61 lines
2.3 KiB
Markdown
61 lines
2.3 KiB
Markdown
|
@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.
|
||
|
|
|
||
|
|
|