
Method Detail
-
getCPtr
public static long getCPtr(Geometry obj)
-
delete
public void delete()
-
getScale
public double getScale()
gets the scaling factor applied when using this geometry- Returns:
- the scale as double
-
setScale
public void setScale(double scale)
set the scaling factor that should be applied to
this geometry when used.- Parameters:
scale
- [in] scale factor
-
setTransform
public void setTransform(Transform3Dd t3d)
set transformation
-
getTransform
public Transform3Dd getTransform()
get transformation- Returns:
- the Current transform
-
getGeometryData
public GeometryDataPtr getGeometryData()
get geometry data- Returns:
- the geometry data stored
-
setGeometryData
public void setGeometryData(GeometryDataPtr data)
set transformation- Parameters:
data
- [in] the new geometry data
-
getName
public java.lang.String getName()
get name of this geometry- Returns:
- name as string
-
getFilePath
public java.lang.String getFilePath()
get file path of this geometry- Returns:
- the file path as string
-
getId
public java.lang.String getId()
get identifier of this geometry- Returns:
- the id of the geometry
-
setName
public void setName(java.lang.String name)
set name of this geometry- Parameters:
name
- [in] the new name of the geometry
-
setFilePath
public void setFilePath(java.lang.String name)
set file path this geometry- Parameters:
name
- [in] path to a geometry file
-
setId
public void setId(java.lang.String id)
set identifier of this geometry- Parameters:
id
- [in] new id
-
setColor
public void setColor(short red, short green, short blue)
set the color of the geometry- Parameters:
red
- [in] the amount of red color 0-255green
- [in] the amount of green color 0-255blue
- [in] the amount of red color 0-255
-
getFrame
public Frame getFrame()
Get the reference frame.- Returns:
- the reference frame.
-
setMask
public void setMask(int mask)
Set the draw mask.- Parameters:
mask
- [in] the draw mask.
-
getMask
public int getMask()
Get the draw mask.- Returns:
- the draw mask.
-
makeSphere
public static GeometryPtr makeSphere(double radi)
util function for creating a Sphere geometry
-
makeBox
public static GeometryPtr makeBox(double x, double y, double z)
util function for creating a Box geometry
-
makeCone
public static GeometryPtr makeCone(double height, double radiusTop, double radiusBot)
util function for creating a Cone geometry
-
makeCylinder
public static GeometryPtr makeCylinder(float radius, float height)
util function for creating a Cylinder geometry
-
makeGrid
public static GeometryPtr makeGrid(int dim_x, int dim_y, double size_x, double size_y, Vector3Dd xdir, Vector3Dd ydir)
Construct a grid.- Parameters:
dim_x
- [in] number of cells in first direction.dim_y
- [in] number of cells in second direction.size_x
- [in] size of one cell.size_y
- [in] size of one cell.xdir
- [in] the direction of the first dimension.ydir
- [in] the direction of the second dimension.- Returns:
- a new grid geometry.
-
makeGrid
public static GeometryPtr makeGrid(int dim_x, int dim_y, double size_x, double size_y, Vector3Dd xdir)
Construct a grid.- Parameters:
dim_x
- [in] number of cells in first direction.dim_y
- [in] number of cells in second direction.size_x
- [in] size of one cell.size_y
- [in] size of one cell.xdir
- [in] the direction of the first dimension.
- Returns:
- a new grid geometry.
-
makeGrid
public static GeometryPtr makeGrid(int dim_x, int dim_y, double size_x, double size_y)
Construct a grid.- Parameters:
dim_x
- [in] number of cells in first direction.dim_y
- [in] number of cells in second direction.size_x
- [in] size of one cell.size_y
- [in] size of one cell.
- Returns:
- a new grid geometry.
-
makeGrid
public static GeometryPtr makeGrid(int dim_x, int dim_y, double size_x)
Construct a grid.- Parameters:
dim_x
- [in] number of cells in first direction.dim_y
- [in] number of cells in second direction.size_x
- [in] size of one cell.
- Returns:
- a new grid geometry.
-
makeGrid
public static GeometryPtr makeGrid(int dim_x, int dim_y)
Construct a grid.- Parameters:
dim_x
- [in] number of cells in first direction.dim_y
- [in] number of cells in second direction.
- Returns:
- a new grid geometry.
-
getColor
public void getColor(float[] color)
get the color stored for the object- Parameters:
color
- [out] the array to store the color in
-
-