OpenSim::WrapMath Class Reference

This class provides basic math functions and constants for wrapping surfaces. More...

#include <WrapMath.h>

List of all members.

Static Public Member Functions
static bool	IntersectLines (SimTK::Vec3 &p1, SimTK::Vec3 &p2, SimTK::Vec3 &p3, SimTK::Vec3 &p4, SimTK::Vec3 &pInt1, double &s, SimTK::Vec3 &pInt2, double &t)
	Compute the intersection between a line (p1->p2) and another line (p3->p4).
static bool	IntersectLineSegPlane (SimTK::Vec3 &pt1, SimTK::Vec3 &pt2, SimTK::Vec3 &plane, double d, SimTK::Vec3 &inter)
static void	ConvertAxisAngleToQuaternion (const SimTK::Vec3 &axis, double angle, double quat[4])
static void	GetClosestPointOnLineToPoint (SimTK::Vec3 &pt, SimTK::Vec3 &linePt, SimTK::Vec3 &line, SimTK::Vec3 &closestPt, double &t)
static void	Make3x3DirCosMatrix (double angle, double mat[][3])
static void	ConvertAxisAngleTo4x4DirCosMatrix (const SimTK::Vec3 &axis, double angle, double mat[][4])
static double	CalcDistanceSquaredBetweenPoints (SimTK::Vec3 &point1, SimTK::Vec3 &point2)
static double	CalcDistanceSquaredPointToLine (SimTK::Vec3 &point, SimTK::Vec3 &linePt, SimTK::Vec3 &line)
static void	RotateMatrixAxisAngle (double matrix[][4], const SimTK::Vec3 &axis, double angle)
static void	ConvertQuaternionToMatrix (const double quat[4], double matrix[][4])
static void	RotateMatrixQuaternion (double matrix[][4], const double quat[4])

---

Detailed Description

This class provides basic math functions and constants for wrapping surfaces.

---

Member Function Documentation

double WrapMath::CalcDistanceSquaredBetweenPoints	(	SimTK::Vec3 &	point1,
		SimTK::Vec3 &	point2
	)			[static]

double WrapMath::CalcDistanceSquaredPointToLine	(	SimTK::Vec3 &	point,
		SimTK::Vec3 &	linePt,
		SimTK::Vec3 &	line
	)			[static]

void WrapMath::ConvertAxisAngleTo4x4DirCosMatrix	(	const SimTK::Vec3 &	axis,
		double	angle,
		double	mat[][4]
	)			[static]

void WrapMath::ConvertAxisAngleToQuaternion	(	const SimTK::Vec3 &	axis,
		double	angle,
		double	quat[4]
	)			[static]

void WrapMath::ConvertQuaternionToMatrix	(	const double	quat[4],
		double	matrix[][4]
	)			[static]

void WrapMath::GetClosestPointOnLineToPoint	(	SimTK::Vec3 &	pt,
		SimTK::Vec3 &	linePt,
		SimTK::Vec3 &	line,
		SimTK::Vec3 &	closestPt,
		double &	t
	)			[static]

bool WrapMath::IntersectLines	(	SimTK::Vec3 &	p1,
		SimTK::Vec3 &	p2,
		SimTK::Vec3 &	p3,
		SimTK::Vec3 &	p4,
		SimTK::Vec3 &	pInt1,
		double &	s,
		SimTK::Vec3 &	pInt2,
		double &	t
	)			[static]

Compute the intersection between a line (p1->p2) and another line (p3->p4).

If the lines do not intersect, this function returns the closest point on each line to the other line.

Parameters:

	p1	first point on first line
	p2	second point on first line
	p3	first point on second line
	p4	second point on second line
	pInt1	point on first line that is closest to second line
	s	parameterized distance along first line from p1 to pInt1
	pInt2	point on second line that is closest to first line
	t	parameterized distance along second line from p3 to pInt2

Returns:

false if lines are parallel, true otherwise

bool WrapMath::IntersectLineSegPlane	(	SimTK::Vec3 &	pt1,
		SimTK::Vec3 &	pt2,
		SimTK::Vec3 &	plane,
		double	d,
		SimTK::Vec3 &	inter
	)			[static]

void WrapMath::Make3x3DirCosMatrix	(	double	angle,
		double	mat[][3]
	)			[static]

void WrapMath::RotateMatrixAxisAngle	(	double	matrix[][4],
		const SimTK::Vec3 &	axis,
		double	angle
	)			[static]

void WrapMath::RotateMatrixQuaternion	(	double	matrix[][4],
		const double	quat[4]
	)			[static]

---

The documentation for this class was generated from the following files:

• OpenSim/Simulation/Wrap/WrapMath.h
• OpenSim/Simulation/Wrap/WrapMath.cpp