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| | Torus (Real torusRadius, Real tubeRadius) |
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| Real | getTorusRadius () const |
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| void | setTorusRadius (Real radius) |
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| Real | getTubeRadius () const |
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| void | setTubeRadius (Real radius) |
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| const Impl & | getImpl () const |
| | Internal use only. More...
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| Impl & | updImpl () |
| | Internal use only. More...
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| | ContactGeometry () |
| | Base class default constructor creates an empty handle. More...
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| | ContactGeometry (const ContactGeometry &src) |
| | Copy constructor makes a deep copy. More...
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| ContactGeometry & | operator= (const ContactGeometry &src) |
| | Copy assignment makes a deep copy. More...
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| | ~ContactGeometry () |
| | Base class destructor deletes the implementation object. Note that this is not virtual; handles should consist of just a pointer to the implementation. More...
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| DecorativeGeometry | createDecorativeGeometry () const |
| | Generate a DecorativeGeometry that matches the shape of this ContactGeometry. More...
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| Vec3 | findNearestPoint (const Vec3 &position, bool &inside, UnitVec3 &normal) const |
| | Given a point, find the nearest point on the surface of this object. More...
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| Vec3 | projectDownhillToNearestPoint (const Vec3 &pointQ) const |
| | Given a query point Q, find the nearest point P on the surface of this object, looking only down the local gradient. More...
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| bool | trackSeparationFromLine (const Vec3 &pointOnLine, const UnitVec3 &directionOfLine, const Vec3 &startingGuessForClosestPoint, Vec3 &newClosestPointOnSurface, Vec3 &closestPointOnLine, Real &height) const |
| | Track the closest point between this implicit surface and a given line, or the point of deepest penetration if the line intersects the surface. More...
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| bool | intersectsRay (const Vec3 &origin, const UnitVec3 &direction, Real &distance, UnitVec3 &normal) const |
| | Determine whether this object intersects a ray, and if so, find the intersection point. More...
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| void | getBoundingSphere (Vec3 ¢er, Real &radius) const |
| | Get a bounding sphere which completely encloses this object. More...
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| bool | isSmooth () const |
| | Returns true if this is a smooth surface, meaning that it can provide meaningful curvature information and continuous derivatives with respect to its parameterization. More...
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| void | calcCurvature (const Vec3 &point, Vec2 &curvature, Rotation &orientation) const |
| | Compute the principal curvatures and their directions, and the surface normal, at a given point on a smooth surface. More...
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| const Function & | getImplicitFunction () const |
| | Our smooth surfaces define a function f(P)=0 that provides an implicit representation of the surface. More...
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| Real | calcSurfaceValue (const Vec3 &point) const |
| | Calculate the value of the implicit surface function, at a given point. More...
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| UnitVec3 | calcSurfaceUnitNormal (const Vec3 &point) const |
| | Calculate the implicit surface outward facing unit normal at the given point. More...
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| Vec3 | calcSurfaceGradient (const Vec3 &point) const |
| | Calculate the gradient of the implicit surface function, at a given point. More...
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| Mat33 | calcSurfaceHessian (const Vec3 &point) const |
| | Calculate the hessian of the implicit surface function, at a given point. More...
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| Real | calcGaussianCurvature (const Vec3 &gradient, const Mat33 &Hessian) const |
| | For an implicit surface, return the Gaussian curvature at the point p whose implicit surface function gradient g(p) and Hessian H(p) are supplied. More...
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| Real | calcGaussianCurvature (const Vec3 &point) const |
| | This signature is for convenience; use the other one to save time if you already have the gradient and Hessian available for this point. More...
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| Real | calcSurfaceCurvatureInDirection (const Vec3 &point, const UnitVec3 &direction) const |
| | For an implicit surface, return the curvature k of the surface at a given point p in a given direction tp. More...
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| void | calcSurfacePrincipalCurvatures (const Vec3 &point, Vec2 &curvature, Rotation &R_SP) const |
| | For an implicit surface at a given point p, return the principal curvatures and principal curvature directions, using only the implicit function and its derivatives. More...
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| bool | isConvex () const |
| | Returns true if this surface is known to be convex. More...
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| Vec3 | calcSupportPoint (UnitVec3 direction) const |
| | Given a direction expressed in the surface's frame S, return the point P on the surface that is the furthest in that direction (or one of those points if there is more than one). More...
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| ContactGeometryTypeId | getTypeId () const |
| | ContactTrackerSubsystem uses this id for fast identification of specific surface shapes. More...
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| | ContactGeometry (ContactGeometryImpl *impl) |
| | Internal use only. More...
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| bool | isOwnerHandle () const |
| | Internal use only. More...
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| bool | isEmptyHandle () const |
| | Internal use only. More...
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| bool | hasImpl () const |
| | Internal use only. More...
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| const ContactGeometryImpl & | getImpl () const |
| | Internal use only. More...
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| ContactGeometryImpl & | updImpl () |
| | Internal use only. More...
