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

Example 11 with AxisAngle

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

the class RigidTransformWidget method updateInternalValue.

/**
 * Updates the internal representation of the value, updates any result
 * holders, and returns true if the new value differs from the old value.
 */
protected boolean updateInternalValue(Object value) {
    if (!valuesEqual(value, myValue)) {
        myTranslationField.maskValueChangeListeners(true);
        myRotationField.maskValueChangeListeners(true);
        if (value instanceof RigidTransform3d) {
            RigidTransform3d newX = (RigidTransform3d) value;
            if (myTranslationField.valueIsVoid() || !newX.p.equals(getTranslation())) {
                myTranslationField.setValue(newX.p);
            }
            RotationMatrix3d R = new RotationMatrix3d();
            if (!myRotationField.valueIsVoid()) {
                R.setAxisAngle(getRotation());
            }
            if (myRotationField.valueIsVoid() || !newX.R.equals(R)) {
                AxisAngle newAxisAngle = new AxisAngle();
                newX.R.getAxisAngle(newAxisAngle);
                myRotationField.setValue(newAxisAngle);
            }
            value = new RigidTransform3d(newX);
        } else if (value == Property.VoidValue) {
            myTranslationField.setValue(Property.VoidValue);
            myRotationField.setValue(Property.VoidValue);
        }
        myTranslationField.maskValueChangeListeners(false);
        myRotationField.maskValueChangeListeners(false);
        myValue = value;
        return true;
    } else {
        return false;
    }
}

Example 12 with AxisAngle

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

the class Main method createViewerFrame.

public GLViewerFrame createViewerFrame() {
    GLViewerFrame frame = new GLViewerFrame(myViewer, PROJECT_NAME, 400, 400);
    GLViewer viewer = frame.getViewer();
    // ViewerToolBar toolBar = new ViewerToolBar(viewer, this);
    AxisAngle REW = getDefaultViewOrientation(getRootModel());
    myViewerManager.addViewer(viewer);
    ViewerToolBar toolBar = new ViewerToolBar(viewer, /*addGridPanel=*/
    true);
    frame.getContentPane().add(toolBar, BorderLayout.PAGE_START);
    viewer.setDefaultAxialView(AxisAlignedRotation.getNearest(new RotationMatrix3d(REW)));
    initializeViewer(viewer, REW);
    frame.setVisible(true);
    return frame;
}

Example 13 with AxisAngle

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

the class FemModel3dAgent method restoreDefaultValues.

