artisynth.demos.wrapping

Class ExactWrappableSphere

java.lang.Object

artisynth.demos.wrapping.ExactWrappableGeometry

artisynth.demos.wrapping.ExactWrappableSphere

All Implemented Interfaces:

ParametricEntity

public class ExactWrappableSphere
extends ExactWrappableGeometry
implements ParametricEntity

A sphere used for excat wrapping.

Author:

Omar

Constructor Summary

Constructors

Constructor and Description
ExactWrappableSphere(Frame iparent, Point3d cInParent, double R) Create a new wrapping sphere in the given parent frame, with the given center location and radius.

Method Summary

Modifier and Type	Method and Description
Point3d	getLocation(double[] params) Get location of the point described by the given parameters, in some body coordinate frame.
Point3d	getPosition(double[] params) Get position of the point described by the given parameters, in world coordinates.
double	getThreshRat() Get the threshold ratio for breaking contact.
void	setThreshRat(double tr) Set the threshold ratio for breaking contact.
ExactWrapPath	wrap(Point fm1, Point fm2) Find a path between the two points that wraps around this object.
ExactWrapPath	wrap(Point fm1, Point fm2, ExactWrapPath prev) Find a path between the two points that wraps around this object.

Methods inherited from class artisynth.demos.wrapping.ExactWrappableGeometry

getParent, getTransformFromWorld, getTransformToParent, getTransformToWorld

Methods inherited from class java.lang.Object

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

Constructor Detail

ExactWrappableSphere

public ExactWrappableSphere(Frame iparent,
                            Point3d cInParent,
                            double R)

Create a new wrapping sphere in the given parent frame, with the given center location and radius.

Parameters:

iparent - parent frame

cInParent - location of the center (parent frame)

R - radius of this sphere

Method Detail

setThreshRat

public void setThreshRat(double tr)

Set the threshold ratio for breaking contact.

Parameters:

tr - new ratio for breaking contact

getThreshRat

public double getThreshRat()

Get the threshold ratio for breaking contact.

Returns:

threshold ratio for breaking contact

wrap

public ExactWrapPath wrap(Point fm1,
                          Point fm2)

Find a path between the two points that wraps around this object. See documentation for explanation of algorithm.

Specified by:

wrap in class ExactWrappableGeometry

Parameters:

fm1 - first point

fm2 - second point

Returns:

the path

wrap

public ExactWrapPath wrap(Point fm1,
                          Point fm2,
                          ExactWrapPath prev)

Description copied from class: ExactWrappableGeometry

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.

Specified by:

wrap in class ExactWrappableGeometry

Parameters:

fm1 - first point

fm2 - second point

prev - previous path

Returns:

the path

getLocation

public Point3d getLocation(double[] params)

Get location of the point described by the given parameters, in some body coordinate frame.

Specified by:

getLocation in interface ParametricEntity

Parameters:

params - parameters

Returns:

location of the point with the given parameters

getPosition

public Point3d getPosition(double[] params)

Get position of the point described by the given parameters, in world coordinates.

Specified by:

getPosition in interface ParametricEntity

Parameters:

params - parameters

Returns:

position of the point with the given parameters.