Package org.robwork.sdurw_geometry

Class QHull3D

java.lang.Object

org.robwork.sdurw_geometry.ConvexHull3D

org.robwork.sdurw_geometry.QHull3D

public class QHull3D
extends ConvexHull3D

calculates the convex hull of a set of 3d points.

The GiftWrap convex hull algorithm is used, hence the
class name.

Note: It is important that there are not multiple vertices at the same coordinates.
Filter these away before using this convex hull calculation.

Constructor Summary

Constructors

Constructor	Description
QHull3D()	constructor
QHull3D(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(QHull3D obj)
double	getMinDistInside(Vector3D vertex)	If the vertex is inside the convex hull the minimum distance to any of the half-spaces of the hull is returned.
double	getMinDistOutside(Vector3D vertex)	If the vertex is outside the convex hull the minimum distance to the convex hull is returned.
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t	getPlaneNormals()	Returns the normals of the planes defining the convex hull
vector_d	getPlaneOffsets()	Returns the offsets of the planes defining the convex hull
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t	getVertices()	Returns the vertices defining the convex hull
boolean	isInside(Vector3D vertex)	test if the given vertex is inside the convex hull
void	rebuild(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t vertices)	rebuilts the hull
PlainTriMeshN1Ptr	toTriMesh()	create a plain trimesh from the hull facets

Methods inherited from class org.robwork.sdurw_geometry.ConvexHull3D

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

QHull3D

public QHull3D(long cPtr,
               boolean cMemoryOwn)

QHull3D

public QHull3D()

constructor

Method Detail

getCPtr

public static long getCPtr(QHull3D obj)

delete

public void delete()

Overrides:

delete in class ConvexHull3D

rebuild

public void rebuild(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t vertices)

Description copied from class: ConvexHull3D

rebuilts the hull

Overrides:

rebuild in class ConvexHull3D

isInside

public boolean isInside(Vector3D vertex)

Description copied from class: ConvexHull3D

test if the given vertex is inside the convex hull

Overrides:

isInside in class ConvexHull3D

getMinDistOutside

public double getMinDistOutside(Vector3D vertex)

Description copied from class: ConvexHull3D

If the vertex is outside the convex hull the minimum distance
to the convex hull is returned. If its not outside 0 is returned.

Overrides:

getMinDistOutside in class ConvexHull3D

Parameters:

vertex -

Returns:

minimum distance to vertex

getMinDistInside

public double getMinDistInside(Vector3D vertex)

Description copied from class: ConvexHull3D

If the vertex is inside the convex hull the minimum distance
to any of the half-spaces of the hull is returned. If its not inside
0 is returned.

Overrides:

getMinDistInside in class ConvexHull3D

Parameters:

vertex -

Returns:

minimum distance to vertex

toTriMesh

public PlainTriMeshN1Ptr toTriMesh()

Description copied from class: ConvexHull3D

create a plain trimesh from the hull facets

Overrides:

toTriMesh in class ConvexHull3D

Returns:

the hull facets as a plain triangle mesh with normal information

getVertices

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t getVertices()

Returns the vertices defining the convex hull

getPlaneNormals

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t getPlaneNormals()

Returns the normals of the planes defining the convex hull

getPlaneOffsets

public vector_d getPlaneOffsets()

Returns the offsets of the planes defining the convex hull