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

Example 11 with MatrixNd

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

the class MechSystemSolver method preRotate.

private MatrixNd preRotate(MatrixNd M1, RotationMatrix3d[] R) {
    int nbr = R.length;
    MatrixNd MR = new MatrixNd(M1.rowSize(), M1.colSize());
    Vector3d v3 = new Vector3d();
    for (int bi = 0; bi < nbr; bi++) {
        for (int j = 0; j < M1.colSize(); j++) {
            v3.x = M1.get(bi * 3 + 0, j);
            v3.y = M1.get(bi * 3 + 1, j);
            v3.z = M1.get(bi * 3 + 2, j);
            v3.transform(R[bi]);
            MR.set(bi * 3 + 0, j, v3.x);
            MR.set(bi * 3 + 1, j, v3.y);
            MR.set(bi * 3 + 2, j, v3.z);
        }
    }
    return MR;
}

Example 12 with MatrixNd

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

the class MechSystemSolver method fullRotate.

private MatrixNd fullRotate(MatrixNd M1, RotationMatrix3d[] R) {
    int nbr = R.length;
    MatrixNd MT = new MatrixNd(M1.rowSize(), M1.colSize());
    MatrixNd MR = new MatrixNd(M1.rowSize(), M1.colSize());
    Vector3d v3 = new Vector3d();
    for (int bi = 0; bi < nbr; bi++) {
        for (int j = 0; j < M1.colSize(); j++) {
            v3.x = M1.get(bi * 3 + 0, j);
            v3.y = M1.get(bi * 3 + 1, j);
            v3.z = M1.get(bi * 3 + 2, j);
            v3.transform(R[bi]);
            MT.set(bi * 3 + 0, j, v3.x);
            MT.set(bi * 3 + 1, j, v3.y);
            MT.set(bi * 3 + 2, j, v3.z);
        }
    }
    for (int bj = 0; bj < nbr; bj++) {
        for (int i = 0; i < M1.rowSize(); i++) {
            v3.x = MT.get(i, bj * 3 + 0);
            v3.y = MT.get(i, bj * 3 + 1);
            v3.z = MT.get(i, bj * 3 + 2);
            v3.transform(R[bj]);
            MR.set(i, bj * 3 + 0, v3.x);
            MR.set(i, bj * 3 + 1, v3.y);
            MR.set(i, bj * 3 + 2, v3.z);
        }
    }
    return MR;
}

Example 13 with MatrixNd

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

the class MechSystemSolver method buildA.

private MatrixNd buildA(SparseBlockMatrix S, int sizeS, SparseBlockMatrix GT, int sizeG) {
    MatrixNd A = new MatrixNd(sizeS + sizeG, sizeS + sizeG);
    for (int i = 0; i < sizeS; i++) {
        for (int j = 0; j < sizeS; j++) {
            A.set(i, j, S.get(i, j));
        }
        for (int j = 0; j < sizeG; j++) {
            A.set(i, j + sizeS, GT.get(i, j));
            A.set(j + sizeS, i, GT.get(i, j));
        }
    }
    return A;
}

Example 14 with MatrixNd

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

the class MechSystemBase method printActiveStiffness.

public void printActiveStiffness() throws IOException {
    MatrixNd K = new MatrixNd(getActiveStiffness());
    System.out.println("K=\n" + K.toString("%8.3f"));
}

Example 15 with MatrixNd

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

the class GMLSShapeFunction method computeDM.

@Override
public void computeDM(MatrixNd DM, int dIdx, Point3d pnt, MFreeNode3d[] nodes) {
    MatrixNd cc = new MatrixNd(nBasis, nBasis);
    DM.setSize(nBasis, nBasis);
    DM.setZero();
    int[] derivatives = new int[3];
    derivatives[dIdx] = 1;
    for (MFreeNode3d node : nodes) {
        Point3d pos = node.getRestPosition();
        double w = node.getWeightFunction().evalDerivative(pnt, derivatives);
        for (int i = 0; i <= myOrder; i++) {
            for (int j = 0; j <= myOrder - i; j++) {
                for (int k = 0; k <= myOrder - i - j; k++) {
                    // account for symmetries
                    double d = dcoeff(i, j, k);
                    computeDPCorrelation(cc, pos.x, pos.y, pos.z, i, j, k);
                    DM.scaledAdd(d * w, cc);
                }
            }
        }
    }
}