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| void | initGeodesic (const Vec3 &xP, const Vec3 &xQ, const Vec3 &xSP, const GeodesicOptions &options, Geodesic &geod) const |
| | Given two points, find a geodesic curve connecting them. More...
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| void | continueGeodesic (const Vec3 &xP, const Vec3 &xQ, const Geodesic &prevGeod, const GeodesicOptions &options, Geodesic &geod) const |
| | Given the current positions of two points P and Q moving on this surface, and the previous geodesic curve G' connecting prior locations P' and Q' of those same two points, return the geodesic G between P and Q that is closest in length to the previous one. More...
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| void | makeStraightLineGeodesic (const Vec3 &xP, const Vec3 &xQ, const UnitVec3 &defaultDirectionIfNeeded, const GeodesicOptions &options, Geodesic &geod) const |
| | Produce a straight-line approximation to the (presumably short) geodesic between two points on this implicit surface. More...
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| void | shootGeodesicInDirectionUntilLengthReached (const Vec3 &xP, const UnitVec3 &tP, const Real &terminatingLength, const GeodesicOptions &options, Geodesic &geod) const |
| | Compute a geodesic curve starting at the given point, starting in the given direction, and terminating at the given length. More...
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| void | calcGeodesicReverseSensitivity (Geodesic &geodesic, const Vec2 &initSensitivity=Vec2(0, 1)) const |
| | Given an already-calculated geodesic on this surface connecting points P and Q, fill in the sensitivity of point P with respect to a change of tangent direction at Q. More...
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| void | shootGeodesicInDirectionUntilPlaneHit (const Vec3 &xP, const UnitVec3 &tP, const Plane &terminatingPlane, const GeodesicOptions &options, Geodesic &geod) const |
| | Compute a geodesic curve starting at the given point, starting in the given direction, and terminating when it hits the given plane. More...
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| void | calcGeodesic (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, const Vec3 &tQhint, Geodesic &geod) const |
| | Utility method to find geodesic between P and Q using split geodesic method with initial shooting directions tPhint and -tQhint. More...
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| void | calcGeodesicUsingOrthogonalMethod (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, Real lengthHint, Geodesic &geod) const |
| | Utility method to find geodesic between P and Q using the orthogonal method, with initial direction tPhint and initial length lengthHint. More...
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| void | calcGeodesicUsingOrthogonalMethod (const Vec3 &xP, const Vec3 &xQ, Geodesic &geod) const |
| | This signature makes a guess at the initial direction and length and then calls the other signature. More...
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| Vec2 | calcSplitGeodError (const Vec3 &P, const Vec3 &Q, const UnitVec3 &tP, const UnitVec3 &tQ, Geodesic *geod=0) const |
| | Utility method to calculate the "geodesic error" between one geodesic shot from P in the direction tP and another geodesic shot from Q in the direction tQ. More...
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| void | shootGeodesicInDirectionUntilLengthReachedAnalytical (const Vec3 &xP, const UnitVec3 &tP, const Real &terminatingLength, const GeodesicOptions &options, Geodesic &geod) const |
| | Analytically compute a geodesic curve starting at the given point, starting in the given direction, and terminating at the given length. More...
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| void | shootGeodesicInDirectionUntilPlaneHitAnalytical (const Vec3 &xP, const UnitVec3 &tP, const Plane &terminatingPlane, const GeodesicOptions &options, Geodesic &geod) const |
| | Analytically compute a geodesic curve starting at the given point, starting in the given direction, and terminating when it hits the given plane. More...
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| void | calcGeodesicAnalytical (const Vec3 &xP, const Vec3 &xQ, const Vec3 &tPhint, const Vec3 &tQhint, Geodesic &geod) const |
| | Utility method to analytically find geodesic between P and Q with initial shooting directions tPhint and tQhint. More...
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| Vec2 | calcSplitGeodErrorAnalytical (const Vec3 &P, const Vec3 &Q, const UnitVec3 &tP, const UnitVec3 &tQ, Geodesic *geod=0) const |
| | Utility method to analytically calculate the "geodesic error" between one geodesic shot from P in the direction tP and another geodesic shot from Q in the direction tQ. More...
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| const Plane & | getPlane () const |
| | Get the plane associated with the geodesic hit plane event handler. More...
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| void | setPlane (const Plane &plane) const |
| | Set the plane associated with the geodesic hit plane event handler. More...
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| const Geodesic & | getGeodP () const |
| | Get the geodesic for access by visualizer. More...
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| const Geodesic & | getGeodQ () const |
| | Get the geodesic for access by visualizer. More...
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| const int | getNumGeodesicsShot () const |
| | Get the plane associated with the geodesic hit plane event handler. More...
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| void | addVizReporter (ScheduledEventReporter *reporter) const |
| | Get the plane associated with the geodesic hit plane event handler. More...
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This ContactGeometry subclass represents a torus centered at the origin with the axial direction aligned to the z-axis.
It is defined by a torusRadius (radius of the circular centerline of the torus, measured from the origin), and a tubeRadius (radius of the torus cross-section: perpendicular distance from the circular centerline to the surface).
Inheritance diagram for SimTK::ContactGeometry::Torus:
