Examples with Matrix3d maspack.matrix.Matrix3d used on opensource projects

Example 46 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class MFreeFactory method distributeIPointsFromMap.

// public static void distributePairedIPoints(MFreeElement3d[] elemList,
// MFreeIntegrationPoint3d[] ipnts,
// IntegrationData3d[] idata, BVTree elemTree, double tol) {
// 
// for (int i = 0; i < ipnts.length; i++) {
// MFreeIntegrationPoint3d ipnt = ipnts[i];
// IntegrationData3d idat = null;
// if (idata != null) {
// idat = idata[i];
// } else {
// idat = new IntegrationData3d();
// idat.setRestInverseJacobian(new Matrix3d(Matrix3d.IDENTITY), 1);
// }
// 
// ArrayList<MFreeElement3d> celems =
// findPairedElementsContaining(ipnt.getPosition(), elemTree, tol);
// for (MFreeElement3d elem : celems) {
// elem.addIntegrationPoint(ipnt, idat, ipnt.getWeight(), false);
// }
// }
// 
// for (MFreeElement3d elem : elemList) {
// elem.updateAllVolumes();
// }
// 
// }
private static void distributeIPointsFromMap(HashMap<MFreeIntegrationPoint3d, MFreeElement3d> pntMap) {
    for (MFreeIntegrationPoint3d ipnt : pntMap.keySet()) {
        IntegrationData3d idat = new IntegrationData3d();
        idat.setRestInverseJacobian(new Matrix3d(Matrix3d.IDENTITY), 1);
        MFreeElement3d elem = pntMap.get(ipnt);
        elem.addIntegrationPoint(ipnt, idat, ipnt.getWeight(), false);
    }
    for (MFreeElement3d elem : pntMap.values()) {
        elem.updateAllVolumes();
    }
}

Example 47 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class MFreeFactory method addWarpingPoints.

// public static void distributePartitionedIPoints(
// DirectedGraph<MFreeElement3d,MFreeNode3d> connectivity,
// MFreeIntegrationPoint3d[] ipnts,
// IntegrationData3d[] idata, BVTree elemTree, double tol) {
// 
// for (int i = 0; i < ipnts.length; i++) {
// MFreeIntegrationPoint3d ipnt = ipnts[i];
// IntegrationData3d idat = null;
// if (idata != null) {
// idat = idata[i];
// } else {
// idat = new IntegrationData3d();
// idat.setRestInverseJacobian(new Matrix3d(Matrix3d.IDENTITY), 1);
// }
// 
// ArrayList<MFreeElement3d> celems =
// findPartitionedElementsContaining(
// ipnt.getPosition(), connectivity, elemTree, tol);
// for (MFreeElement3d elem : celems) {
// elem.addIntegrationPoint(ipnt, idat, ipnt.getWeight(), false);
// }
// }
// 
// for (Vertex<MFreeElement3d,MFreeNode3d> vtx : connectivity.getVertices()) {
// MFreeElement3d elem = vtx.getData();
// if (elem != null) {
// elem.updateAllVolumes();
// }
// }
// 
// }
private static void addWarpingPoints(List<MFreeElement3d> elems, BVTree nodeTree) {
    for (MFreeElement3d elem : elems) {
        MFreeIntegrationPoint3d wpnt = createWarpingPoint(elem, null, nodeTree);
        IntegrationData3d wdat = new IntegrationData3d();
        wdat.setRestInverseJacobian(new Matrix3d(Matrix3d.IDENTITY), 1);
        elem.setWarpingPoint(wpnt, wdat);
    }
}

Example 48 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class MFreeMuscleModel method render.

