KrisLibrary  1.0.0
Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
Math3D::GeometricPrimitive3D Class Reference

A generic geometric primitive class. More...

#include <geometry3d.h>

Public Types

enum  Type {
  Empty, Point, Segment, Triangle,
  Polygon, Sphere, Ellipsoid, Cylinder,
  AABB, Box
}
 

Public Member Functions

 GeometricPrimitive3D (const GeometricPrimitive3D &prim)
 
 GeometricPrimitive3D (const Vector3 &pt)
 
 GeometricPrimitive3D (const Segment3D &line)
 
 GeometricPrimitive3D (const Triangle3D &t)
 
 GeometricPrimitive3D (const Polygon3D &p)
 
 GeometricPrimitive3D (const Sphere3D &s)
 
 GeometricPrimitive3D (const Ellipsoid3D &s)
 
 GeometricPrimitive3D (const Cylinder3D &s)
 
 GeometricPrimitive3D (const AABB3D &s)
 
 GeometricPrimitive3D (const Box3D &s)
 
const char * TypeName () const
 
AABB3D GetAABB () const
 
Box3D GetBB () const
 
RigidTransform GetFrame () const
 
void Transform (const RigidTransform &T)
 
void Transform (const Matrix4 &T)
 
bool SupportsCollides (Type b) const
 
bool Collides (const Vector3 &pt) const
 
bool Collides (const Segment3D &s) const
 
bool Collides (const Triangle3D &t) const
 
bool Collides (const Polygon3D &p) const
 
bool Collides (const Sphere3D &s) const
 
bool Collides (const Ellipsoid3D &s) const
 
bool Collides (const Cylinder3D &s) const
 
bool Collides (const AABB3D &s) const
 
bool Collides (const Box3D &s) const
 
bool Collides (const GeometricPrimitive3D &g) const
 
bool SupportsDistance (Type b) const
 
Real Distance (const Vector3 &pt) const
 
Real Distance (const Segment3D &s) const
 
Real Distance (const Triangle3D &t) const
 
Real Distance (const Polygon3D &p) const
 
Real Distance (const Sphere3D &s) const
 
Real Distance (const Ellipsoid3D &s) const
 
Real Distance (const Cylinder3D &s) const
 
Real Distance (const AABB3D &s) const
 
Real Distance (const Box3D &s) const
 
Real Distance (const GeometricPrimitive3D &g) const
 
std::vector< double > ClosestPointParameters (const Vector3 &pt) const
 
Vector3 ParametersToPoint (const std::vector< double > &params) const
 
Vector3 ParametersToNormal (const std::vector< double > &params) const
 
bool RayCast (const Ray3D &ray, Vector3 &pt) const
 
bool SupportsClosestPoints (Type b) const
 
Real ClosestPoints (const Vector3 &pt, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const Segment3D &s, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const Triangle3D &t, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const Polygon3D &p, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const Sphere3D &s, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const Ellipsoid3D &s, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const Cylinder3D &s, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const AABB3D &s, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const Box3D &s, Vector3 &cp, Vector3 &direction) const
 
Real ClosestPoints (const GeometricPrimitive3D &g, Vector3 &cp, Vector3 &direction) const
 

Static Public Member Functions

static const char * TypeName (Type type)
 
static bool SupportsCollides (Type a, Type b)
 
static bool SupportsDistance (Type a, Type b)
 
static bool SupportsClosestPoints (Type a, Type b)
 

Public Attributes

Type type
 
AnyValue data
 

Detailed Description

A generic geometric primitive class.

TODO: make the API comparable to GeometricPrimitive2D.

Member Function Documentation

Real Math3D::GeometricPrimitive3D::ClosestPoints ( const Vector3 &  pt,
Vector3 &  cp,
Vector3 &  direction 
) const

TODO better normal estimation

TODO better normal estimation

References Math3D::Cylinder3D::closestPoint(), Math3D::Sphere3D::closestPoint(), and Math3D::Triangle3D::distance().

Referenced by Geometry::AnyCollisionGeometry3D::SetTransform(), and SupportsClosestPoints().

bool Math3D::GeometricPrimitive3D::SupportsClosestPoints ( Type  b) const
inline

The ClosestPoints function returns the distance value d (negative meaning penetration) and the closest point on this (cp). The normalized direction to the closest point on the other geometry is also given (direction) so that the closest point on the other object is cp + d*direction. If the objects are touching, direction will indicate the normal by which this can move so that the penetration derivative is maximized (i.e., the negative distance gradient). If direction = 0 then there's a singularity or the direction cannot be calculated.

References ClosestPoints().

The documentation for this class was generated from the following files:
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