Open CASCADE Technology
6.9.0
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Describes functions to build fillets on the broken edges of a shell or solid. A MakeFillet object provides a framework for: More...
#include <BRepFilletAPI_MakeFillet.hxx>
Public Member Functions | |
BRepFilletAPI_MakeFillet (const TopoDS_Shape &S, const ChFi3d_FilletShape FShape=ChFi3d_Rational) | |
Initializes the computation of the fillets. <FShape> sets the type of fillet surface. The default value is ChFi3d_Rational (classical nurbs representation of circles). ChFi3d_QuasiAngular corresponds to a nurbs representation of circles which parameterisation matches the circle one. ChFi3d_Polynomial corresponds to a polynomial representation of circles. More... | |
void | SetParams (const Standard_Real Tang, const Standard_Real Tesp, const Standard_Real T2d, const Standard_Real TApp3d, const Standard_Real TolApp2d, const Standard_Real Fleche) |
void | SetContinuity (const GeomAbs_Shape InternalContinuity, const Standard_Real AngularTolerance) |
Changes the parameters of continiuity InternalContinuity to produce fillet'surfaces with an continuity Ci (i=0,1 or 2). By defaultInternalContinuity = GeomAbs_C1. AngularTolerance is the G1 tolerance between fillet and support'faces. More... | |
void | Add (const TopoDS_Edge &E) |
Adds a fillet contour in the builder (builds a contour of tangent edges). The Radius must be set after. More... | |
void | Add (const Standard_Real Radius, const TopoDS_Edge &E) |
Adds a fillet description in the builder. More... | |
void | Add (const Standard_Real R1, const Standard_Real R2, const TopoDS_Edge &E) |
Adds a fillet description in the builder. More... | |
void | Add (const Handle< Law_Function > &L, const TopoDS_Edge &E) |
Adds a fillet description in the builder. More... | |
void | Add (const TColgp_Array1OfPnt2d &UandR, const TopoDS_Edge &E) |
Adds a fillet description in the builder. More... | |
void | SetRadius (const Standard_Real Radius, const Standard_Integer IC, const Standard_Integer IinC) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where Radius is the radius of the fillet. More... | |
void | SetRadius (const Standard_Real R1, const Standard_Real R2, const Standard_Integer IC, const Standard_Integer IinC) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where the radius of the fillet evolves according to a linear evolution law defined from R1 to R2, between the first and last vertices of the contour of index IC. More... | |
void | SetRadius (const Handle< Law_Function > &L, const Standard_Integer IC, const Standard_Integer IinC) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where the radius of the fillet evolves according to the evolution law L, between the first and last vertices of the contour of index IC. More... | |
void | SetRadius (const TColgp_Array1OfPnt2d &UandR, const Standard_Integer IC, const Standard_Integer IinC) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where the radius of the fillet evolves according to the evolution law which interpolates the set of parameter and radius pairs given in the array UandR as follows: More... | |
void | ResetContour (const Standard_Integer IC) |
Erases the radius information on the contour of index IC in the internal data structure of this algorithm. Use the SetRadius function to reset this data. Warning Nothing is done if IC is outside the bounds of the table of contours. More... | |
Standard_Boolean | IsConstant (const Standard_Integer IC) |
Returns true if the radius of the fillet along the contour of index IC in the internal data structure of this algorithm is constant, Warning False is returned if IC is outside the bounds of the table of contours or if E does not belong to the contour of index IC. More... | |
Standard_Real | Radius (const Standard_Integer IC) |
Returns the radius of the fillet along the contour of index IC in the internal data structure of this algorithm Warning. More... | |
Standard_Boolean | IsConstant (const Standard_Integer IC, const TopoDS_Edge &E) |
Returns true if the radius of the fillet along the edge E of the contour of index IC in the internal data structure of this algorithm is constant. Warning False is returned if IC is outside the bounds of the table of contours or if E does not belong to the contour of index IC. More... | |
Standard_Real | Radius (const Standard_Integer IC, const TopoDS_Edge &E) |
Returns the radius of the fillet along the edge E of the contour of index IC in the internal data structure of this algorithm. Warning. More... | |
void | SetRadius (const Standard_Real Radius, const Standard_Integer IC, const TopoDS_Edge &E) |
