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

Example 26 with MatrixNd

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

the class Test method TestMatrix.

static void TestMatrix(int n) {
    int reps = 1;
    MatrixNd m1 = new MatrixNd(n, n), m2 = new MatrixNd(n, n), m3 = new MatrixNd(n, n);
    Random r = new Random(1234);
    for (int i = 0; i < n; i++) {
        for (int j = 0; i < n; i++) {
            m1.set(i, j, r.nextDouble());
            m2.set(i, j, r.nextDouble());
        }
    }
    long t = System.nanoTime();
    for (int i = 0; i < reps; i++) {
        m3.mul(m1, m2);
    }
    t = System.nanoTime() - t;
    System.out.println(n + "x" + n + ", " + reps + ": " + (float) t / 1e9 + " sec");
}

Example 27 with MatrixNd

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

the class AffineNumericInputProbe method initTransform.

// initializes the identity transformation
public void initTransform(int size) {
    R = new MatrixNd(size, size);
    t = new VectorNd(size);
    R.setIdentity();
    t.setZero();
}

Example 28 with MatrixNd

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

the class MLSShapeFunction method computeM.

public void computeM(MatrixNd M, Point3d pnt, MFreeNode3d[] nodeList) {
    MatrixNd cc = new MatrixNd(nBasis, nBasis);
    M.setSize(nBasis, nBasis);
    M.setZero();
    for (MFreeNode3d node : nodeList) {
        Point3d pos = node.getRestPosition();
        computePCorrelation(cc, pos.x, pos.y, pos.z);
        M.scaledAdd(node.getWeight(pnt), cc);
    }
}

Example 29 with MatrixNd

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

the class MLSShapeFunction method computeDM.

public void computeDM(MatrixNd DM, int dIdx, Point3d pnt, MFreeNode3d[] nodeList) {
    MatrixNd cc = new MatrixNd(nBasis, nBasis);
    DM.setSize(nBasis, nBasis);
    DM.setZero();
    int[] derivatives = new int[3];
    derivatives[dIdx] = 1;
    for (MFreeNode3d node : nodeList) {
        Point3d pos = node.getRestPosition();
        computePCorrelation(cc, pos.x, pos.y, pos.z);
        DM.scaledAdd(node.getWeightFunction().evalDerivative(pnt, derivatives), cc);
    }
}

Example 30 with MatrixNd

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

the class MLSShapeFunction method evalDerivative.

