georegression.metric

Class ClosestPoint3D_F32

java.lang.Object

georegression.metric.ClosestPoint3D_F32

public class ClosestPoint3D_F32
extends java.lang.Object

Functions related to finding the closest point(s) on one shape from another shape.

Constructor Summary

Constructors

Constructor and Description
ClosestPoint3D_F32()

Method Summary

Modifier and Type	Method and Description
static Point3D_F32	closestPoint(LineParametric3D_F32 l0, LineParametric3D_F32 l1, Point3D_F32 ret) Returns the point which minimizes the distance between the two lines in 3D.
static float	closestPoint(LineParametric3D_F32 line, Point3D_F32 pt) Finds the closest point on a line to the specified point as a function of distance along the line.
static Point3D_F32	closestPoint(LineParametric3D_F32 line, Point3D_F32 pt, Point3D_F32 ret) Finds the closest point on a line to the specified point.
static Point3D_F32	closestPoint(LineSegment3D_F32 l0, LineSegment3D_F32 l1, Point3D_F32 ret) Find the point which minimizes its distance from the two line segments.
static Point3D_F32	closestPoint(LineSegment3D_F32 line, Point3D_F32 pt, Point3D_F32 ret) Finds the closest point on a line segment to the specified point.
static Point3D_F32	closestPoint(PlaneGeneral3D_F32 plane, Point3D_F32 point, Point3D_F32 found) Finds the closest point on the plane to the specified point.
static Point3D_F32	closestPoint(PlaneNormal3D_F32 plane, Point3D_F32 point, Point3D_F32 found) Finds the closest point on the plane to the specified point.
static Point3D_F32	closestPoint(Point3D_F32 vertexA, Point3D_F32 vertexB, Point3D_F32 vertexC, Point3D_F32 point, Point3D_F32 ret) Closest point from a 3D triangle to a point.
static Point3D_F32	closestPointOrigin(PlaneGeneral3D_F32 plane, Point3D_F32 found) Finds the closest point on the plane to the origin.
static boolean	closestPoints(LineParametric3D_F32 l0, LineParametric3D_F32 l1, float[] param) Finds the closest point on line lo to l1 and on l1 to l0.
static float	closestPointT(LineParametric3D_F32 line, PlaneNormal3D_F32 plane) Computes the closest point along the line to the plane as a function of 't': [x, y, z] = [x_0, y_0, z_0] + t·[slopeX, slopeY, slopZ]

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ClosestPoint3D_F32

public ClosestPoint3D_F32()

Method Detail

closestPoint

public static Point3D_F32 closestPoint(LineParametric3D_F32 l0,
                                       LineParametric3D_F32 l1,
                                       Point3D_F32 ret)

Returns the point which minimizes the distance between the two lines in 3D. If the two lines are parallel the result is undefined.

Parameters:

l0 - first line. Not modified.

l1 - second line. Not modified.

ret - (Optional) Storage for the closest point. If null a new point is declared. Modified.

Returns:

Closest point between two lines.

closestPoints

public static boolean closestPoints(LineParametric3D_F32 l0,
                                    LineParametric3D_F32 l1,
                                    float[] param)

Finds the closest point on line lo to l1 and on l1 to l0. The solution is returned in 'param' as a value of 't' for each line.

point on l0 = l0.a + param[0]*l0.slope
point on l1 = l1.a + param[1]*l1.slope

Parameters:

l0 - first line. Not modified.

l1 - second line. Not modified.

param - param[0] for line0 location and param[1] for line1 location.

Returns:

False if the lines are parallel or true if a solution was found.

closestPoint

public static Point3D_F32 closestPoint(LineParametric3D_F32 line,
                                       Point3D_F32 pt,
                                       Point3D_F32 ret)

Finds the closest point on a line to the specified point.

Parameters:

line - Line on which the closest point is being found. Not modified.

pt - The point whose closest point is being looked for. Not modified.

ret - Storage for the solution. Can be same as instance as 'pt'. If null is passed in a new point is created. Modified.

closestPoint

public static float closestPoint(LineParametric3D_F32 line,
                                 Point3D_F32 pt)

Finds the closest point on a line to the specified point as a function of distance along the line. The 3D coordinate of the point at 'd', the returned value, is P = (x,y,z) + (slope.x,slope.y,slope.z)*d.

Parameters:

line - Line on which the closest point is being found. Not modified.

pt - The point whose closest point is being looked for. Not modified.

Returns:

The location 'd' along the line of the closeset point

closestPoint

public static Point3D_F32 closestPoint(PlaneNormal3D_F32 plane,
                                       Point3D_F32 point,
                                       Point3D_F32 found)

Finds the closest point on the plane to the specified point.

Parameters:

plane - The plane

point - The point

found - (Optional) Storage for the closest point. If null a new point is declared internally.

Returns:

The closest point

closestPoint

public static Point3D_F32 closestPoint(PlaneGeneral3D_F32 plane,
                                       Point3D_F32 point,
                                       Point3D_F32 found)

Finds the closest point on the plane to the specified point.

Parameters:

plane - The plane

point - The point

found - (Optional) Storage for the closest point. Can be same as instance as 'pt'. If null a new point is declared internally.

Returns:

The closest point

closestPointOrigin

public static Point3D_F32 closestPointOrigin(PlaneGeneral3D_F32 plane,
                                             Point3D_F32 found)

Finds the closest point on the plane to the origin.

Parameters:

plane - The plane

found - (Optional) Storage for the closest point. Can be same as instance as 'pt'. If null a new point is declared internally.

Returns:

The closest point

closestPoint

public static Point3D_F32 closestPoint(LineSegment3D_F32 line,
                                       Point3D_F32 pt,
                                       Point3D_F32 ret)

Finds the closest point on a line segment to the specified point.

Parameters:

line - Line on which the closest point is being found. Not modified.

pt - The point whose closest point is being looked for. Not modified.

ret - (Optional) Storage for the solution. Can be same as instance as 'pt'. If null is passed in a new point is created. Modified.

Returns:

The closest point

closestPoint

public static Point3D_F32 closestPoint(LineSegment3D_F32 l0,
                                       LineSegment3D_F32 l1,
                                       Point3D_F32 ret)

Find the point which minimizes its distance from the two line segments.

Parameters:

l0 - First line. Not modified.

l1 - Second line. Not modified.

ret - (Optional) Storage for the solution. Can be same as instance as 'pt'. If null is passed in a new point is created. Modified.

Returns:

The closest point

closestPoint

public static Point3D_F32 closestPoint(Point3D_F32 vertexA,
                                       Point3D_F32 vertexB,
                                       Point3D_F32 vertexC,
                                       Point3D_F32 point,
                                       Point3D_F32 ret)

Closest point from a 3D triangle to a point.

Parameters:

vertexA - Vertex in a 3D triangle.

vertexB - Vertex in a 3D triangle.

vertexC - Vertex in a 3D triangle.

point - Point for which the closest point on the triangle is found

ret - (Optional) Storage for the solution. If null is passed in a new point is created. Modified.

Returns:

The closest point

See Also:

DistancePointTriangle3D_F32

closestPointT

public static float closestPointT(LineParametric3D_F32 line,
                                  PlaneNormal3D_F32 plane)

Computes the closest point along the line to the plane as a function of 't':
[x, y, z] = [x_0, y_0, z_0] + t·[slopeX, slopeY, slopZ]

If there is no intersection then Float.NaN is returned.

Parameters:

line - The line along which the closest point is being found. Not modified.

plane - Plane being checked for intersection

Returns:

Distance as a function of 't'. NaN if there is no intersection.