Examples with AffineTransform3d maspack.matrix.AffineTransform3d used on opensource projects

Example 26 with AffineTransform3d

use of maspack.matrix.AffineTransform3d in project artisynth_core by artisynth.

the class GLViewer method setModelMatrix2d.

// John Lloyd: didn't work well - not enough depth buffer precision
// close to the far plane
// /**
// * Add a depth offset to the projection matrix.
// * Each integer represents enough depth to account for one bin in the depth
// * buffer.  Negative values bring following objects closer to the screen.
// * This is to account for z-fighting.
// *
// * @param zOffset value to offset depth buffer
// */
// public void addDepthOffset(double zOffset) {
// // compute depth buffer precision
// double deps = 2.0/(1 << (myFrustum.depthBits-1));
// // Let n and f be the far and near plane distances (positive values),
// // and z the z value in eye coordinates. Then the change in z
// // corresponding to deps is
// //
// // delta z = - ((f-n) z^2)/(2 f n) deps
// //
// // We take z to be about 1/10 the distance to the far plane, which
// // corresponds roughly to where the center is when autoFit is used.
// Vector3d dp = new Vector3d();
// double f = myFrustum.far;
// double n = myFrustum.near;
// dp.scale (zOffset*(f-n)*f*deps/(2*n), getEyeZDirection());
// synchronized (modelMatrix) {
// modelMatrix.addTranslation (dp.x, dp.y, dp.z);
// }
// invalidateModelMatrix();
// }
// public void setModelMatrix2d (double width, double height) {
// setModelMatrix2d (0, width, 0, height);
// }
/**
 * {@inheritDoc}
 */
public void setModelMatrix2d(double left, double right, double bottom, double top) {
    AffineTransform3d XMW = new AffineTransform3d();
    double w = right - left;
    double h = top - bottom;
    XMW.A.m00 = 2 / w;
    XMW.A.m11 = 2 / h;
    XMW.p.set(-(left + right) / w, -(top + bottom) / h, 0);
    setModelMatrix(XMW);
}

Example 27 with AffineTransform3d

use of maspack.matrix.AffineTransform3d in project artisynth_core by artisynth.

the class StlRenderer method mulModelMatrix.

@Override
public void mulModelMatrix(AffineTransform3dBase trans) {
    synchronized (modelMatrix) {
        if (trans instanceof RigidTransform3d) {
            RigidTransform3d rigid = (RigidTransform3d) trans;
            modelMatrix.mul(rigid);
            modelNormalMatrix.mul(rigid.R);
        } else {
            AffineTransform3d aff = new AffineTransform3d(modelMatrix);
            aff.mul(trans);
            modelMatrix = aff;
            modelNormalMatrix = computeInverseTranspose(aff.getMatrix());
        }
    }
}

Example 28 with AffineTransform3d

use of maspack.matrix.AffineTransform3d in project artisynth_core by artisynth.

the class StlRenderer method drawTriangles.

@Override
public void drawTriangles(RenderObject robj, int gidx, RenderInstances rinst) {
    int idx = 0;
    int[] buff = rinst.getInstances();
    InstanceTransformType[] types = InstanceTransformType.values();
    rinst.readLock();
    robj.readLock();
    for (int i = 0; i < rinst.numInstances(); ++i) {
        pushModelMatrix();
        int type = buff[idx++];
        int tidx = buff[idx++];
        int sidx = buff[idx++];
        InstanceTransformType tt = types[type];
        switch(tt) {
            case POINT:
                {
                    // point
                    float[] pnt = rinst.getPoint(tidx);
                    translateModelMatrix(pnt[0], pnt[1], pnt[2]);
                    break;
                }
            case FRAME:
                {
                    RigidTransform3d frame = rinst.getFrame(tidx);
                    mulModelMatrix(frame);
                    break;
                }
            case AFFINE:
                {
                    AffineTransform3d affine = rinst.getAffine(tidx);
                    mulModelMatrix(affine);
                    break;
                }
        }
        Double s = rinst.getScale(sidx);
        if (s != null && s.doubleValue() != 1.0) {
            scaleModelMatrix(s);
        }
        drawTriangles(robj);
        popModelMatrix();
    }
    robj.readUnlock();
    rinst.readUnlock();
}

Example 29 with AffineTransform3d

use of maspack.matrix.AffineTransform3d in project artisynth_core by artisynth.

the class RigidBodyCollision method build.