Assigns Radius as the radius of the fillet on the edge E. More... | |
void | SetRadius (const Standard_Real Radius, const Standard_Integer IC, const TopoDS_Vertex &V) |
Standard_Boolean | GetBounds (const Standard_Integer IC, const TopoDS_Edge &E, Standard_Real &F, Standard_Real &L) |
Handle< Law_Function > | GetLaw (const Standard_Integer IC, const TopoDS_Edge &E) |
void | SetLaw (const Standard_Integer IC, const TopoDS_Edge &E, const Handle< Law_Function > &L) |
void | SetFilletShape (const ChFi3d_FilletShape FShape) |
Assigns FShape as the type of fillet shape built by this algorithm. More... | |
ChFi3d_FilletShape | GetFilletShape () const |
Returns the type of fillet shape built by this algorithm. More... | |
Standard_Integer | NbContours () const |
Returns the number of contours generated using the Add function in the internal data structure of this algorithm. More... | |
Standard_Integer | Contour (const TopoDS_Edge &E) const |
Returns the index of the contour in the internal data structure of this algorithm which contains the edge E of the shape. This function returns 0 if the edge E does not belong to any contour. Warning This index can change if a contour is removed from the internal data structure of this algorithm using the function Remove. More... | |
Standard_Integer | NbEdges (const Standard_Integer I) const |
Returns the number of edges in the contour of index I in the internal data structure of this algorithm. Warning Returns 0 if I is outside the bounds of the table of contours. More... | |
const TopoDS_Edge & | Edge (const Standard_Integer I, const Standard_Integer J) const |
Returns the edge of index J in the contour of index I in the internal data structure of this algorithm. Warning Returns a null shape if: More... | |
void | Remove (const TopoDS_Edge &E) |
Removes the contour in the internal data structure of this algorithm which contains the edge E of the shape. Warning Nothing is done if the edge E does not belong to the contour in the internal data structure of this algorithm. More... | |
Standard_Real | Length (const Standard_Integer IC) const |
Returns the length of the contour of index IC in the internal data structure of this algorithm. Warning Returns -1. if IC is outside the bounds of the table of contours. More... | |
TopoDS_Vertex | FirstVertex (const Standard_Integer IC) const |
Returns the first vertex of the contour of index IC in the internal data structure of this algorithm. Warning Returns a null shape if IC is outside the bounds of the table of contours. More... | |
TopoDS_Vertex | LastVertex (const Standard_Integer IC) const |
Returns the last vertex of the contour of index IC in the internal data structure of this algorithm. Warning Returns a null shape if IC is outside the bounds of the table of contours. More... | |
Standard_Real | Abscissa (const Standard_Integer IC, const TopoDS_Vertex &V) const |
Returns the curvilinear abscissa of the vertex V on the contour of index IC in the internal data structure of this algorithm. Warning Returns -1. if: More... | |
Standard_Real | RelativeAbscissa (const Standard_Integer IC, const TopoDS_Vertex &V) const |
Returns the relative curvilinear abscissa (i.e. between 0 and 1) of the vertex V on the contour of index IC in the internal data structure of this algorithm. Warning Returns -1. if: More... | |
Standard_Boolean | ClosedAndTangent (const Standard_Integer IC) const |
Returns true if the contour of index IC in the internal data structure of this algorithm is closed and tangential at the point of closure. Warning Returns false if IC is outside the bounds of the table of contours. More... | |
Standard_Boolean | Closed (const Standard_Integer IC) const |
Returns true if the contour of index IC in the internal data structure of this algorithm is closed. Warning Returns false if IC is outside the bounds of the table of contours. More... | |
virtual void | Build () |
Builds the fillets on all the contours in the internal data structure of this algorithm and constructs the resulting shape. Use the function IsDone to verify that the filleted shape is built. Use the function Shape to retrieve the filleted shape. Warning The construction of fillets implements highly complex construction algorithms. Consequently, there may be instances where the algorithm fails, for example if the data defining the radius of the fillet is not compatible with the geometry of the initial shape. There is no initial analysis of errors and they only become evident at the construction stage. Additionally, in the current software release, the following cases are not handled: More... | |
