mechanisms.coordinates.geometry¶

Signed distances from a point to surfaces: positive outside, negative when penetrating.

Classes

`BoxDistance`(point, center, half_sizes[, scope])	Signed distance [m] from a point to the surface of a box with its sides along the base frame's axes: `center` [m] and `half_sizes` [m], the half of its three sides; negative inside.
`CapsuleDistance`(point, a, b, radius[, scope])	Signed distance [m] from a point to a capsule's surface: the distance to the segment from `a` to `b` [m], less `radius` [m]; negative inside.
`CylinderDistance`(point, center, axis, ...[, ...])	Signed distance [m] from a point to the surface of a solid cylinder: `center` [m], the `axis` along its length (any length, a direction), `radius` [m] and `half_height` [m]; negative inside.
`PlaneDistance`(point, normal[, origin, scope])	Signed distance [m] from a point to a plane: d = n̂ᵀ (p − p₀), positive on the normal's side.
`SphereDistance`(point, center, radius[, scope])	Signed distance [m] from a point to a sphere's surface: d = ‖p − c‖ − r, negative inside.
`SurfaceDistance`(point)	A signed distance [m] from a point to a surface; `unit_normal` is where it grows.