public void build(String[] args) throws IOException {
    try {
        mechmod = new MechModel();
        mechmod.setMaxStepSize(0.005);
        boxes = new ArrayList<RigidBody>();
        table = new RigidBody("table");
        table.setDynamic(false);
        table.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        AffineTransform3d trans = new AffineTransform3d();
        trans.setIdentity();
        trans.applyScaling(4, 2, 0.5);
        table.transformGeometry(trans);
        table.setPose(new RigidTransform3d(new Vector3d(0, 0, 0.8077474533228615), new AxisAngle()));
        table.setInertia(SpatialInertia.createBoxInertia(1, 1, 1, 1));
        mechmod.addRigidBody(table);
        boxes.add(table);
        if (wireFrame) {
            setWireFrame(table);
        }
        // middle box in pile
        box0 = new RigidBody("box0");
        box0.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.5, 0.5, 0.5);
        box0.transformGeometry(trans);
        box0.setInertia(SpatialInertia.createBoxInertia(4, 1, 1, 1));
        addBox(box0, Color.GREEN);
        if (wireFrame) {
            setWireFrame(box0);
        }
        // long thin box, bottom of pile
        box1 = new RigidBody("box1");
        box1.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.6, 0.1, 1.9);
        box1.transformGeometry(trans);
        box1.setInertia(SpatialInertia.createBoxInertia(1, 1, 0.1, 4));
        addBox(box1, Color.YELLOW);
        if (wireFrame) {
            setWireFrame(box1);
        }
        // left hand box falling on unsupported end of
        box2 = new RigidBody("box2");
        // box1
        box2.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.5, 0.5, 0.5);
        box2.transformGeometry(trans);
        box2.setInertia(SpatialInertia.createBoxInertia(20, 1, 1, 1));
        addBox(box2, Color.BLUE);
        if (wireFrame) {
            setWireFrame(box2);
        }
        // top box in pile
        box3 = new RigidBody("box3");
        box3.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.4, 0.4, 0.4);
        box3.transformGeometry(trans);
        box3.setInertia(SpatialInertia.createBoxInertia(0.5, 0.5, 0.5, 4));
        addBox(box3, Color.CYAN);
        // box3.getMesh().name = "box3";
        if (wireFrame) {
            setWireFrame(box3);
        }
        // solo box off to the right.
        box4 = new RigidBody("box4");
        box4.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.6, 0.6, 0.3);
        box4.transformGeometry(trans);
        box4.setInertia(SpatialInertia.createBoxInertia(0.5, 0.5, 0.5, 4));
        box4.setPose(new RigidTransform3d(new Vector3d(1, 0.0, 5), new AxisAngle(0, 0, 0, 0)));
        addBox(box4, Color.RED);
        // box4.getMesh().name = "box4";
        if (wireFrame) {
            setWireFrame(box4);
        }
        mechmod.setDefaultCollisionBehavior(true, 0.05);
        reset();
        addModel(mechmod);
        ControlPanel panel = new ControlPanel();
        panel.addWidget(mechmod, "integrator");
        panel.addWidget(mechmod, "maxStepSize");
        addControlPanel(panel);
        Main.getMain().arrangeControlPanels(this);
        CollisionManager cm = mechmod.getCollisionManager();
        RenderProps.setVisible(cm, true);
        RenderProps.setLineWidth(cm, 3);
        RenderProps.setLineColor(cm, Color.RED);
        cm.setDrawContactNormals(true);
        // addBreakPoint (0.74);
        for (int i = 1; i <= 10; i++) {
            addWayPoint(0.1 * i);
        }
    // setWaypointChecking (true);
    } catch (IOException e) {
        throw e;
    }
}

Example 30 with AffineTransform3d

use of maspack.matrix.AffineTransform3d in project artisynth_core by artisynth.

the class MeshBase method transform.

/**
 * Applies an affine transformation to the vertices of this mesh. The
 * topology of the mesh remains unchanged.
 *
 * @param X
 * affine transformation
 */
public void transform(AffineTransform3dBase X) {
    for (Vertex3d vertex : myVertices) {
        vertex.pnt.transform(X);
    }
    if (myNormalsExplicitP) {
        Matrix3d A = new Matrix3d(X.getMatrix());
        if (X instanceof AffineTransform3d) {
            A.invert();
            A.transpose();
        }
        for (int i = 0; i < myNormals.size(); i++) {
            Vector3d nrm = myNormals.get(i);
            A.mul(nrm, nrm);
            nrm.normalize();
        }
    } else {
        // auto normals will be regenerated
        clearNormals();
    }
    invalidateBoundingInfo();
    notifyModified();
}