void | Reset () |
Reinitializes this algorithm, thus canceling the effects of the Build function. This function allows modifications to be made to the contours and fillet parameters in order to rebuild the shape. More... | |
Handle< TopOpeBRepBuild_HBuilder > | Builder () const |
Returns the internal topology building algorithm. More... | |
virtual const TopTools_ListOfShape & | Generated (const TopoDS_Shape &EorV) |
Returns the list of shapes generated from the shape <EorV>. More... | |
virtual const TopTools_ListOfShape & | Modified (const TopoDS_Shape &F) |
Returns the list of shapes modified from the shape <F>. More... | |
virtual Standard_Boolean | IsDeleted (const TopoDS_Shape &F) |
Returns true if the shape S has been deleted. More... | |
Standard_Integer | NbSurfaces () const |
returns the number of surfaces after the shape creation. More... | |
const TopTools_ListOfShape & | NewFaces (const Standard_Integer I) |
Return the faces created for surface . More... | |
void | Simulate (const Standard_Integer IC) |
Standard_Integer | NbSurf (const Standard_Integer IC) const |
Handle< ChFiDS_SecHArray1 > | Sect (const Standard_Integer IC, const Standard_Integer IS) const |
Standard_Integer | NbFaultyContours () const |
Returns the number of contours where the computation of the fillet failed. More... | |
Standard_Integer | FaultyContour (const Standard_Integer I) const |
for each I in [1.. NbFaultyContours] returns the index IC of the contour where the computation of the fillet failed. the method NbEdges(IC) gives the number of edges in the contour IC the method Edge(IC,ie) gives the edge number ie of the contour IC More... | |
Standard_Integer | NbComputedSurfaces (const Standard_Integer IC) const |
returns the number of surfaces which have been computed on the contour IC More... | |
Handle< Geom_Surface > | ComputedSurface (const Standard_Integer IC, const Standard_Integer IS) const |
returns the surface number IS concerning the contour IC More... | |
Standard_Integer | NbFaultyVertices () const |
returns the number of vertices where the computation failed More... | |
TopoDS_Vertex | FaultyVertex (const Standard_Integer IV) const |
returns the vertex where the computation failed More... | |
Standard_Boolean | HasResult () const |
returns true if a part of the result has been computed if the filling in a corner failed a shape with a hole is returned More... | |
TopoDS_Shape | BadShape () const |
if (HasResult()) returns the partial result More... | |
ChFiDS_ErrorStatus | StripeStatus (const Standard_Integer IC) const |
returns the status concerning the contour IC in case of error ChFiDS_Ok : the computation is Ok ChFiDS_StartsolFailure : the computation can't start, perhaps the the radius is too big ChFiDS_TwistedSurface : the computation failed because of a twisted surface ChFiDS_WalkingFailure : there is a problem in the walking ChFiDS_Error: other error different from above More... | |
Public Member Functions inherited from BRepBuilderAPI_MakeShape | |
virtual void | Delete () |
virtual | ~BRepBuilderAPI_MakeShape () |
virtual const TopoDS_Shape & | Shape () const |
Returns a shape built by the shape construction algorithm. Raises exception StdFail_NotDone if the shape was not built. More... | |
operator TopoDS_Shape () const | |
Public Member Functions inherited from BRepBuilderAPI_Command | |
virtual | ~BRepBuilderAPI_Command () |
virtual Standard_Boolean | IsDone () const |
void | Check () const |
Raises NotDone if done is false. More... | |
Additional Inherited Members | |
Protected Member Functions inherited from BRepBuilderAPI_MakeShape | |
BRepBuilderAPI_MakeShape () | |
Protected Member Functions inherited from BRepBuilderAPI_Command | |
BRepBuilderAPI_Command () | |
Set done to False. More... | |
void | Done () |
Set done to true. More... | |
void | NotDone () |
Set done to false. More... | |
Protected Attributes inherited from BRepBuilderAPI_MakeShape | |
TopoDS_Shape | myShape |
TopTools_ListOfShape | myGenerated |
Describes functions to build fillets on the broken edges of a shell or solid. A MakeFillet object provides a framework for:
BRepFilletAPI_MakeFillet::BRepFilletAPI_MakeFillet | ( | const TopoDS_Shape & | S, |
const ChFi3d_FilletShape | FShape = ChFi3d_Rational |
||
) |
Initializes the computation of the fillets. <FShape> sets the type of fillet surface. The default value is ChFi3d_Rational (classical nurbs representation of circles). ChFi3d_QuasiAngular corresponds to a nurbs representation of circles which parameterisation matches the circle one. ChFi3d_Polynomial corresponds to a polynomial representation of circles.
