Package org.robwork.sdurw_proximity

Class Raycaster

java.lang.Object

org.robwork.sdurw_proximity.Raycaster

public class Raycaster
extends java.lang.Object

a raycast implementation that relies on a collision strategy for finding the
collision between the ray and the scene.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Raycaster.QueryType	result structure of ray cast
static class	Raycaster.RaycasterQueryResult	result of a Raycast query.

Constructor Summary

Constructors

Constructor	Description
Raycaster(long cPtr, boolean cMemoryOwn)
Raycaster(CollisionStrategyPtr cdstrategy)	constructor - only the frames in the vector are tested against each other.
Raycaster(CollisionStrategyPtr cdstrategy, double ray_length)	constructor - only the frames in the vector are tested against each other.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(Raycaster obj)
void	setCalculateNormals(boolean enabled)	set to true if normals should also be calculated
void	setRayFrame(FramePtr rayframe)
boolean	shoot(Vector3D pos, Vector3D direction, Raycaster.RaycasterQueryResult result, State state)	shoots a ray in the direction of the vector direction starting from the position vector pos.

Methods inherited from class java.lang.Object

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

Constructor Detail

Raycaster

public Raycaster(long cPtr,
                 boolean cMemoryOwn)

Raycaster

public Raycaster(CollisionStrategyPtr cdstrategy,
                 double ray_length)

constructor - only the frames in the vector are tested against each
other.

Raycaster

public Raycaster(CollisionStrategyPtr cdstrategy)

constructor - only the frames in the vector are tested against each
other.

Method Detail

getCPtr

public static long getCPtr(Raycaster obj)

delete

public void delete()

setRayFrame

public void setRayFrame(FramePtr rayframe)

shoot

public boolean shoot(Vector3D pos,
                     Vector3D direction,
                     Raycaster.RaycasterQueryResult result,
                     State state)

shoots a ray in the direction of the vector direction starting from
the position vector pos. The frame associated with the geometry that is hit
first by the ray is returned along with the intersection point described in
world frame.

setCalculateNormals

public void setCalculateNormals(boolean enabled)

set to true if normals should also be calculated

Parameters:

enabled -