distance3d.colliders.Ellipsoid

class distance3d.colliders.Ellipsoid(ellipsoid2origin, radii, artist=None)[source]

Ellipsoid collider.

Parameters:
ellipsoid2originarray, shape (4, 4)

Pose of the ellipsoid.

radiiarray, shape (3,)

Radii of the ellipsoid.

artistpytransform3d.visualizer.Artist, optional (default: None)

Corresponding artist for visualizer.

Methods

aabb()

Get axis-aligned bounding box.

center()

Returns the (approximate) center of the collider.

collider2origin()

Get the transformation matrix of the collider

first_vertex()

Get vertex with index 0 from collider to initialize GJK algorithm.

make_artist([c])

Make artist that represents this collider.

support_function(search_direction)

Support function for collider.

update_pose(pose)

Update pose of collider.
__init__(ellipsoid2origin, radii, artist=None)[source]

Methods

__init__(ellipsoid2origin, radii[, artist])

aabb()

Get axis-aligned bounding box.

center()

Returns the (approximate) center of the collider.

collider2origin()

Get the transformation matrix of the collider

first_vertex()

Get vertex with index 0 from collider to initialize GJK algorithm.

make_artist([c])

Make artist that represents this collider.

support_function(search_direction)

Support function for collider.

update_pose(pose)

Update pose of collider.