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Returns the curvilinear abscissa of the vertex V on the contour of index IC in the internal data structure of this algorithm. Warning Returns -1. if:
Implements BRepFilletAPI_LocalOperation.
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Adds a fillet contour in the builder (builds a contour of tangent edges). The Radius must be set after.
Implements BRepFilletAPI_LocalOperation.
void BRepFilletAPI_MakeFillet::Add | ( | const Standard_Real | Radius, |
const TopoDS_Edge & | E | ||
) |
Adds a fillet description in the builder.
void BRepFilletAPI_MakeFillet::Add | ( | const Standard_Real | R1, |
const Standard_Real | R2, | ||
const TopoDS_Edge & | E | ||
) |
Adds a fillet description in the builder.
void BRepFilletAPI_MakeFillet::Add | ( | const Handle< Law_Function > & | L, |
const TopoDS_Edge & | E | ||
) |
Adds a fillet description in the builder.
void BRepFilletAPI_MakeFillet::Add | ( | const TColgp_Array1OfPnt2d & | UandR, |
const TopoDS_Edge & | E | ||
) |
Adds a fillet description in the builder.
p2d.X() = relative parameter on the spine [0,1] p2d.Y() = value of the radius.
TopoDS_Shape BRepFilletAPI_MakeFillet::BadShape | ( | ) | const |
if (HasResult()) returns the partial result
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Builds the fillets on all the contours in the internal data structure of this algorithm and constructs the resulting shape. Use the function IsDone to verify that the filleted shape is built. Use the function Shape to retrieve the filleted shape. Warning The construction of fillets implements highly complex construction algorithms. Consequently, there may be instances where the algorithm fails, for example if the data defining the radius of the fillet is not compatible with the geometry of the initial shape. There is no initial analysis of errors and they only become evident at the construction stage. Additionally, in the current software release, the following cases are not handled:
Reimplemented from BRepBuilderAPI_MakeShape.
Handle< TopOpeBRepBuild_HBuilder > BRepFilletAPI_MakeFillet::Builder | ( | ) | const |
Returns the internal topology building algorithm.
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Returns true if the contour of index IC in the internal data structure of this algorithm is closed. Warning Returns false if IC is outside the bounds of the table of contours.
Implements BRepFilletAPI_LocalOperation.
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Returns true if the contour of index IC in the internal data structure of this algorithm is closed and tangential at the point of closure. Warning Returns false if IC is outside the bounds of the table of contours.
Implements BRepFilletAPI_LocalOperation.
Handle< Geom_Surface > BRepFilletAPI_MakeFillet::ComputedSurface | ( | const Standard_Integer | IC, |
const Standard_Integer | IS | ||
) | const |
returns the surface number IS concerning the contour IC
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Returns the index of the contour in the internal data structure of this algorithm which contains the edge E of the shape. This function returns 0 if the edge E does not belong to any contour. Warning This index can change if a contour is removed from the internal data structure of this algorithm using the function Remove.
Implements BRepFilletAPI_LocalOperation.
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Returns the edge of index J in the contour of index I in the internal data structure of this algorithm. Warning Returns a null shape if:
Implements BRepFilletAPI_LocalOperation.
Standard_Integer BRepFilletAPI_MakeFillet::FaultyContour | ( | const Standard_Integer | I | ) | const |
for each I in [1.. NbFaultyContours] returns the index IC of the contour where the computation of the fillet failed. the method NbEdges(IC) gives the number of edges in the contour IC the method Edge(IC,ie) gives the edge number ie of the contour IC
TopoDS_Vertex BRepFilletAPI_MakeFillet::FaultyVertex | ( | const Standard_Integer | IV | ) | const |
returns the vertex where the computation failed
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Returns the first vertex of the contour of index IC in the internal data structure of this algorithm. Warning Returns a null shape if IC is outside the bounds of the table of contours.