private void restoreDefaultValues() {
    maskAllValueChangeListeners(true);
    lastScale = 1.0;
    scaleField.setValue(lastScale);
    positionField.setVoidValueEnabled(true);
    positionField.setValue(Property.VoidValue);
    positionField.setVoidValueEnabled(false);
    orientationField.setValue(new AxisAngle());
    GLViewer viewer = myMain.getMain().getViewer();
    double width = viewer.distancePerPixel(viewer.getCenter()) * viewer.getScreenWidth() / 6;
    // Grid fields
    double gridWidth = DEFAULT_GRID_DIM.x;
    if (width > gridWidth) {
        for (int i = -1; width > gridWidth; i++) {
            gridWidth *= (i % 3 == 0) ? 2.5 : 2.0;
        }
    } else {
        for (int i = -1; width < gridWidth; i++) {
            gridWidth /= (i % 3 == 0) ? 2.5 : 2.0;
        }
    }
    gridDimField.setValue(new Vector3d(gridWidth, gridWidth, gridWidth));
    gridDivField.setValue(DEFAULT_GRID_DIV);
    // Tube fields
    double tubeScale = 1;
    if (width > tubeScale * DEFAULT_TUBE_DIM.z) {
        for (int i = -1; width > tubeScale * DEFAULT_TUBE_DIM.z; i++) {
            tubeScale *= (i % 3 == 0) ? 2.5 : 2.0;
        }
    } else {
        for (int i = -1; width < tubeScale * DEFAULT_TUBE_DIM.z; i++) {
            tubeScale /= (i % 3 == 0) ? 2.5 : 2.0;
        }
    }
    tubeScale /= 2.0;
    tubeDimField.setValue(new Vector3d(DEFAULT_TUBE_DIM.x * tubeScale, DEFAULT_TUBE_DIM.y * tubeScale, DEFAULT_TUBE_DIM.z * tubeScale));
    tubeDivField.setValue(DEFAULT_TUBE_DIV);
    // Torus fields
    double torusScale = 1;
    if (width > torusScale * (DEFAULT_TORUS_DIM.x + DEFAULT_TORUS_DIM.z)) {
        for (int i = -1; width > torusScale * (DEFAULT_TORUS_DIM.x + DEFAULT_TORUS_DIM.z); i++) {
            torusScale *= (i % 3 == 0) ? 2.5 : 2.0;
        }
    } else {
        for (int i = -1; width < torusScale * (DEFAULT_TORUS_DIM.x + DEFAULT_TORUS_DIM.z); i++) {
            torusScale /= (i % 3 == 0) ? 2.5 : 2.0;
        }
    }
    torusScale /= 2.0;
    torusDimField.setValue(new Vector3d(DEFAULT_TORUS_DIM.x * torusScale, DEFAULT_TORUS_DIM.y * torusScale, DEFAULT_TORUS_DIM.z * torusScale));
    torusDivField.setValue(DEFAULT_TORUS_DIV);
    // Sphere field
    sphereNodesField.setValue(SPHERE_NODE_OPTIONS[0]);
    // Extrusion fields
    extrusDepthField.setValue(DEFAULT_EXTRUSION_DEPTH);
    extrusLayersField.setValue(DEFAULT_EXTRUSION_LAYERS);
    extrusFileField.setValue(null);
    // Ansys fields
    ansysNodeFileField.setValue(null);
    ansysElemFileField.setValue(null);
    // Tetgen fields
    tetgenNodeFileField.setValue(null);
    tetgenEleFileField.setValue(null);
    // UCD field
    ucdMeshFileField.setValue(null);
    // Surface mesh field
    surfaceMeshFileField.setValue(null);
    maskAllValueChangeListeners(false);
}

Example 14 with AxisAngle

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

the class CutPlaneProbe method getOrientation.

/**
 * Gets the orientation of the display
 */
public AxisAngle getOrientation() {
    AxisAngle axisAng = new AxisAngle();
    XGridToWorld.R.getAxisAngle(axisAng);
    return axisAng;
}

Example 15 with AxisAngle

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

the class FemCollision method build.

