Package org.robwork.sdurw_geometry

Class QuadraticBREP

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.QuadraticBREP

public class QuadraticBREP
extends GeometryData

A boundary representation where the geometry of a face is a QuadraticSurface,
and an edge curve is a QuadraticCurve.

This implementation adds the geometry related to Quadrics, based on BREP which handles the
topology.

To build a geometry composed of Quadratic surfaces and curves, follow the following
procedure:

1. Add all the needed vertices by using the addVertex function.
Each vertex is given an index starting, increasing from zero.

2. Add the edges with the addEdge function. An edge is added between two vertices using their
vertex indexes. The edge requires a QuadraticCurve and two vertex indicies. Notice that the
curve must have limits, such that it start in the first vertex and ends in the second vertex
(the curve has a direction). Each edge is given an index, increasing from zero.

3. Use the makeLoop function to form loops, based on the edges just added. The makeLoop takes
an arbitrary number of edge indexes. Notice that makeLoop expects the edge indexing to start
at 1, and supports negative indices to indicate direction of the edge. To form a loop, a list
of these indexes is given, to form a counter clockwise loop of edges. Each loop is given a
loop index, increasing from zero.

4. Attach a QuadraticSurface to a loop, by using the setSurface function.
Each surface is given an increasing surface index, starting from zero. Notice that this index
is not necessarily the same as the loop index.

Together this forms a connected set of surfaces, curves and vertices, that forms a closed
geometry. Functions are provided that makes it easy to search for various neighbouring
primitives in the boundary representation.

It is also possible to retrieve a non-connected shell representation, either by making a
PlainQuadraticShell with all information fully copied, or by using a the more lightweight
shellProxy which retrieves its information from the underlying QuadraticBREP.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	QuadraticBREP.CommonQuadraticCurveSet	Convenience type for a set of curves in a QuadraticBREP.

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

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
QuadraticBREP(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addEdge(QuadraticCurve curve, long v1, long v2)	Add a QuadraticCurve to the BREP. Notice that the curve has direction.
QuadraticBREPPtr	clone()
void	delete()
SWIGTYPE_p_rw__core__PtrT_rw__geometry__QuadraticBREP__CommonQuadraticCurveSet_const_t	getCommonCurves(SWIGTYPE_p_std__setT_unsigned_long_t faces)
static long	getCPtr(QuadraticBREP obj)
QuadraticCurve	getCurve(long curveIndex)
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__QuadraticCurve_t_t	getCurves(long loopIdx)
QuadraticSurface	getSurface(long surfaceIndex)
GeometryData.GeometryType	getType()	the type of this primitive
void	scale(double factor)
void	setFace(QuadraticSurface surface, long loop)	Attach a QuadraticSurface to a face of the BREP.
PlainQuadraticShellPtr	shell()	Get a QuadraticShell representation by copying geometric information to a concrete PlainQuadraticShell object.
QuadraticShellCPtr	shellProxy()

Methods inherited from class org.robwork.sdurw_geometry.GeometryData

getCPtr, getTriMesh, getTriMesh, isConvex, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

QuadraticBREP

public QuadraticBREP(long cPtr,
                     boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(QuadraticBREP obj)

delete

public void delete()

Overrides:

delete in class GeometryData

getType

public GeometryData.GeometryType getType()

Description copied from class: GeometryData

the type of this primitive

Overrides:

getType in class GeometryData

getSurface

public QuadraticSurface getSurface(long surfaceIndex)

getCurve

public QuadraticCurve getCurve(long curveIndex)

scale

public void scale(double factor)

clone

public QuadraticBREPPtr clone()

shellProxy

public QuadraticShellCPtr shellProxy()

shell

public PlainQuadraticShellPtr shell()

Get a QuadraticShell representation by copying geometric information to a concrete
PlainQuadraticShell object.

Returns:

smart pointer to a PlainQuadraticShell object.

getCurves

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__QuadraticCurve_t_t getCurves(long loopIdx)

getCommonCurves

public SWIGTYPE_p_rw__core__PtrT_rw__geometry__QuadraticBREP__CommonQuadraticCurveSet_const_t getCommonCurves(SWIGTYPE_p_std__setT_unsigned_long_t faces)

addEdge

public void addEdge(QuadraticCurve curve,
                    long v1,
                    long v2)

Add a QuadraticCurve to the BREP.

Notice that the curve has direction. It is expected to have limits such that it starts in
vertex v1 and end in v2.

Parameters:

curve - [in] curve to add.

v1 - [in] the start vertex.

v2 - [in] the end vertex.

setFace

public void setFace(QuadraticSurface surface,
                    long loop)

Attach a QuadraticSurface to a face of the BREP.

Parameters:

surface - [in] surface to add.

loop - [in] the loop index for the loop to attach surface to.