Package org.robwork.sdurw

Class TriangleD

java.lang.Object

org.robwork.sdurw.TriangleD

public class TriangleD
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
TriangleD()	default constructor
TriangleD(long cPtr, boolean cMemoryOwn)
TriangleD(Vector3Dd p1, Vector3Dd p2, Vector3Dd p3)	constructor
TriangleD(TriangleD f)	copy constructor

Method Summary

Modifier and Type	Method	Description
void	applyTransform(Transform3Dd t3d)	apply a transformation to this triangle
double	calcArea()	calculate the area of the triangle
Vector3Dd	calcFaceNormal()	calculates the face normal of this triangle.
void	delete()
static long	getCPtr(TriangleD obj)
TriangleD	getTriangle()
Vector3Dd	getVertex(long i)	get vertex at index i
boolean	isInside(Vector3Dd x)	tests wheather the point x is inside the triangle
TriangleD	transform(Transform3Dd t3d)	Returns Triangle transformed by t3d.

Methods inherited from class java.lang.Object

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

Constructor Detail

TriangleD

public TriangleD(long cPtr,
                 boolean cMemoryOwn)

TriangleD

public TriangleD()

default constructor

TriangleD

public TriangleD(Vector3Dd p1,
                 Vector3Dd p2,
                 Vector3Dd p3)

constructor

Parameters:

p1 - [in] vertice 1

p2 - [in] vertice 2

p3 - [in] vertice 3

TriangleD

public TriangleD(TriangleD f)

copy constructor

Parameters:

f - [in] - The face that is to be copied.

Method Detail

getCPtr

public static long getCPtr(TriangleD obj)

delete

public void delete()

getVertex

public Vector3Dd getVertex(long i)

get vertex at index i

calcFaceNormal

public Vector3Dd calcFaceNormal()

calculates the face normal of this triangle. It is assumed
that the triangle vertices are arranged counter clock wise.

isInside

public boolean isInside(Vector3Dd x)

tests wheather the point x is inside the triangle

calcArea

public double calcArea()

calculate the area of the triangle

Returns:

area in m^2

applyTransform

public void applyTransform(Transform3Dd t3d)

apply a transformation to this triangle

Parameters:

t3d - [in] transform that is to be applied

transform

public TriangleD transform(Transform3Dd t3d)

Returns Triangle transformed by t3d.

getTriangle

public TriangleD getTriangle()