protected double evalDerivative(MFreeNode3d node, MFreeNode3d[] nodes, Point3d in, VectorNd pXi, double wx, int[] derivatives, MatrixNd MInv) {
    int dx = derivatives[0];
    int dy = derivatives[1];
    int dz = derivatives[2];
    double out = 0;
    VectorNd pTmp = new VectorNd(nBasis);
    MFreeWeightFunction fun = node.getWeightFunction();
    VectorNd p = new VectorNd(nBasis);
    computeP(p, in.x, in.y, in.z);
    if (dx + dy + dz == 1) {
        MatrixNd DMInv = new MatrixNd(nBasis, nBasis);
        VectorNd pk = new VectorNd(nBasis);
        double wk;
        if (dz == 1) {
            computeDMInv(DMInv, 2, MInv, in, nodes);
            computeDP(pk, in.x, in.y, in.z, 0, 0, 1);
            wk = fun.evalDerivative(in.x, in.y, in.z, 0, 0, 1);
        } else if (dy == 1) {
            computeDMInv(DMInv, 1, MInv, in, nodes);
            computeDP(pk, in.x, in.y, in.z, 0, 1, 0);
            wk = fun.evalDerivative(in.x, in.y, in.z, 0, 1, 0);
        } else {
            computeDMInv(DMInv, 0, MInv, in, nodes);
            computeDP(pk, in.x, in.y, in.z, 1, 0, 0);
            wk = fun.evalDerivative(in.x, in.y, in.z, 1, 0, 0);
        }
        pTmp.mulTranspose(MInv, pk);
        out = wx * pTmp.dot(pXi);
        pTmp.mulTranspose(DMInv, p);
        out += wx * pTmp.dot(pXi);
        pTmp.mulTranspose(MInv, p);
        out += wk * pTmp.dot(pXi);
        return out;
    } else if (dx + dy + dz == 2) {
        MatrixNd MklInv = new MatrixNd(nBasis, nBasis);
        MatrixNd MkInv = new MatrixNd(nBasis, nBasis);
        MatrixNd MlInv;
        VectorNd pkl = new VectorNd(nBasis);
        VectorNd pk = new VectorNd(nBasis);
        VectorNd pl;
        double wkl;
        double wk;
        double wl;
        if (dx == 1 && dy == 1) {
            computeDDMInv(MklInv, 0, 1, MInv, in, nodes);
            computeDMInv(MkInv, 0, MInv, in, nodes);
            MlInv = new MatrixNd(nBasis, nBasis);
            computeDM(MlInv, 1, in, nodes);
            computeDP(pkl, in.x, in.y, in.z, 1, 1, 0);
            computeDP(pk, in.x, in.y, in.z, 1, 0, 0);
            pl = new VectorNd(nBasis);
            computeDP(pl, in.x, in.y, in.z, 0, 1, 0);
            wkl = fun.evalDerivative(in.x, in.y, in.z, 1, 1, 0);
            wk = fun.evalDerivative(in.x, in.y, in.z, 1, 0, 0);
            wl = fun.evalDerivative(in.x, in.y, in.z, 0, 1, 0);
        } else if (dx == 1 && dz == 1) {
            computeDDMInv(MklInv, 0, 2, MInv, in, nodes);
            computeDMInv(MkInv, 0, MInv, in, nodes);
            MlInv = new MatrixNd(nBasis, nBasis);
            computeDM(MlInv, 2, in, nodes);
            computeDP(pkl, in.x, in.y, in.z, 1, 0, 1);
            computeDP(pk, in.x, in.y, in.z, 1, 0, 0);
            pl = new VectorNd(nBasis);
            computeDP(pl, in.x, in.y, in.z, 0, 0, 1);
            wkl = fun.evalDerivative(in.x, in.y, in.z, 1, 0, 1);
            wk = fun.evalDerivative(in.x, in.y, in.z, 1, 0, 0);
            wl = fun.evalDerivative(in.x, in.y, in.z, 0, 0, 1);
        } else if (dy == 1 && dz == 1) {
            computeDDMInv(MklInv, 1, 2, MInv, in, nodes);
            computeDMInv(MkInv, 1, MInv, in, nodes);
            MlInv = new MatrixNd(nBasis, nBasis);
            computeDM(MlInv, 2, in, nodes);
            computeDP(pkl, in.x, in.y, in.z, 0, 1, 1);
            computeDP(pk, in.x, in.y, in.z, 0, 1, 0);
            pl = new VectorNd(nBasis);
            computeDP(pl, in.x, in.y, in.z, 0, 0, 1);
            wkl = fun.evalDerivative(in.x, in.y, in.z, 0, 1, 1);
            wk = fun.evalDerivative(in.x, in.y, in.z, 0, 1, 0);
            wl = fun.evalDerivative(in.x, in.y, in.z, 0, 0, 1);
        } else if (dx == 2) {
            computeDDMInv(MklInv, 0, 0, MInv, in, nodes);
            computeDMInv(MkInv, 0, MInv, in, nodes);
            MlInv = MkInv;
            computeDP(pkl, in.x, in.y, in.z, 2, 0, 0);
            computeDP(pk, in.x, in.y, in.z, 1, 0, 0);
            pl = pk;
            wkl = fun.evalDerivative(in.x, in.y, in.z, 2, 0, 0);
            wk = fun.evalDerivative(in.x, in.y, in.z, 1, 0, 0);
            wl = wk;
        } else if (dy == 2) {
            computeDDMInv(MklInv, 1, 1, MInv, in, nodes);
            computeDMInv(MkInv, 1, MInv, in, nodes);
            MlInv = MkInv;
            computeDP(pkl, in.x, in.y, in.z, 0, 2, 0);
            computeDP(pk, in.x, in.y, in.z, 0, 1, 0);
            pl = pk;
            wkl = fun.evalDerivative(in.x, in.y, in.z, 0, 2, 0);
            wk = fun.evalDerivative(in.x, in.y, in.z, 0, 1, 0);
            wl = wk;
        } else {
            computeDDMInv(MklInv, 2, 2, MInv, in, nodes);
            computeDMInv(MkInv, 2, MInv, in, nodes);
            MlInv = MkInv;
            computeDP(pkl, in.x, in.y, in.z, 0, 0, 2);
            computeDP(pk, in.x, in.y, in.z, 0, 0, 1);
            pl = pk;
            wkl = fun.evalDerivative(in.x, in.y, in.z, 0, 0, 2);
            wk = fun.evalDerivative(in.x, in.y, in.z, 0, 0, 1);
            wl = wk;
        }
        pTmp.mulTranspose(MInv, pkl);
        out = wx * pTmp.dot(pXi);
        pTmp.mulTranspose(MlInv, pk);
        out += wx * pTmp.dot(pXi);
        pTmp.mulTranspose(MInv, pk);
        out += wl * pTmp.dot(pXi);
        pTmp.mulTranspose(MkInv, pl);
        out += wx * pTmp.dot(pXi);
        pTmp.mulTranspose(MklInv, p);
        out += wx * pTmp.dot(pXi);
        pTmp.mulTranspose(MkInv, p);
        out += wl * pTmp.dot(pXi);
        pTmp.mulTranspose(MInv, pl);
        out += wk * pTmp.dot(pXi);
        pTmp.mulTranspose(MlInv, p);
        out += wk * pTmp.dot(pXi);
        pTmp.mulTranspose(MInv, p);
        out += wkl * pTmp.dot(pXi);
        return out;
    }
    throw new IllegalArgumentException("Derivatives only defined up to second-order");
}