artisynth.demos.wrapping

Class ExactWrappableGeometry

java.lang.Object

artisynth.demos.wrapping.ExactWrappableGeometry

Direct Known Subclasses:

ExactWrappableCylinder, ExactWrappableSphere

public abstract class ExactWrappableGeometry
extends java.lang.Object

A wrapping object for which a wrap path can be solved using exact methods. Given any two points (not on or in the mesh), this object should be able to find a minimum length continuously differentiable path between them such that segments of the path not on the mesh are straight lines.

Author:

Omar

Constructor Summary

Constructors

Constructor and Description
ExactWrappableGeometry()

Method Summary

Modifier and Type	Method and Description
Frame	getParent() Get the parent of this wrap object.
RigidTransform3d	getTransformFromWorld() Get transform from world frame to the geometry's frame.
RigidTransform3d	getTransformToParent() Get transform of geometry in parent's frame.
RigidTransform3d	getTransformToWorld() Get transform of geometry in world frame.
abstract ExactWrapPath	wrap(Point p1, Point p2) Find a path between the two points that wraps around this object.
abstract ExactWrapPath	wrap(Point p1, Point p2, ExactWrapPath prev) Find a path between the two points that wraps around this object.

Methods inherited from class java.lang.Object

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

Constructor Detail

ExactWrappableGeometry

public ExactWrappableGeometry()

Method Detail

getParent

public Frame getParent()

Get the parent of this wrap object.

Returns:

parent frame for this object

getTransformToParent

public RigidTransform3d getTransformToParent()

Get transform of geometry in parent's frame.

Returns:

transform to parent's frame

getTransformToWorld

public RigidTransform3d getTransformToWorld()

Get transform of geometry in world frame. Returns a new object (not a reference).

Returns:

transform to world frame

getTransformFromWorld

public RigidTransform3d getTransformFromWorld()

Get transform from world frame to the geometry's frame. Returns a new object (not a reference).

Returns:

transform from world frame

wrap

public abstract ExactWrapPath wrap(Point p1,
                                   Point p2)

Find a path between the two points that wraps around this object.

Parameters:

p1 - first point

p2 - second point

Returns:

the path

wrap

public abstract ExactWrapPath wrap(Point p1,
                                   Point p2,
                                   ExactWrapPath prev)

Find a path between the two points that wraps around this object. In case of a non-unique solution, use the solution closest to the previous path.

Parameters:

p1 - first point

p2 - second point

prev - previous path

Returns:

the path