SphereShape (Episteme API Documentation)

java.lang.Object

org.episteme.core.mathematics.geometry.collision.SphereShape

All Implemented Interfaces:: CollisionShape

public class SphereShape extends Object implements CollisionShape

Sphere collision shape defined by its radius.

Constructor Summary

Constructors

Constructor

Description

SphereShape(double radius)
Method Summary

Modifier and Type

Method

Description

Vector<Real>[]

getAABB()

compute AABB (Axis Aligned Bounding Box).

Real

getRadius()

Vector<Real>

getSupportPoint(Vector<Real> direction)

Gets the support point in a given direction (furthest point in that direction).

Methods inherited from class Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- SphereShape
  
  public SphereShape(double radius)
Method Details
- getRadius
  
  public Real getRadius()
- getSupportPoint
  
  public Vector<Real> getSupportPoint(Vector<Real> direction)
  
  Description copied from interface: CollisionShape
  
  Gets the support point in a given direction (furthest point in that direction). Used for GJK and SAT algorithms.
  
  Specified by:
  
  getSupportPoint in interface CollisionShape
  
  Parameters:
  
  direction - the direction vector
  
  Returns:
  
  the support point in local coordinates
- getAABB
  
  public Vector<Real>[] getAABB()
  
  Description copied from interface: CollisionShape
  
  compute AABB (Axis Aligned Bounding Box).
  
  Specified by:
  
  getAABB in interface CollisionShape
  
  Returns:
  
  array of two Vectors {min, max}