Package org.robwork.sdurw_geometry

Class GeometryUtil

java.lang.Object

org.robwork.sdurw_geometry.GeometryUtil

public class GeometryUtil
extends java.lang.Object

Utility functions for calculating properties of geometry

The methods for calculation of volume, inertia, and the center of gravity, is as described in
[1].

[1]: Fast and Accurate Computation of Polyhedral Mass Properties, Brian Mirtich. Journal of
Graphics Tools, Vol.1, pages 31-58, 1996

Constructor Summary

Constructors

Constructor	Description
GeometryUtil()
GeometryUtil(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
static double	calcMaxDist(VectorGeometryPtr geoms, Vector3D center, FramePtr ref, State state)	calculates the max distance to any triangle in the geoms, from some point center
void	delete()
static Vector3D	estimateCOG(TriMesh trimesh)	Estimates the center of gravity (COG) of a triangle mesh.
static Vector3D	estimateCOG(TriMesh trimesh, Transform3D t3d)	Estimates the center of gravity (COG) of a triangle mesh.
static Vector3D	estimateCOG(VectorGeometryPtr geoms)	Estimates the center of gravity (COG) of a list of geometries. The COG will be found relative to the geometry frame. Note: The geometries should be defined relative to the same frame - otherwise the result will not make sense.
static Vector3D	estimateCOG(VectorGeometryPtr geoms, FramePtr ref, State state)	Estimates the center of gravity (COG) of a list of geometries. The COG will be given relative to the given reference frame.
static InertiaMatrixd	estimateInertia(double mass, VectorGeometryPtr geoms)	Estimates the inertia of a list of geometries. The inertia is described relative to the geometry reference frame. The reftrans parameter can however be used to transform the geometries. Note: The geometries should be defined relative to the same frame - otherwise the result will not make sense.
static InertiaMatrixd	estimateInertia(double mass, VectorGeometryPtr geoms, FramePtr ref, State state)	Estimates the inertia of a list of geometries. The inertia is described relative to the ref coordinate system The reftrans parameter can however be used to transform the geometries.
static InertiaMatrixd	estimateInertia(double mass, VectorGeometryPtr geoms, FramePtr ref, State state, Transform3D reftrans)	Estimates the inertia of a list of geometries. The inertia is described relative to the ref coordinate system The reftrans parameter can however be used to transform the geometries.
static InertiaMatrixd	estimateInertia(double mass, VectorGeometryPtr geoms, Transform3D reftrans)	Estimates the inertia of a list of geometries. The inertia is described relative to the geometry reference frame. The reftrans parameter can however be used to transform the geometries. Note: The geometries should be defined relative to the same frame - otherwise the result will not make sense.
static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__InertiaMatrixT_double_t_t	estimateInertiaCOG(double mass, VectorGeometryPtr geoms, FramePtr ref, State state)	Estimates the inertia and center of gravity (COG) of a list of geometries. The inertia is described relative to the ref coordinate system translated to COG. The reftrans parameter can however be used to transform the geometries.
static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__InertiaMatrixT_double_t_t	estimateInertiaCOG(double mass, VectorGeometryPtr geoms, FramePtr ref, State state, Transform3D reftrans)	Estimates the inertia and center of gravity (COG) of a list of geometries. The inertia is described relative to the ref coordinate system translated to COG. The reftrans parameter can however be used to transform the geometries.
static double	estimateVolume(TriMesh trimesh)	Estimates the volume of a trimesh.
static double	estimateVolume(VectorGeometryPtr geoms)	Estimates the volume of a list of geometries. Note: If geometries are overlapping, the overlapping regions will count twice in the volume.
static FrameVector	getAnchoredChildFrames(FramePtr parent, State state)	util function that locates all frames in the sub tree of parent that is staticly connected and that has geometry information.
static FrameVector	getAnchoredFrames(Frame f, State state)	util function that locates all frames that is staticly connected to f and that has geometry information.
static long	getCPtr(GeometryUtil obj)
static Vector3D	getDimensions(GeometryPtr geometry)	Returns the dimensions of geometry
static Vector3D	getDimensions(TriMeshPtr trimesh)	Returns the dimensions of trimesh
static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t	getExtremumDistances(TriMeshPtr trimesh)	Returns the extremum distances for the vertices of the TriMesh given the specified transformation
static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t	getExtremumDistances(TriMeshPtr trimesh, Transform3D t3d)	Returns the extremum distances for the vertices of the TriMesh given the specified transformation

Methods inherited from class java.lang.Object

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

Constructor Detail

GeometryUtil

public GeometryUtil(long cPtr,
                    boolean cMemoryOwn)

GeometryUtil

public GeometryUtil()

Method Detail

getCPtr

public static long getCPtr(GeometryUtil obj)

delete

public void delete()

estimateVolume

public static double estimateVolume(VectorGeometryPtr geoms)

Estimates the volume of a list of geometries.
Note: If geometries are overlapping, the overlapping regions will count twice in the
volume.