// public void setDrawFibers(boolean enable) {
// myDrawFibers = enable;
// }
public void render(Renderer renderer, int flags) {
    super.render(renderer, flags);
    // if (myFiberMesh != null) {
    // myFiberMesh.render(renderer, myRenderProps, /* flags= */0);
    // }
    // if (myDrawFibers) {
    RenderProps fiberRenderProps = myFiberRenderProps;
    if (fiberRenderProps == null) {
        fiberRenderProps = DEFAULT_FIBER_RENDER_PROPS;
    }
    double dirLen = getDirectionRenderLen();
    if (dirLen > 0) {
        Matrix3d F = new Matrix3d();
        Vector3d dir = new Vector3d();
        float[] coords0 = new float[3];
        float[] coords1 = new float[3];
        for (FemElement3d e : getElements()) {
            renderDirection(renderer, fiberRenderProps, e, coords0, coords1, F, dir, dirLen);
        }
    }
}

Example 49 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class MFreeMuscleModel method renderIPointDirection.

protected void renderIPointDirection(Renderer renderer, RenderProps props, FemElement3d elem, float[] coords0, float[] coords1, Matrix3d F, Vector3d dir, double len) {
    IntegrationPoint3d[] ipnt = elem.getIntegrationPoints();
    IntegrationData3d[] idata = elem.getIntegrationData();
    for (int i = 0; i < ipnt.length; i++) {
        Matrix3d Frame = idata[i].getFrame();
        if (Frame != null) {
            dir.x = Frame.m00;
            dir.y = Frame.m10;
            dir.z = Frame.m20;
            ipnt[i].computeGradientForRender(F, elem.getNodes(), idata[i].getInvJ0());
            ipnt[i].computeCoordsForRender(coords0, elem.getNodes());
            F.mul(dir, dir);
            dir.scale(len);
            coords0[0] -= (float) dir.x / 2;
            coords0[1] -= (float) dir.y / 2;
            coords0[2] -= (float) dir.z / 2;
            coords1[0] = coords0[0] + (float) dir.x;
            coords1[1] = coords0[1] + (float) dir.y;
            coords1[2] = coords0[2] + (float) dir.z;
            props.getLineColor(myDirectionColor);
            renderer.drawLine(props, coords0, coords1, myDirectionColor, /*capped=*/
            false, /*highlight=*/
            false);
        }
    }
}

Example 50 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class PointDistributor method getPrincipalAxes.

public static RigidTransform3d getPrincipalAxes(PolygonalMesh mesh) {
    Vector3d mov1 = new Vector3d();
    Vector3d mov2 = new Vector3d();
    Vector3d pov = new Vector3d();
    double vol = mesh.computeVolumeIntegrals(mov1, mov2, pov);
    double mass = vol;
    Point3d cov = new Point3d();
    // center of volume
    cov.scale(1.0 / vol, mov1);
    // [c], skew symmetric
    Matrix3d covMatrix = new Matrix3d(0, -cov.z, cov.y, cov.z, 0, -cov.x, -cov.y, cov.x, 0);
    // J
    Matrix3d J = new Matrix3d((mov2.y + mov2.z), -pov.z, -pov.y, -pov.z, (mov2.x + mov2.z), -pov.x, -pov.y, -pov.x, (mov2.x + mov2.y));
    // Jc = J + m[c][c]
    Matrix3d Jc = new Matrix3d();
    Jc.mul(covMatrix, covMatrix);
    Jc.scale(mass);
    Jc.add(J);
    // Compute eigenvectors and eigenvlaues of Jc
    SymmetricMatrix3d JcSymmetric = new SymmetricMatrix3d(Jc);
    Vector3d lambda = new Vector3d();
    Matrix3d U = new Matrix3d();
    JcSymmetric.getEigenValues(lambda, U);
    // Construct the rotation matrix
    RotationMatrix3d R = new RotationMatrix3d();
    R.set(U);
    lambda.absolute();
    if (lambda.x > lambda.y && lambda.z > lambda.y) {
        R.rotateZDirection(new Vector3d(R.m01, R.m11, R.m21));
    } else if (lambda.x > lambda.z && lambda.y > lambda.z) {
        R.rotateZDirection(new Vector3d(R.m00, R.m10, R.m20));
    }
    return (new RigidTransform3d(cov, R));
}