Package org.robwork.sdurw_geometry

Class OBBFactory

java.lang.Object

org.robwork.sdurw_geometry.BVFactoryOBB

org.robwork.sdurw_geometry.OBBFactory

public class OBBFactory
extends BVFactoryOBB

factory for computing tight fitting Oriented Bounding Boxes.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	OBBFactory.FitMethod	The supported methods to generate an oriented bounding box from a mesh.

Constructor Summary

Constructors

Constructor	Description
OBBFactory()	Constructor.
OBBFactory(long cPtr, boolean cMemoryOwn)
OBBFactory(OBBFactory.FitMethod method)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(OBBFactory obj)
OBB	makeBV(GeometryData geom)	&)
OBB	makeBV(Primitive geom)	&)
OBB	makeBV(Shell geom)	&)
OBB	makeBV(TriMesh geom)	&)
OBB	makeDITO(TriMesh mesh)
OBB	makePCA(TriMesh mesh)	computes covariance over vertices in mesh and calculates the eigen vectors of the covariance and use this as axes in the bounding box
OBB	makePCAHull(TriMesh mesh)	computes covariance over the vertices of the convex hull of the mesh and calculates the eigen vectors of the covariance and use this as axes in the bounding box

Methods inherited from class org.robwork.sdurw_geometry.BVFactoryOBB

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

OBBFactory

public OBBFactory(long cPtr,
                  boolean cMemoryOwn)

OBBFactory

public OBBFactory(OBBFactory.FitMethod method)

Constructor.

Parameters:

method - [in] (optional) the method to use. Default is the DITO14 method.

OBBFactory

public OBBFactory()

Constructor.

Method Detail

getCPtr

public static long getCPtr(OBBFactory obj)

delete

public void delete()

Overrides:

delete in class BVFactoryOBB

makeBV

public OBB makeBV(TriMesh geom)

&)

Overrides:

makeBV in class BVFactoryOBB

Parameters:

geom - [in/out] the mesh to create bounding volume for.

Returns:

the bounding volume.

makeBV

public OBB makeBV(GeometryData geom)

&)

Overrides:

makeBV in class BVFactoryOBB

Parameters:

geom - [in/out] the geometry to create bounding volume for.

Returns:

the bounding volume.

makeBV

public OBB makeBV(Primitive geom)

&)

Overrides:

makeBV in class BVFactoryOBB

Parameters:

geom - [in/out] the primitive to create bounding volume for.

Returns:

the bounding volume.

makeDITO

public OBB makeDITO(TriMesh mesh)

makeBV

public OBB makeBV(Shell geom)

&)

Overrides:

makeBV in class BVFactoryOBB

Parameters:

geom - [in/out] the shell to create bounding volume for.

Returns:

the bounding volume.

makePCA

public OBB makePCA(TriMesh mesh)

computes covariance over vertices in mesh and calculates the
eigen vectors of the covariance and use this as axes in the bounding box

Parameters:

mesh - [in] the triangle mesh to create oriented bounding box for.

Returns:

a tight fitting bounding box

makePCAHull

public OBB makePCAHull(TriMesh mesh)

computes covariance over the vertices of the convex hull
of the mesh and calculates the
eigen vectors of the covariance and use this as axes in the bounding box

Parameters:

mesh - [in] the triangle mesh to create oriented bounding box for.

Returns:

a tight fitting bounding box