artisynth.demos.wrapping

Class ExactWrapPath

java.lang.Object

artisynth.demos.wrapping.ExactWrapPath

public class ExactWrapPath
extends java.lang.Object

A path between two points, computed using exact solutions. These paths are differentiable, and each point on the path holds its unit tangent vector to the path at that point.

Author:

Omar

Constructor Summary

Constructors

Constructor and Description
ExactWrapPath() Create a new empty path with 3 segments.
ExactWrapPath(int n) Create a new empty path with n segments.
ExactWrapPath(Point3d[] points, Vector3d[] tangents, int n, boolean world) Create a new path from the given points.

Method Summary

Modifier and Type	Method and Description
boolean	addDrawPoint(Point3d p) Adds the given point to the list of draw points.
void	applyForces(double F)
java.util.ArrayList<Point3d>	getAllABPoints()
java.util.ArrayList<Point3d>	getDrawPoints() Returns the list of draw points.
double	getLength() Get the length of the path.
double	getLengthDot() Returns time derivative of the length.
int	getNumPoints() Get the number of points in this path.
int	getNumSegments() Get the number of segments in this path.
artisynth.demos.wrapping.ExactWrapPath.WrapPoint	getPoint(int i) Get a point on the path.
Point3d	getRefPoint() Get reference point.
artisynth.demos.wrapping.ExactWrapPath.WrapSegment	getSegment(int i) Get a segment from the path.
void	renderPath(Renderer renderer, RenderProps props) Renders this path.
void	setRefPoint(Point3d pnt) Sets the reference point.

Methods inherited from class java.lang.Object

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

Constructor Detail

ExactWrapPath

public ExactWrapPath()

Create a new empty path with 3 segments.

ExactWrapPath

public ExactWrapPath(int n)

Create a new empty path with n segments.

Parameters:

n - number of segments in the path

ExactWrapPath

public ExactWrapPath(Point3d[] points,
                     Vector3d[] tangents,
                     int n,
                     boolean world)

Create a new path from the given points.

Parameters:

points - points on the path (these points will be changed if they are input in world coordinates)

tangents - path tangents at the points (world frame)

n - number of points

world - true if the points are in world coordinates

Method Detail

getNumPoints

public int getNumPoints()

Get the number of points in this path.

Returns:

number of points in this path

getNumSegments

public int getNumSegments()

Get the number of segments in this path.

Returns:

number of segments in this path

getPoint

public artisynth.demos.wrapping.ExactWrapPath.WrapPoint getPoint(int i)

Get a point on the path.

Parameters:

i - index of the point

Returns:

point of the given index

getSegment

public artisynth.demos.wrapping.ExactWrapPath.WrapSegment getSegment(int i)

Get a segment from the path.

Parameters:

i - index of the segment

Returns:

segment of the given index

getLength

public double getLength()

Get the length of the path.

Returns:

length of the path

getLengthDot

public double getLengthDot()

Returns time derivative of the length.

Returns:

time derivative of length

applyForces

public void applyForces(double F)

addDrawPoint

public boolean addDrawPoint(Point3d p)

Adds the given point to the list of draw points.

Parameters:

p - the point to add (in world frame)

Returns:

true if the add was successful; false otherwise

getDrawPoints

public java.util.ArrayList<Point3d> getDrawPoints()

Returns the list of draw points.

Returns:

list of draw points

getAllABPoints

public java.util.ArrayList<Point3d> getAllABPoints()

renderPath

public void renderPath(Renderer renderer,
                       RenderProps props)

Renders this path.

Parameters:

renderer - renderer to use for drawing

props - render properties

getRefPoint

public Point3d getRefPoint()

Get reference point. This is a point on the wrappable that acts as a combined A/B point reference for paths that do *not* touch the surface. If the path does touch the surface, returns null.

setRefPoint

public void setRefPoint(Point3d pnt)

Sets the reference point.