Implements BRepFilletAPI_LocalOperation.
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Returns the list of shapes generated from the shape <EorV>.
Reimplemented from BRepBuilderAPI_MakeShape.
Standard_Boolean BRepFilletAPI_MakeFillet::GetBounds | ( | const Standard_Integer | IC, |
const TopoDS_Edge & | E, | ||
Standard_Real & | F, | ||
Standard_Real & | L | ||
) |
ChFi3d_FilletShape BRepFilletAPI_MakeFillet::GetFilletShape | ( | ) | const |
Returns the type of fillet shape built by this algorithm.
Handle< Law_Function > BRepFilletAPI_MakeFillet::GetLaw | ( | const Standard_Integer | IC, |
const TopoDS_Edge & | E | ||
) |
Standard_Boolean BRepFilletAPI_MakeFillet::HasResult | ( | ) | const |
returns true if a part of the result has been computed if the filling in a corner failed a shape with a hole is returned
Standard_Boolean BRepFilletAPI_MakeFillet::IsConstant | ( | const Standard_Integer | IC | ) |
Returns true if the radius of the fillet along the contour of index IC in the internal data structure of this algorithm is constant, Warning False is returned if IC is outside the bounds of the table of contours or if E does not belong to the contour of index IC.
Standard_Boolean BRepFilletAPI_MakeFillet::IsConstant | ( | const Standard_Integer | IC, |
const TopoDS_Edge & | E | ||
) |
Returns true if the radius of the fillet along the edge E of the contour of index IC in the internal data structure of this algorithm is constant. Warning False is returned if IC is outside the bounds of the table of contours or if E does not belong to the contour of index IC.
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Returns true if the shape S has been deleted.
Reimplemented from BRepBuilderAPI_MakeShape.
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Returns the last vertex of the contour of index IC in the internal data structure of this algorithm. Warning Returns a null shape if IC is outside the bounds of the table of contours.
Implements BRepFilletAPI_LocalOperation.
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Returns the length of the contour of index IC in the internal data structure of this algorithm. Warning Returns -1. if IC is outside the bounds of the table of contours.
Implements BRepFilletAPI_LocalOperation.
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Returns the list of shapes modified from the shape <F>.
Reimplemented from BRepBuilderAPI_MakeShape.
Standard_Integer BRepFilletAPI_MakeFillet::NbComputedSurfaces | ( | const Standard_Integer | IC | ) | const |
returns the number of surfaces which have been computed on the contour IC
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Returns the number of contours generated using the Add function in the internal data structure of this algorithm.
Implements BRepFilletAPI_LocalOperation.
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Returns the number of edges in the contour of index I in the internal data structure of this algorithm. Warning Returns 0 if I is outside the bounds of the table of contours.
Implements BRepFilletAPI_LocalOperation.
Standard_Integer BRepFilletAPI_MakeFillet::NbFaultyContours | ( | ) | const |
Returns the number of contours where the computation of the fillet failed.
Standard_Integer BRepFilletAPI_MakeFillet::NbFaultyVertices | ( | ) | const |
returns the number of vertices where the computation failed
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Implements BRepFilletAPI_LocalOperation.
Standard_Integer BRepFilletAPI_MakeFillet::NbSurfaces | ( | ) | const |
returns the number of surfaces after the shape creation.
const TopTools_ListOfShape& BRepFilletAPI_MakeFillet::NewFaces | ( | const Standard_Integer | I | ) |
Return the faces created for surface .
Standard_Real BRepFilletAPI_MakeFillet::Radius | ( | const Standard_Integer | IC | ) |
Returns the radius of the fillet along the contour of index IC in the internal data structure of this algorithm Warning.
Standard_Real BRepFilletAPI_MakeFillet::Radius | ( | const Standard_Integer | IC, |
const TopoDS_Edge & | E | ||
) |
Returns the radius of the fillet along the edge E of the contour of index IC in the internal data structure of this algorithm. Warning.
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Returns the relative curvilinear abscissa (i.e. between 0 and 1) of the vertex V on the contour of index IC in the internal data structure of this algorithm. Warning Returns -1. if:
Implements BRepFilletAPI_LocalOperation.
