Package org.robwork.sdurw_geometry

Class BSphere_f

java.lang.Object

org.robwork.sdurw_geometry.BVBSphere_f

org.robwork.sdurw_geometry.BSphere_f

public class BSphere_f
extends BVBSphere_f

class representing an Bounding sphere

Constructor Summary

Constructors

Constructor	Description
BSphere_f()	constructor using sphere center of (0, 0, 0)
BSphere_f(float radius)	constructor using sphere center of (0, 0, 0)
BSphere_f(long cPtr, boolean cMemoryOwn)
BSphere_f(BSphere_f bs)	Copy constroctor
BSphere_f(Vector3Df pos)	constructor setting both sphere center and radius
BSphere_f(Vector3Df pos, float radius)	constructor setting both sphere center and radius

Method Summary

Modifier and Type	Method	Description
float	calcArea()	get the surface area
float	calcVolume()	get the volume
void	delete()
static BSphere_f	fitEigen(GeometryDataPtr tris)
static BSphere_f	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).
static BSphere_f	fitEigen(TriMeshPtr tris)
static long	getCPtr(BSphere_f obj)
Vector3Df	getPosition()	get the position of the sphere center
float	getRadius()	get the sphere radius
float	getRadiusSqr()	get the sphere radius^2
void	setPosition(Vector3Df p3d)	set the sphere center coordinate
java.lang.String	toString()

Methods inherited from class org.robwork.sdurw_geometry.BVBSphere_f

getCPtr

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

BSphere_f

public BSphere_f(long cPtr,
                 boolean cMemoryOwn)

BSphere_f

public BSphere_f(float radius)

constructor using sphere center of (0, 0, 0)

Parameters:

radius - [in] set the radius of the sphere

BSphere_f

public BSphere_f()

constructor using sphere center of (0, 0, 0)

BSphere_f

public BSphere_f(Vector3Df pos,
                 float radius)

constructor setting both sphere center and radius

Parameters:

pos - [in] the position of the center of the sphere

radius - [in] set the radius of the sphere

BSphere_f

public BSphere_f(Vector3Df pos)

constructor setting both sphere center and radius

Parameters:

pos - [in] the position of the center of the sphere

BSphere_f

public BSphere_f(BSphere_f bs)

Copy constroctor

Parameters:

bs - [in] object to copy

Method Detail

getCPtr

public static long getCPtr(BSphere_f obj)

delete

public void delete()

Overrides:

delete in class BVBSphere_f

getPosition

public Vector3Df getPosition()

get the position of the sphere center

Returns:

a Vector3D with the center coordinates

setPosition

public void setPosition(Vector3Df p3d)

set the sphere center coordinate

Parameters:

p3d - [in] the new center coordinates

getRadius

public float getRadius()

get the sphere radius

Returns:

sphere radius

getRadiusSqr

public float getRadiusSqr()

get the sphere radius^2

Returns:

sphere radius^2

calcArea

public float calcArea()

get the surface area

Returns:

surface area

calcVolume

public float calcVolume()

get the volume

Returns:

volume

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

fitEigen

public static BSphere_f 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

fitEigen

public static BSphere_f fitEigen(TriMeshPtr tris)

fitEigen

public static BSphere_f fitEigen(GeometryDataPtr tris)