Parameters:

geoms - [in] the list of geometries.

Returns:

the total volume of the geometries.

estimateVolume

public static double estimateVolume(TriMesh trimesh)

Estimates the volume of a trimesh.

Parameters:

trimesh - [in] the trimesh.

Returns:

the total volume of the trimesh.

estimateInertiaCOG

public static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__InertiaMatrixT_double_t_t estimateInertiaCOG(double mass,
                                                                                                                        VectorGeometryPtr geoms,
                                                                                                                        FramePtr ref,
                                                                                                                        State state,
                                                                                                                        Transform3D reftrans)

Estimates the inertia and center of gravity (COG) of a list of geometries.

The inertia is described relative to the ref coordinate system translated to COG.
The reftrans parameter can however be used to transform the geometries.

Parameters:

mass - [in] the total mass of all geometries.

geoms - [in] the list of geometries.

ref - [in] the reference frame for the geometries (if NULL, it is assumed that
the geometries are defined relative to the same frame).

state - [in] state used to retrieve the current location of geometries relative to
the reference frame (only used if ref is given).

reftrans - [in] (optional) used to transform the geometry before calculation of the
inertia.

Returns:

the center of gravity relative to the ref frame and the inertia around
the center of gravity (in the coordinate frame of the ref frame).

estimateInertiaCOG

public static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__InertiaMatrixT_double_t_t estimateInertiaCOG(double mass,
                                                                                                                        VectorGeometryPtr geoms,
                                                                                                                        FramePtr ref,
                                                                                                                        State state)

Estimates the inertia and center of gravity (COG) of a list of geometries.

The inertia is described relative to the ref coordinate system translated to COG.
The reftrans parameter can however be used to transform the geometries.

Parameters:

mass - [in] the total mass of all geometries.

geoms - [in] the list of geometries.

ref - [in] the reference frame for the geometries (if NULL, it is assumed that
the geometries are defined relative to the same frame).

state - [in] state used to retrieve the current location of geometries relative to
the reference frame (only used if ref is given).

Returns:

the center of gravity relative to the ref frame and the inertia around
the center of gravity (in the coordinate frame of the ref frame).

estimateInertia

public static InertiaMatrixd estimateInertia(double mass,
                                             VectorGeometryPtr geoms,
                                             FramePtr ref,
                                             State state,
                                             Transform3D reftrans)

Estimates the inertia of a list of geometries.

The inertia is described relative to the ref coordinate system
The reftrans parameter can however be used to transform the geometries.

Parameters:

mass - [in] the total mass of all geometries.

geoms - [in] the list of geometries.

ref - [in] the reference frame for the geometries (if NULL, it is assumed that
the geometries are defined relative to the same frame).

state - [in] state used to retrieve the current location of geometries relative to
the reference frame (only used if ref is given).

reftrans - [in] (optional) used to transform the geometry before calculation of the
inertia.

Returns:

the inertia around relative to the ref frame.

estimateInertia

public static InertiaMatrixd estimateInertia(double mass,
                                             VectorGeometryPtr geoms,
                                             FramePtr ref,
                                             State state)

Estimates the inertia of a list of geometries.

The inertia is described relative to the ref coordinate system
The reftrans parameter can however be used to transform the geometries.

Parameters:

mass - [in] the total mass of all geometries.

geoms - [in] the list of geometries.

ref - [in] the reference frame for the geometries (if NULL, it is assumed that
the geometries are defined relative to the same frame).

state - [in] state used to retrieve the current location of geometries relative to
the reference frame (only used if ref is given).

Returns:

the inertia around relative to the ref frame.

estimateInertia

public static InertiaMatrixd estimateInertia(double mass,
                                             VectorGeometryPtr geoms,
                                             Transform3D reftrans)

Estimates the inertia of a list of geometries.

