Package org.robwork.sdurw_geometry

Class Geometry

java.lang.Object

org.robwork.sdurw_geometry.Geometry

public class Geometry
extends java.lang.Object

a class for representing a geometry that is scaled
and transformed, and which is attached to a frame.

Each geometry must have a unique ID. This is either auto
generated or specified by user. The ids are used in collision
detection and other algorithms where the object need an association
other than its memory address.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Geometry.GeometryGroupMask	A geometry may belong to a specific group of geometries.

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, Transform3D t3d)	constructor - autogenerated id from geometry type.
Geometry(GeometryDataPtr data, Transform3D t3d, double scale)	constructor - autogenerated id from geometry type.

Method Summary

Modifier and Type	Method	Description
void	delete()
void	getColor(SWIGTYPE_p_float color)	get the color stored for the object
static long	getCPtr(Geometry obj)
java.lang.String	getFilePath()	get file path of this geometry
Frame	getFrame()	Get the reference frame.
GeometryDataPtr	getGeometryData()	get geometry data
java.lang.String	getId()	get identifier of this geometry
int	getMask()	Get the draw mask.
java.lang.String	getName()	get name of this geometry
double	getScale()	gets the scaling factor applied when using this geometry
Transform3D	getTransform()	get transformation
static GeometryPtr	makeBox(double x, double y, double z)	util function for creating a Box geometry
static GeometryPtr	makeCone(double height, double radiusTop, double radiusBot)	util function for creating a Cone geometry
static GeometryPtr	makeCylinder(float radius, float height)	util function for creating a Cylinder geometry
static 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, Vector3D xdir)	Construct a grid.
static GeometryPtr	makeGrid(int dim_x, int dim_y, double size_x, double size_y, Vector3D xdir, Vector3D ydir)	Construct a grid.
static GeometryPtr	makeSphere(double radi)	util function for creating a Sphere geometry
void	setColor(float red, float green, float blue)	set the color of the geometry
void	setColor(short red, short green, short blue)	set the color of the geometry
void	setFilePath(java.lang.String name)	set file path this geometry
void	setFrame(FramePtr frame)	Set the reference frame.
void	setGeometryData(GeometryDataPtr data)	set transformation
void	setId(java.lang.String id)	set identifier of this geometry
void	setMask(int mask)	Set the draw mask.
void	setName(java.lang.String name)	set name of this geometry
void	setScale(double scale)	set the scaling factor that should be applied to this geometry when used.
void	setTransform(Transform3D t3d)	set transformation

Methods inherited from class java.lang.Object

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

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 data

name - [in] Unique name to be assigned for the geometry

scale - [in] scaling factor

Geometry

public Geometry(GeometryDataPtr data,
                java.lang.String name)

constructor giving a specified id.

Parameters:

data - [in] pointer to geometry data

name - [in] Unique name to be assigned for the geometry

Geometry

public Geometry(GeometryDataPtr data,
                Transform3D t3d,
                double scale)

constructor - autogenerated id from geometry type.

Parameters:

data - [in] pointer to geometry data

t3d - [in] transform

scale - [in] scaling factor

Geometry

public Geometry(GeometryDataPtr data,
                Transform3D t3d)

constructor - autogenerated id from geometry type.

Parameters:

data - [in] pointer to geometry data

t3d - [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(Transform3D t3d)

set transformation

Parameters:

t3d - [in] the new transform

getTransform

public Transform3D 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 0-255

green - [in] the amount of green color 0-255

blue - [in] the amount of red color 0-255

setColor

public void setColor(float red,
                     float green,
                     float blue)

set the color of the geometry

Parameters:

red - [in] the amount of red color 0-1

green - [in] the amount of green color 0-1

blue - [in] the amount of red color 0-1

setFrame

public void setFrame(FramePtr frame)

Set the reference frame.

Parameters:

frame - [in] new reference frame.

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,
                                   Vector3D xdir,
                                   Vector3D 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,
                                   Vector3D 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(SWIGTYPE_p_float color)

get the color stored for the object

Parameters:

color - [out] the array to store the color in