/*
* $Id$
*
* Copyright (c) 2013 Christophe BOHRHAUER
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
* This program is free software; you can redistribute it and/or modify
*/
package org.arakhne.afc.math.geometry.d3.continuous;
import org.arakhne.afc.math.geometry.d3.Point3D;
import org.eclipse.xtext.xbase.lib.Pure;
/**
* A bounding capsule is a swept sphere (i.e. the volume that a sphere takes as it moves
* along a straight line segment) containing the object. Capsules can be represented
* by the radius of the swept sphere and the segment that the sphere is swept across).
* It has traits similar to a cylinder, but is easier to use, because the intersection test
* is simpler. A capsule and another object intersect if the distance between the
* capsule's defining segment and some feature of the other object is smaller than the
* capsule's radius. For example, two capsules intersect if the distance
* between the capsules' segments is smaller than the sum of their radii. This holds for
* arbitrarily rotated capsules, which is why they're more appealing than cylinders in practice.
*
* @author $Author: hjaffali$
* @version $FullVersion$
* @mavengroupid $GroupId$
* @mavenartifactid $ArtifactId$
*/
public class Capsule3f extends AbstractCapsule3F {
/**
*
*/
private static final long serialVersionUID = -800785040789031084L;
/**
* Medial line segment start point, it is also the lower point of the capsule
*/
protected final Point3f medial1 = new Point3f();
/**
* Medial line segment endpoint
*/
protected final Point3f medial2 = new Point3f();
/**
* Radius.
*/
protected double radius;
/**
*/
public Capsule3f() {
//
}
/**
* @param a
* is the first point on the capsule's segment.
* @param b
* is the second point on the capsule's segment.
* @param radius1
* is the radius of the capsule.
*/
public Capsule3f(Point3D a, Point3D b, double radius1) {
this(a.getX(), a.getY(), a.getZ(),
b.getX(), b.getY(), b.getZ(),
radius1);
}
/**
* @param capsule the capsule to copy.
*/
public Capsule3f(AbstractCapsule3F capsule) {
this(capsule.getMedialX1(), capsule.getMedialY1(), capsule.getMedialZ1(),
capsule.getMedialX2(), capsule.getMedialY2(), capsule.getMedialZ2(),
capsule.getRadius());
}
/**
* @param x1 x coordinate of the first point of the medial line.
* @param y1 y coordinate of the first point of the medial line.
* @param z1 z coordinate of the first point of the medial line.
* @param x2 x coordinate of the second point of the medial line.
* @param y2 y coordinate of the second point of the medial line.
* @param z2 z coordinate of the second point of the medial line.
* @param radius1 the radius of the capsule.
*/
public Capsule3f(double x1, double y1, double z1, double x2, double y2, double z2, double radius1) {
this.medial1.set(x1, y2, z1);
this.medial2.set(x2, y2, z2);
this.radius = radius1;
ensureAIsLowerPoint();
}
/**
* Replies the first point of the capsule's segment.
*
* @return the first point of the capsule's segment.
*/
@Pure
@Override
public Point3f getMedial1() {
return this.medial1;
}
/**
* Set the first point of the capsule's segment.
*
* @param point the new first point for the capsule's segment..
*/
@Override
public void setMedial1(Point3D point) {
setMedial1(point.getX(), point.getY(), point.getZ());
}
/**
* Set the first point of the capsule's segment.
*
* @param x x xoordinate of the new first point for the capsule's segment..
* @param y y xoordinate of the new first point for the capsule's segment..
* @param z z xoordinate of the new first point for the capsule's segment..
*/
@Override
public void setMedial1(double x, double y, double z) {
this.medial1.set(x, y, z);
ensureAIsLowerPoint();
}
/**
* Replies x coordinate of the first point of the capsule's segment.
*
* @return the x coordinate of the first point of the capsule's segment.
*/
@Pure
@Override
public double getMedialX1() {
return this.medial1.getX();
}
/**
* Replies y coordinate of the first point of the capsule's segment.
*
* @return the y coordinate of the first point of the capsule's segment.
*/
@Pure
@Override
public double getMedialY1() {
return this.medial1.getY();
}
/**
* Replies z coordinate of the first point of the capsule's segment.
