private void addRectangle(RigidBodyTransformGenerator transformGenerator, double lengthX, double widthY) { ConvexPolygon2D rectangle = createRectanglePolygon(lengthX, widthY); PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), rectangle); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
public FrameLineSegment2d getClosestEdgeCopy(FramePoint2d point) { checkReferenceFrameMatch(point); return new FrameLineSegment2d(referenceFrame, convexPolygon.getClosestEdgeCopy(point.getPoint())); }
@Override public FramePoint2d intersectionWith(FrameLineSegment2d lineSegment) { checkReferenceFrameMatch(lineSegment); Point2d intersection = this.line.intersectionWith(lineSegment.lineSegment); return new FramePoint2d(lineSegment.getReferenceFrame(), intersection); }
public void setIncludingFrame(FramePoint2d startPoint, FrameVector2d vector) { startPoint.checkReferenceFrameMatch(vector); this.referenceFrame = startPoint.getReferenceFrame(); this.line.set(startPoint.getPoint(), vector.getVector()); }
public void set(FramePoint firstEndpoint, FrameVector fromFirstToSecondEndpoint) { checkReferenceFrameMatch(firstEndpoint); checkReferenceFrameMatch(fromFirstToSecondEndpoint); lineSegment3d.set(firstEndpoint.getPoint(), fromFirstToSecondEndpoint.getVector()); }
public FrameLine2d(FramePoint2d framePoint2d, FrameVector2d frameVector2d) { this(framePoint2d.getReferenceFrame(), new Line2d(framePoint2d.getPointCopy(), frameVector2d.getVectorCopy())); framePoint2d.checkReferenceFrameMatch(frameVector2d); }
@Override public FramePoint2d intersectionWith(FrameLine2d line) { checkReferenceFrameMatch(line); Point2d intersection = this.lineSegment.intersectionWith(line.line); if (intersection == null) { return null; } return new FramePoint2d(line.getReferenceFrame(), intersection); }
public void set(FramePoint2d firstEndpoint, FrameVector2d vectorToSecondEndpoint) { checkReferenceFrameMatch(firstEndpoint); checkReferenceFrameMatch(vectorToSecondEndpoint); this.lineSegment.set(firstEndpoint.getPoint(), vectorToSecondEndpoint.getVector()); }
public boolean isPointInFrontOfLine(FrameVector2d frontDirection, FramePoint2d framePoint) { checkReferenceFrameMatch(frontDirection); checkReferenceFrameMatch(framePoint); return line.isPointInFrontOfLine(frontDirection.getVector(), framePoint.getPoint()); }
public void setVector(FrameVector vector) { checkReferenceFrameMatch(vector); line.setVector(vector.getVector()); }
public double getDistance(FramePoint framePoint) { checkReferenceFrameMatch(framePoint); return lineSegment3d.distance(framePoint.getPoint()); }
public void set(FramePoint2d[] endpoints) { checkReferenceFrameMatch(endpoints[0]); checkReferenceFrameMatch(endpoints[1]); this.line.set(endpoints[0].getPoint(), endpoints[1].getPoint()); }
public double percentageAlongLineSegment(FramePoint2d point2d) { checkReferenceFrameMatch(point2d); return lineSegment.percentageAlongLineSegment(point2d.getPoint()); }
@Override public double distance(FramePoint2d point) { checkReferenceFrameMatch(point); return this.line.distance(point.getPoint()); }
public boolean isPointBehindLine(FramePoint2d point) { checkReferenceFrameMatch(point); return this.line.isPointBehindLine(point.getPointCopy()); }
public boolean isPointOnRightSideOfLineSegment(FramePoint2d point) { checkReferenceFrameMatch(point); return this.lineSegment.isPointOnRightSideOfLineSegment(point.getPointCopy()); }
public int[] getLineOfSightVertexIndicesCopy(FramePoint2d observer) { checkReferenceFrameMatch(observer); return ConvexPolygon2dCalculator.getLineOfSightVertexIndicesCopy(observer.getPoint(), convexPolygon); }
private void addRectangle(RigidBodyTransformGenerator transformGenerator, double lengthX, double widthY) { ConvexPolygon2d rectangle = createRectanglePolygon(lengthX, widthY); PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), rectangle); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
public void addPolygons(ArrayList<ConvexPolygon2d> polygons) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygons); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }
public void addPolygon(RigidBodyTransformGenerator transformGenerator, ConvexPolygon2D polygon) { PlanarRegion planarRegion = new PlanarRegion(transformGenerator.getRigidBodyTransformCopy(), polygon); planarRegion.setRegionId(id++); planarRegionsList.addPlanarRegion(planarRegion); }