Package org.robwork.sdurw_geometry

Class QuadraticUtil

java.lang.Object

org.robwork.sdurw_geometry.QuadraticUtil

public class QuadraticUtil
extends java.lang.Object

Utility functions for operations on quadratic surfaces and curves.

Functions are provided to find approximate closest points between different combinations of
quadratics surfaces and curves.

Constructor Summary

Constructors

Constructor	Description
QuadraticUtil(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
static boolean	closestPointsApproximation(QuadraticSurface s, QuadraticCurve c, SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t result, double epsIn, double epsOut)	Find and approximation of the closest points between a surface s and a curve c. The approximation is valid when the distance is small. Only closest points within the trimming region of surface s and within the limits of curve c will give a result.
static boolean	closestPointsApproximation(QuadraticSurface s1, QuadraticSurface s2, SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t result, double epsIn, double epsOut)	Find and approximation of the closest points between two surfaces s1 and s2. The approximation is valid when the distance is small. Only closest points within the trimming regions will give a result.
static VectorPair_d_d	closestTimesApproximation(QuadraticSurface sa1, QuadraticSurface sa2, QuadraticCurve ca, QuadraticCurve cb)	Find an approximation of the curve parameter values of curves ca and cb at the closest points. The approximation is valid when the distance is small. Only closest points within the limits of both curves will give a result.
void	delete()
static long	getCPtr(QuadraticUtil obj)

Methods inherited from class java.lang.Object

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

Constructor Detail

QuadraticUtil

public QuadraticUtil(long cPtr,
                     boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(QuadraticUtil obj)

delete

public void delete()

closestPointsApproximation

public static boolean closestPointsApproximation(QuadraticSurface s1,
                                                 QuadraticSurface s2,
                                                 SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t result,
                                                 double epsIn,
                                                 double epsOut)

Find and approximation of the closest points between two surfaces s1 and s2.

The approximation is valid when the distance is small.
Only closest points within the trimming regions will give a result.

Parameters:

s1 - [in] the first surface.

s2 - [in] the second surface.

result - [out] the result (only valid if the function returns true).

epsIn - [in] threshold for penetration depth.

epsOut - [in] threshold for distance.

Returns:

true if there is a closest point pair within the given limits.

closestPointsApproximation

public static boolean closestPointsApproximation(QuadraticSurface s,
                                                 QuadraticCurve c,
                                                 SWIGTYPE_p_std__pairT_rw__math__Vector3DT_double_t_rw__math__Vector3DT_double_t_t result,
                                                 double epsIn,
                                                 double epsOut)

Find and approximation of the closest points between a surface s and a curve
c.

The approximation is valid when the distance is small.
Only closest points within the trimming region of surface s and within the limits of
curve c will give a result.

Parameters:

s - [in] the surface.

c - [in] the curve.

result - [out] the result (only valid if the function returns true).

epsIn - [in] threshold for penetration depth.

epsOut - [in] threshold for distance.

Returns:

true if there is a closest point pair within the given limits.

closestTimesApproximation

public static VectorPair_d_d closestTimesApproximation(QuadraticSurface sa1,
                                                       QuadraticSurface sa2,
                                                       QuadraticCurve ca,
                                                       QuadraticCurve cb)

Find an approximation of the curve parameter values of curves ca and cb at
the closest points.

The approximation is valid when the distance is small.
Only closest points within the limits of both curves will give a result.

Parameters:

sa1 - [in] one of the surfaces the first curve ca is lying on.

sa2 - [in] the other surface the first curve ca is lying on.

ca - [in] the first curve.

cb - [in] the second curve.

Returns:

a list of pairs of curve parameter values at the closest points.