*
* @return the z coordinate of the first point of the capsule's segment.
*/
@Pure
@Override
public double getMedialZ1() {
return this.medial1.getZ();
}
/**
* Replies the second point of the capsule's segment.
*
* @return the second point of the capsule's segment.
*/
@Pure
@Override
public Point3f getMedial2() {
return this.medial2;
}
/**
* Set the second point of the capsule's segment.
*
* @param point the new second point for the capsule's segment..
*/
@Override
public void setMedial2(Point3D point) {
setMedial2(point.getX(), point.getY(), point.getZ());
}
/**
* Set the second point of the capsule's segment.
*
* @param x x coordinate of the new second point for the capsule's segment..
* @param y y coordinate of the new second point for the capsule's segment..
* @param z z coordinate of the new second point for the capsule's segment..
*/
@Override
public void setMedial2(double x, double y, double z) {
this.medial2.set(x, y, z);
ensureAIsLowerPoint();
}
/**
* Replies x coordinate of the second point of the capsule's segment.
*
* @return the x coordinate of the second point of the capsule's segment.
*/
@Pure
@Override
public double getMedialX2() {
return this.medial2.getX();
}
/**
* Replies y coordinate of the second point of the capsule's segment.
*
* @return the y coordinate of the second point of the capsule's segment.
*/
@Pure
@Override
public double getMedialY2() {
return this.medial2.getY();
}
/**
* Replies z coordinate of the second point of the capsule's segment.
*
* @return the z coordinate of the second point of the capsule's segment.
*/
@Pure
public double getMedialZ2() {
return this.medial2.getZ();
}
/**
* Replies the radius of the capsule.
*
* @return the radius of the capsule.
*/
@Pure
public double getRadius() {
return this.radius;
}
/**
* Change the radius of the capsule.
*
* @param radius1 the radius of the capsule.
*/
public void setRadius(double radius1) {
this.radius = radius1;
}
/** Set the capsule.
*
* @param a the first point of the capsule's segment.
* @param b the second point of the capsule's segment.
* @param radius1 the radius of the capsule.
*/
public void set(Point3D a, Point3D b, double radius1) {
set(a.getX(), a.getY(), a.getZ(),
b.getX(),b.getY(), b.getZ(),
radius1);
}
/** Set the capsule.
*
* @param x1 x coordinate of the first point of the capsule's segment.
* @param y1 y coordinate of the first point of the capsule's segment.
* @param z1 z coordinate of the first point of the capsule's segment.
* @param x2 x coordinate of the second point of the capsule's segment.
* @param y2 y coordinate of the second point of the capsule's segment.
* @param z2 z coordinate of the second point of the capsule's segment.
* @param radius1 the radius of the capsule.
*/
@Override
public void set(double x1, double y1, double z1, double x2, double y2, double z2, double radius1) {
this.medial1.set(x1, y1, z1);
this.medial2.set(x2, y2, z2);
this.radius = radius1;
ensureAIsLowerPoint();
}
/** Replies the center point of the capsule.
*
* @return the center point.
*/
@Pure
@Override
public Point3f getCenter() {
return new Point3f(
(this.medial1.getX() + this.medial2.getX()) / 2.,
(this.medial1.getY() + this.medial2.getY()) / 2.,
(this.medial1.getZ() + this.medial2.getZ()) / 2.);
}
/** Replies the x coordinate of the center point of the capsule.
*
* @return the center x.
*/
@Pure
@Override
public double getCenterX() {
return (this.medial1.getX() + this.medial2.getX()) / 2.;
}
/** Replies the y coordinate of the center point of the capsule.
*
* @return the center y.
*/
@Pure
@Override
public double getCenterY() {
return (this.medial1.getY() + this.medial2.getY()) / 2.;
}
/** Replies the z coordinate of the center point of the capsule.
*
* @return the center z.
*/
@Pure
@Override
public double getCenterZ() {
return (this.medial1.getZ() + this.medial2.getZ()) / 2.;
}
@Override
public PathIterator3f getPathIterator(Transform3D transform) {
// TODO Auto-generated method stub
return null;
}
@Override
public PathIterator3d getPathIteratorProperty(Transform3D transform) {
// TODO Auto-generated method stub
return null;
}
}