public void build(String[] args) throws IOException {
    try {
        MechModel mechmod = new MechModel();
        // mechmod.setIntegrator (Integrator.ConstrainedBackwardEuler);
        mechmod.setIntegrator(Integrator.BackwardEuler);
        // mechmod.setProfiling (true);
        CollisionManager collisions = mechmod.getCollisionManager();
        RenderProps.setVisible(collisions, true);
        RenderProps.setEdgeWidth(collisions, 4);
        RenderProps.setEdgeColor(collisions, Color.YELLOW);
        RenderProps.setLineWidth(collisions, 3);
        RenderProps.setLineColor(collisions, Color.GREEN);
        collisions.setDrawContactNormals(true);
        RigidBody table = new RigidBody("table");
        table.setDynamic(false);
        // table.setMesh (new PolygonalMesh (new File (rbpath+ "box.obj")), null);
        table.setMesh(MeshFactory.createBox(2, 2, 2));
        AffineTransform3d trans = new AffineTransform3d();
        trans.setIdentity();
        trans.applyScaling(4, 2, 0.5);
        table.transformGeometry(trans);
        table.setPose(new RigidTransform3d(new Vector3d(1, 0, 0.8077474533228615), new AxisAngle(1, 0, 0, Math.toRadians(mu == 0 ? 0.0 : 1.5))));
        if (wireFrame) {
            RenderProps.setFaceStyle(table, Renderer.FaceStyle.NONE);
            RenderProps.setDrawEdges(table, true);
        }
        mechmod.addRigidBody(table);
        if (incBox0) {
            box0 = new RigidBody("box0");
            // box0.setMesh (
            // new PolygonalMesh (new File (rbpath + "box.obj")), null);
            box0.setMesh(MeshFactory.createBox(2, 2, 2));
            trans.setIdentity();
            trans.applyScaling(1.5, 1.5, 0.5);
            box0.transformGeometry(trans);
            box0.setInertia(SpatialInertia.createBoxInertia(10000, 4, 4, 1));
            box0.setPose(new RigidTransform3d(new Vector3d(-0.5, 0, 3.5), new AxisAngle()));
            RenderProps.setFaceColor(box0, Color.GREEN.darker());
            if (wireFrame) {
                RenderProps.setFaceStyle(box0, Renderer.FaceStyle.NONE);
                RenderProps.setDrawEdges(box0, true);
            }
            mechmod.addRigidBody(box0);
        }
        if (incFem0) {
            String fem0Name = // "torus546";
            "sphere2";
            // "box0023";
            // "box0048";
            // "box0144";
            // "box0604";
            // "box1056";
            // "box2463";
            // "box4257";
            fem0 = TetGenReader.read("fem0", 5000, fempath + fem0Name + ".1.node", fempath + fem0Name + ".1.ele", new Vector3d(0.8, 0.8, 0.8));
            fem0.transformGeometry(new RigidTransform3d(new Vector3d(2, 0, 3.5), new AxisAngle()));
            fem0.setLinearMaterial(1000000, 0.33, true);
            if (!wireFrame)
                fem0.setSurfaceRendering(SurfaceRender.Shaded);
            fem0.setParticleDamping(0.1);
            RenderProps.setFaceColor(fem0, new Color(0.5f, 0f, 0f));
            // RenderProps.setAlpha(fem0, 0.33);
            RenderProps.setAlpha(fem0, 0.5);
            RenderProps.setShading(fem0, Shading.NONE);
            RenderProps.setDrawEdges(fem0, true);
            RenderProps.setVisible(fem0.getElements(), false);
            RenderProps.setVisible(fem0.getNodes(), false);
            // RenderProps.setLineColor(fem0, Color.GRAY);
            mechmod.addModel(fem0);
        }
        if (incFem1) {
            // Use this code for a box
            /*
             * double mySize = 1; fem1 = createFem (name, mySize);
             * FemFactory.createTetGrid ( fem1, 1*mySize, 4*mySize, mySize, 1,
             * 1, 1);
             */
            // end box code
            // Use this code for a ball
            String fem1Name = "sphere2";
            fem1 = TetGenReader.read("fem1", 5000, fempath + fem1Name + ".1.node", fempath + fem1Name + ".1.ele", new Vector3d(0.8, 0.8, 0.8));
            fem1.setLinearMaterial(1000000, 0.33, true);
            fem1.setParticleDamping(0.1);
            // end ball code
            fem1.setIncompressible(FemModel3d.IncompMethod.AUTO);
            fem1.transformGeometry(new RigidTransform3d(new Vector3d(1.25, 0, 2), new AxisAngle()));
            fem1.setSurfaceRendering(wireFrame ? SurfaceRender.None : SurfaceRender.Shaded);
            RenderProps.setAlpha(fem1, 0.5);
            RenderProps.setShading(fem1, Shading.NONE);
            RenderProps.setDrawEdges(fem1, true);
            RenderProps.setVisible(fem1.getElements(), false);
            RenderProps.setVisible(fem1.getNodes(), false);
            RenderProps.setFaceColor(fem1, new Color(0f, 0f, 0.8f));
            mechmod.addModel(fem1);
        }
        if (incFem0) {
            mechmod.setCollisionBehavior(fem0, table, true, mu);
            mechmod.setCollisionResponse(fem0, Collidable.Deformable);
            mechmod.setCollisionResponse(fem0, table);
        }
        if (incFem1 & incFem0) {
            mechmod.setCollisionBehavior(fem0, fem1, true, mu);
        }
        if (incBox0 & incFem0) {
            mechmod.setCollisionBehavior(box0, fem0, true, mu);
        }
        if (incFem1) {
            mechmod.setCollisionBehavior(fem1, table, true, mu);
            mechmod.setCollisionResponse(fem1, Collidable.AllBodies);
        }
        if (incBox0 & incFem1) {
            mechmod.setCollisionBehavior(box0, fem1, true, mu);
        }
        if (incBox0) {
            mechmod.setCollisionBehavior(box0, table, true, mu);
            mechmod.setCollisionResponse(box0, table);
        }
        addModel(mechmod);
    // mechmod.setIntegrator (Integrator.BackwardEuler);
    // addBreakPoint (2.36);
    // reset();
    } catch (IOException e) {
        throw e;
    }
}