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

Example 16 with AxisAngle

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

the class FemCollision method reset.

void reset() {
    double r1 = rand.nextDouble();
    double r2 = rand.nextDouble();
    double r3 = rand.nextDouble();
    // case001: the blue ball has a very strange wobbling experience partly
    // inside the table, just after touching the red ball.
    r1 = 0.9339890095435555;
    r2 = 0.256644068300397;
    r3 = 0.005600826760283728;
    positionBall(fem0, new Vector3d(0.1, 0.1, 10 + r3 * 2));
    positionBall(fem1, testEdgeEdge ? new Vector3d(0, 0, 6) : new Vector3d(0, 0, 2));
    if (box0 != null) {
        box0.setPose(new RigidTransform3d(new Vector3d(-0.5, r1 * 0.2, 3.0 + r2), new AxisAngle()));
        box0.setVelocity(0, 0, 0, 0, 0, 0);
    }
    System.out.println("r1=" + r1 + "; r2=" + r2 + "; r3=" + r3 + ";");
}

Example 17 with AxisAngle

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

the class FemCollision method positionBall.

void positionBall(FemModel3d ball, Vector3d startPos) {
    if (ball == null)
        return;
    Vector3d avg = new Vector3d();
    for (FemNode3d n : ball.getNodes()) avg.add(n.getPosition());
    avg.scale(1 / (double) ball.getNodes().size());
    Vector3d pos = new Vector3d(startPos);
    pos.sub(avg);
    ball.transformGeometry(new RigidTransform3d(pos, new AxisAngle()));
    for (FemNode3d n : ball.getNodes()) {
        n.setVelocity(0, 0, 0);
    }
}

Example 18 with AxisAngle

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

the class RigidBodyCollision method reset.

void reset() {
    System.out.println("Reset");
    double q = (rand.nextDouble() - 0.5) * 2;
    double q1 = (rand.nextDouble() - 0.5) * 0.2;
    double q2 = (rand.nextDouble() - 0.5) * 0.2;
    double q3 = rand.nextDouble();
    double t = rand.nextDouble();
    double t1 = rand.nextDouble();
    double t2 = rand.nextDouble();
    double t3 = rand.nextDouble();
    double t1a = rand.nextDouble();
    double t2a = rand.nextDouble();
    double t3a = rand.nextDouble();
    q = 0.24457661495520133;
    q1 = 0.07143622990642744;
    q2 = -0.09679961441554841;
    q3 = 0.147067025570912;
    t = 0.4178296424474287;
    t1 = 0.6413202748594918;
    t2 = 0.0721263882620764;
    t3 = 0.8925255651397567;
    t1a = 0.4168287232167902;
    t2a = 0.2168593863506586;
    t3a = 0.4951442499550106;
    double twist = t * 4;
    if (box0 != null) {
        box0.setPose(new RigidTransform3d(new Vector3d(-3 + q, 0.0, 2.05), new AxisAngle(0, 0, 0, 0)));
        box0.setVelocity(0, 0, 0, 0, 0, 0);
    }
    if (box1 != null) {
        box1.setPose(new RigidTransform3d(new Vector3d(-4.3135585102416233 + q, 0.0, 1.44), new AxisAngle(0.5794, -0.5763, -0.5763, Math.toRadians(119.824))));
        box1.setVelocity(0, 0, 0, 0, 0, 0);
    }
    if (box2 != null) {
        box2.setPose(new RigidTransform3d(new Vector3d(-6 + q + q1, 0.0, 5.05), new AxisAngle(0, 0, 0, 0)));
        box2.setVelocity(0, 0, 0, twist * t1, twist * t2, twist * t3);
    }
    if (box3 != null) {
        box3.setPose(new RigidTransform3d(new Vector3d(-3.2 + q + q1 + q2, 0.0, 3.05), new AxisAngle(0, 0, 0, 0)));
        box3.setVelocity(0, 0, 0, 0, 0, 0);
    }
    if (box4 != null) {
        box4.setPose(new RigidTransform3d(new Vector3d(1, 0.0, 2 + /* 5 */
        q3), new AxisAngle(0, 0, 0, 0)));
        box4.setVelocity(0, 0, 0, twist * t1a, twist * t2a, twist * t3a);
    }
// // This prints a line of java code that can be copied from the log and
// pasted above to recreate a specific starting configuration.
// System.out.println(
// "q="+q+"; q1="+q1+"; q2="+q2+"; q3="+q3+"; t="+t+"; t1="+t1+"; t2="+t2+"; t3="+t3+"; t1a="+t1a+"; t2a="+t2a+"; t3a="+t3a+";"
// );
}

Example 19 with AxisAngle

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

the class MultiViewerTesterBase method addCylinder.

protected static void addCylinder(MultiViewer tester) {
    // cylinder
    RenderObject cylinderRO = RenderObjectFactory.createCylinder(32, true);
    RenderObjectWrapper rcylinder = new RenderObjectWrapper(cylinderRO);
    AffineTransform3d cscale = new AffineTransform3d();
    cscale.setTranslation(0.3, 0.3, 0);
    cscale.setRotation(new AxisAngle(1d / Math.sqrt(2), -1d / Math.sqrt(2), 0, Math.PI / 8));
    cscale.applyScaling(0.05, 0.05, 1.0);
    rcylinder.setTransform(cscale);
    RenderProps rprops2 = rcylinder.getRenderProps();
    rprops2.setFaceColor(Color.CYAN);
    rprops2.setShading(Shading.SMOOTH);
    tester.addRenderable(rcylinder);
}

Example 20 with AxisAngle

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

the class AxisAngleField method main.

public static void main(String[] args) {
    JFrame frame = new JFrame("AxisAngleField Test");
    LabeledComponentPanel panel = new LabeledComponentPanel();
    AxisAngleField widget = new AxisAngleField();
    frame.getContentPane().add(panel);
    RotationMatrix3d R = new RotationMatrix3d(1, 0, 0, Math.toRadians(45));
    widget.setValue(new AxisAngle(R));
    panel.addWidget("axisAng", widget);
    // panel.addWidget (widget);
    frame.pack();
    frame.setVisible(true);
}