The inertia is described relative to the geometry reference frame.
The reftrans parameter can however be used to transform the geometries.

Note: The geometries should be defined relative to the same frame - otherwise the
result will not make sense.

Parameters:

mass - [in] the total mass of all geometries.

geoms - [in] the list of geometries.

reftrans - [in] (optional) used to transform the geometry before calculation of the
inertia.

Returns:

the inertia matrix relative to the reference frame.

estimateInertia

public static InertiaMatrixd estimateInertia(double mass,
                                             VectorGeometryPtr geoms)

Estimates the inertia of a list of geometries.

The inertia is described relative to the geometry reference frame.
The reftrans parameter can however be used to transform the geometries.

Note: The geometries should be defined relative to the same frame - otherwise the
result will not make sense.

Parameters:

mass - [in] the total mass of all geometries.

geoms - [in] the list of geometries.

Returns:

the inertia matrix relative to the reference frame.

estimateCOG

public static Vector3D estimateCOG(VectorGeometryPtr geoms)

Estimates the center of gravity (COG) of a list of geometries.

The COG will be found relative to the geometry frame.

Note: The geometries should be defined relative to the same frame - otherwise the
result will not make sense.

Parameters:

geoms - [in] the list of geometries.

Returns:

the center of gravity for the geometries.

estimateCOG

public static Vector3D estimateCOG(VectorGeometryPtr geoms,
                                   FramePtr ref,
                                   State state)

Estimates the center of gravity (COG) of a list of geometries.

The COG will be given relative to the given reference frame.

Parameters:

geoms - [in] the list of geometries.

ref - [in] the reference frame.

state - [in] the state which gives the position of the geometries relative to the
reference frame.

Returns:

the center of gravity for the geometries.

estimateCOG

public static Vector3D estimateCOG(TriMesh trimesh,
                                   Transform3D t3d)

Estimates the center of gravity (COG) of a triangle mesh.

Parameters:

trimesh - [in] the triangle mesh.

t3d - [in] (optional) make a transformation of the trimesh.

Returns:

the center of gravity of the mesh.

estimateCOG

public static Vector3D estimateCOG(TriMesh trimesh)

Estimates the center of gravity (COG) of a triangle mesh.

Parameters:

trimesh - [in] the triangle mesh.

Returns:

the center of gravity of the mesh.

calcMaxDist

public static double calcMaxDist(VectorGeometryPtr geoms,
                                 Vector3D center,
                                 FramePtr ref,
                                 State state)

calculates the max distance to any triangle in the geoms, from some point
center

Parameters:

geoms - [in] the geometries containing the triangles

center - [in] the point to calculate the distance from

ref - [in] the reference frame.

state -

Returns:

the maximum distance to any triangle in the geometries

getAnchoredFrames

public static FrameVector getAnchoredFrames(Frame f,
                                            State state)

util function that locates all frames that is staticly connected to f
and that has geometry information.

getAnchoredChildFrames

public static FrameVector getAnchoredChildFrames(FramePtr parent,
                                                 State state)

util function that locates all frames in the sub tree of parent
that is staticly connected and that has geometry information.

getExtremumDistances

public static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t getExtremumDistances(TriMeshPtr trimesh,
                                                                                                                     Transform3D t3d)

Returns the extremum distances for the vertices of the TriMesh given the specified
transformation

Parameters:

trimesh - [in] TriMesh to find extremum distances for

t3d - [in] Transformation of the vertices

Returns:

Pair containing the lower and upper extremum distances of the vertices.

getExtremumDistances

public static SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t getExtremumDistances(TriMeshPtr trimesh)

Returns the extremum distances for the vertices of the TriMesh given the specified
transformation

Parameters:

trimesh - [in] TriMesh to find extremum distances for

Returns:

Pair containing the lower and upper extremum distances of the vertices.

getDimensions

public static Vector3D getDimensions(GeometryPtr geometry)

Returns the dimensions of geometry

Parameters:

geometry - [in] Geometry to analyse

Returns:

Dimensions in the x,y and z directions.

getDimensions

public static Vector3D getDimensions(TriMeshPtr trimesh)

Returns the dimensions of trimesh

Parameters:

trimesh - [in] TriMesh to analyse

Returns:

Dimensions in the x,y and z directions.