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Removes the contour in the internal data structure of this algorithm which contains the edge E of the shape. Warning Nothing is done if the edge E does not belong to the contour in the internal data structure of this algorithm.
Implements BRepFilletAPI_LocalOperation.
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Reinitializes this algorithm, thus canceling the effects of the Build function. This function allows modifications to be made to the contours and fillet parameters in order to rebuild the shape.
Implements BRepFilletAPI_LocalOperation.
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Erases the radius information on the contour of index IC in the internal data structure of this algorithm. Use the SetRadius function to reset this data. Warning Nothing is done if IC is outside the bounds of the table of contours.
Implements BRepFilletAPI_LocalOperation.
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Implements BRepFilletAPI_LocalOperation.
void BRepFilletAPI_MakeFillet::SetContinuity | ( | const GeomAbs_Shape | InternalContinuity, |
const Standard_Real | AngularTolerance | ||
) |
Changes the parameters of continiuity InternalContinuity to produce fillet'surfaces with an continuity Ci (i=0,1 or 2). By defaultInternalContinuity = GeomAbs_C1. AngularTolerance is the G1 tolerance between fillet and support'faces.
void BRepFilletAPI_MakeFillet::SetFilletShape | ( | const ChFi3d_FilletShape | FShape | ) |
Assigns FShape as the type of fillet shape built by this algorithm.
void BRepFilletAPI_MakeFillet::SetLaw | ( | const Standard_Integer | IC, |
const TopoDS_Edge & | E, | ||
const Handle< Law_Function > & | L | ||
) |
void BRepFilletAPI_MakeFillet::SetParams | ( | const Standard_Real | Tang, |
const Standard_Real | Tesp, | ||
const Standard_Real | T2d, | ||
const Standard_Real | TApp3d, | ||
const Standard_Real | TolApp2d, | ||
const Standard_Real | Fleche | ||
) |
void BRepFilletAPI_MakeFillet::SetRadius | ( | const Standard_Real | Radius, |
const Standard_Integer | IC, | ||
const Standard_Integer | IinC | ||
) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where Radius is the radius of the fillet.
void BRepFilletAPI_MakeFillet::SetRadius | ( | const Standard_Real | R1, |
const Standard_Real | R2, | ||
const Standard_Integer | IC, | ||
const Standard_Integer | IinC | ||
) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where the radius of the fillet evolves according to a linear evolution law defined from R1 to R2, between the first and last vertices of the contour of index IC.
void BRepFilletAPI_MakeFillet::SetRadius | ( | const Handle< Law_Function > & | L, |
const Standard_Integer | IC, | ||
const Standard_Integer | IinC | ||
) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where the radius of the fillet evolves according to the evolution law L, between the first and last vertices of the contour of index IC.
void BRepFilletAPI_MakeFillet::SetRadius | ( | const TColgp_Array1OfPnt2d & | UandR, |
const Standard_Integer | IC, | ||
const Standard_Integer | IinC | ||
) |
Sets the parameters of the fillet along the contour of index IC generated using the Add function in the internal data structure of this algorithm, where the radius of the fillet evolves according to the evolution law which interpolates the set of parameter and radius pairs given in the array UandR as follows:
void BRepFilletAPI_MakeFillet::SetRadius | ( | const Standard_Real | Radius, |
const Standard_Integer | IC, | ||
const TopoDS_Edge & | E | ||
) |
Assigns Radius as the radius of the fillet on the edge E.
void BRepFilletAPI_MakeFillet::SetRadius | ( | const Standard_Real | Radius, |
const Standard_Integer | IC, | ||
const TopoDS_Vertex & | V | ||
) |
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Implements BRepFilletAPI_LocalOperation.
ChFiDS_ErrorStatus BRepFilletAPI_MakeFillet::StripeStatus | ( | const Standard_Integer | IC | ) | const |
returns the status concerning the contour IC in case of error ChFiDS_Ok : the computation is Ok ChFiDS_StartsolFailure : the computation can't start, perhaps the the radius is too big ChFiDS_TwistedSurface : the computation failed because of a twisted surface ChFiDS_WalkingFailure : there is a problem in the walking ChFiDS_Error: other error different from above