Package org.robwork.sdurw_geometry

Class BSphere

java.lang.Object

org.robwork.sdurw_geometry.BVBSphere

org.robwork.sdurw_geometry.BSphere

public class BSphere
extends BVBSphere

class representing an Bounding sphere

Constructor Summary

Constructors

Constructor	Description
BSphere()	constructor using sphere center of (0, 0, 0)
BSphere(double radius)	constructor using sphere center of (0, 0, 0)
BSphere(long cPtr, boolean cMemoryOwn)
BSphere(BSphere bs)	Copy constroctor
BSphere(Vector3D pos)	constructor setting both sphere center and radius
BSphere(Vector3D pos, double radius)	constructor setting both sphere center and radius

Method Summary

Modifier and Type	Method	Description
double	calcArea()	get the surface area
double	calcVolume()	get the volume
void	delete()
static BSphere	fitEigen(GeometryDataPtr tris)
static BSphere	fitEigen(TriMesh tris)	fit a sphere in $O(n)$ to a triangle mesh using Principal Component Analysis (PCA) where the eigen values of the vertices are used to compute the center of the sphere using the vector with the maximum spread (largest eigenvalue).
static BSphere	fitEigen(TriMeshPtr tris)
static long	getCPtr(BSphere obj)
Vector3D	getPosition()	get the position of the sphere center
double	getRadius()	get the sphere radius
double	getRadiusSqr()	get the sphere radius^2
void	setPosition(Vector3D p3d)	set the sphere center coordinate
java.lang.String	toString()

Methods inherited from class org.robwork.sdurw_geometry.BVBSphere

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

BSphere

public BSphere(long cPtr,
               boolean cMemoryOwn)

BSphere

public BSphere(double radius)

constructor using sphere center of (0, 0, 0)

Parameters:

radius - [in] set the radius of the sphere

BSphere

public BSphere()

constructor using sphere center of (0, 0, 0)

BSphere

public BSphere(Vector3D pos,
               double radius)

constructor setting both sphere center and radius

Parameters:

pos - [in] the position of the center of the sphere

radius - [in] set the radius of the sphere

BSphere

public BSphere(Vector3D pos)

constructor setting both sphere center and radius

Parameters:

pos - [in] the position of the center of the sphere

BSphere

public BSphere(BSphere bs)

Copy constroctor

Parameters:

bs - [in] object to copy

Method Detail

getCPtr

public static long getCPtr(BSphere obj)

delete

public void delete()

Overrides:

delete in class BVBSphere

getPosition

public Vector3D getPosition()

get the position of the sphere center

Returns:

a Vector3D with the center coordinates

setPosition

public void setPosition(Vector3D p3d)

set the sphere center coordinate

Parameters:

p3d - [in] the new center coordinates

getRadius

public double getRadius()

get the sphere radius

Returns:

sphere radius

getRadiusSqr

public double getRadiusSqr()

get the sphere radius^2

Returns:

sphere radius^2

calcArea

public double calcArea()

get the surface area

Returns:

surface area

calcVolume

public double calcVolume()

get the volume

Returns:

volume

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

fitEigen

public static BSphere fitEigen(TriMesh tris)

fit a sphere in $O(n)$ to a triangle mesh using Principal Component Analysis (PCA)
where the eigen values of the vertices are used to compute the center of the sphere
using the vector with the maximum spread (largest eigenvalue).

Parameters:

tris - [in] input mesh

Returns:

bounding sphere

fitEigen

public static BSphere fitEigen(TriMeshPtr tris)

fitEigen

public static BSphere fitEigen(GeometryDataPtr tris)