Package org.robwork.sdurw_geometry

Class Primitive

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.Primitive

Direct Known Subclasses:

Box, Cone, Cylinder, Line, Plane, Pyramid, Sphere, Tube

public class Primitive
extends GeometryData

defines an interface for a geometric shape that is defined
by a set of parameters.

Nested Class Summary

Nested classes/interfaces inherited from class org.robwork.sdurw_geometry.GeometryData

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
Primitive(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
TriMeshPtr	createMesh(int resolution)	make a trimesh from this primitive.
void	delete()
static long	getCPtr(Primitive obj)
Q	getParameters()	get the parameters that define this primitive
TriMeshPtr	getTriMesh()	Note: primitives allways return a new trimesh
TriMeshPtr	getTriMesh(boolean forceCopy)	Note: primitives allways return a new trimesh
boolean	isConvex()	test if this geometry data is convex
boolean	isInside(Vector3D point)	test if a point is on the border or inside this primitive
void	setParameters(Q q)	set the parameters that define this primitive

Methods inherited from class org.robwork.sdurw_geometry.GeometryData

getCPtr, getType, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

Primitive

public Primitive(long cPtr,
                 boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(Primitive obj)

delete

public void delete()

Overrides:

delete in class GeometryData

getTriMesh

public TriMeshPtr getTriMesh(boolean forceCopy)

Note: primitives allways return a new trimesh

Overrides:

getTriMesh in class GeometryData

Returns:

TriMesh representation of this GeometryData

getTriMesh

public TriMeshPtr getTriMesh()

Note: primitives allways return a new trimesh

Overrides:

getTriMesh in class GeometryData

Returns:

TriMesh representation of this GeometryData

createMesh

public TriMeshPtr createMesh(int resolution)

make a trimesh from this primitive. Use granularity to
specify minimum number of line segments a half circle is split into

Parameters:

resolution - [in]

getParameters

public Q getParameters()

get the parameters that define this primitive

setParameters

public void setParameters(Q q)

set the parameters that define this primitive

isConvex

public boolean isConvex()

Description copied from class: GeometryData

test if this geometry data is convex

Overrides:

isConvex in class GeometryData

Returns:

true if convex

isInside

public boolean isInside(Vector3D point)

test if a point is on the border or inside this primitive