Triangle (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_geometry.Triangle

```
public class Triangle
extends java.lang.Object
```
plain triangle class. The second template argument specify
the number of normals associated with the triangle.
The triangle vertices should be arranged counter clock wise.

Constructor Summary

Constructors
Constructor	Description
`Triangle()`	default constructor
`Triangle(long cPtr, boolean cMemoryOwn)`
`Triangle(Vector3D p1, Vector3D p2, Vector3D p3)`	constructor

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`applyTransform(Transform3D t3d)`	apply a transformation to this triangle
`double`	`calcArea()`	calculate the area of the triangle
`Vector3D`	`calcFaceNormal()`	calculates the face normal of this triangle.
`void`	`delete()`
`Vector3D`	`get(long i)`
`static long`	`getCPtr(Triangle obj)`
`Triangle`	`getTriangle()`
`Vector3D`	`getVertex(long i)`	get vertex at index i
`boolean`	`isInside(Vector3D x)`	tests wheather the point x is inside the triangle
`void`	`set(long i, Vector3D d)`
`java.lang.String`	`toString()`
`Triangle`	`transform(Transform3D t3d)`	Returns Triangle transformed by t3d.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Triangle

public Triangle(long cPtr,
                boolean cMemoryOwn)

Triangle
```
public Triangle()
```
default constructor

Triangle

public Triangle(Vector3D p1,
                Vector3D p2,
                Vector3D p3)

constructor

Parameters:: p1 - [in] vertice 1; p2 - [in] vertice 2; p3 - [in] vertice 3

Method Detail
- getCPtr
```
public static long getCPtr(Triangle obj)
```
- delete
```
public void delete()
```
- getVertex
```
public Vector3D getVertex(long i)
```
  get vertex at index i
- get
```
public Vector3D get(long i)
```
- set
```
public void set(long i,
                Vector3D d)
```
- calcFaceNormal
```
public Vector3D calcFaceNormal()
```
  calculates the face normal of this triangle. It is assumed
  that the triangle vertices are arranged counter clock wise.
- isInside
```
public boolean isInside(Vector3D 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(Transform3D t3d)
```
  apply a transformation to this triangle
  
  Parameters:
  
  t3d - [in] transform that is to be applied
- transform
```
public Triangle transform(Transform3D t3d)
```
  Returns Triangle transformed by t3d.
- getTriangle
```
public Triangle getTriangle()
```
- toString
```
public java.lang.String toString()
```
  Overrides:
  
  toString in class java.lang.Object