Package org.robwork.sdurw_geometry

Class BSpherePtr

  • public class BSpherePtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Constructor Detail

      • BSpherePtr

        public BSpherePtr​(long cPtr,
                  boolean cMemoryOwn)

      • BSpherePtr

        public BSpherePtr()
        Default constructor yielding a NULL-pointer.

      • BSpherePtr

        public BSpherePtr​(BSphere ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • getCPtr

        public static long getCPtr​(BSpherePtr obj)

      • delete

        public void delete()

      • deref

        public BSphere deref()
        The pointer stored in the object.

      • __ref__

        public BSphere __ref__()
        Dereferencing operator.

      • getDeref

        public BSphere getDeref()
        Member access operator.

      • equals

        public boolean equals​(BSphere p)

      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.

      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null

      • getPosition

        public Vector3D getPosition()
        get the position of the sphere center
        Returns:
        a Vector3D with the center coordinates

      • setPosition

        public void setPosition​(Vector3D p3d)
        set the sphere center coordinate
        Parameters:
        p3d - [in] the new center coordinates

      • getRadius

        public double getRadius()
        get the sphere radius
        Returns:
        sphere radius

      • getRadiusSqr

        public double getRadiusSqr()
        get the sphere radius^2
        Returns:
        sphere radius^2

      • calcArea

        public double calcArea()
        get the surface area
        Returns:
        surface area

      • calcVolume

        public double calcVolume()
        get the volume
        Returns:
        volume

      • toString

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

      • fitEigen

        public BSphere fitEigen​(TriMesh tris)
        fit a sphere in $O(n)$ to a triangle mesh using Principal Component Analysis (PCA)
        where the eigen values of the vertices are used to compute the center of the sphere
        using the vector with the maximum spread (largest eigenvalue).
        Parameters:
        tris - [in] input mesh
        Returns:
        bounding sphere