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@brief geometry - a set of static tool kits for creating and evaluating curves, surfaces and solids. This addon is maintained by Matthew Millard, so if you have problems with it email him.

@author Matthew Millard

\copyright 2016 Matthew Millard matthew.millard@iwr.uni-heidelberg.de

\b Requirements This addon is standalone as of its first release

\b Description This addon currently contains an optimized library for creating and evaluating 5th order 2D Bezier splines: SegmentedQuinticBezierToolkit.h and SegmentedQuinticBezierToolkit.cc. In addition, there is a nice class that can be used to package the memory and functions required to evaluate these curves: SmoothSegmentedFunction.h and SmoothSegmentedFunction.cc.

\b Future Development In the near future this library will also contain

  1. Geometry tools to represent C2 convex implicit surfaces and enforce contact constraints between two surfaces. This tool kit will be first used for simulating foot-ground contact. It could later be used for 3D muscle wrapping:

    SmoothImplicitSurfaceToolkit SmoothImplicitSurface

  2. Geometry tools to represent quintic Pythagorean Hodograph curves - which are special Bezier curves that have an analytic equation for arc-length. This package will also contain code to represent polar Pythagorean Hodographs which will be first used to formulate a foot-ground joint. Later this toolkit will be used for a 2D cable transmission system (to simulate muscle wrapping).

    SegmentedQuinticPythagoreanHodographToolkit PolarFunctionToolkit

\b Licensing The following files have been ported over from OpenSim and Simbody and as such are licenced under the Apache 2.0 Licence:

SmoothSegmentedFunction.h SmoothSegmentedFunction.cc SegmentedQuinticBezierToolkit.h SegmentedQuinticBezierToolkit.cc Function.h

The Apache License is very similar to the zlib license and is quite liberal. Licensed under the Apache License, Version 2.0 (the "License"); you may
not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.

The remaining code has been written from scratch and is licenced under the zlib license. See the LICENSE file for details.