Examples with Point3d maspack.matrix.Point3d used on opensource projects

Example 1 with Point3d

use of maspack.matrix.Point3d in project artisynth_core by artisynth.

the class MeshCollisionViewer method render.

public void render(Renderer renderer, int flags) {
    ContactInfo cinfo = myContactInfo;
    if (contourWidth > 0 && cinfo != null) {
        renderer.setShading(Shading.NONE);
        renderer.setLineWidth(contourWidth);
        renderer.setPointSize(contourWidth);
        renderer.setColor(contourColor, /*highlight=*/
        false);
        if (cinfo.getContours() != null) {
            for (IntersectionContour contour : cinfo.getContours()) {
                renderer.beginDraw(DrawMode.LINE_LOOP);
                for (IntersectionPoint p : contour) {
                    renderer.addVertex(p);
                }
                renderer.endDraw();
            }
        }
        Point3d pnt = new Point3d();
        renderer.beginDraw(DrawMode.POINTS);
        for (PenetratingPoint p : cinfo.getPenetratingPoints(0)) {
            pnt.set(p.vertex.pnt);
            pnt.transform(myMesh1.getMeshToWorld());
            renderer.addVertex(pnt);
        }
        for (PenetratingPoint p : cinfo.getPenetratingPoints(1)) {
            pnt.set(p.vertex.pnt);
            pnt.transform(myMesh2.getMeshToWorld());
            renderer.addVertex(pnt);
        }
        renderer.endDraw();
        renderer.setShading(Shading.FLAT);
        renderer.setLineWidth(1);
        renderer.setPointSize(1);
    }
}

Example 2 with Point3d

use of maspack.matrix.Point3d in project artisynth_core by artisynth.

the class MeshThicken method applyThickening.

public void applyThickening(Region region, MeshBase mesh, double thickening) {
    double margin = region.myMargin;
    Point3d pnt = new Point3d();
    Vector3d nrm = new Vector3d();
    Vector2d p2d = new Vector2d();
    ArrayList<Vertex3d> verts = myMesh.getVertices();
    ArrayList<Vector3d> nrmls = mesh.getNormals();
    if (nrmls == null) {
        System.out.println("Mesh does not have normals; thickening ignored");
    }
    int cnt = 0;
    Vector3d regionNrm = new Vector3d();
    // region normal in mesh coordinates
    region.myFrame.R.getColumn(2, regionNrm);
    for (int i = 0; i < verts.size(); i++) {
        Vertex3d v = verts.get(i);
        pnt.inverseTransform(region.myFrame, v.pnt);
        nrm.inverseTransform(region.myFrame, nrmls.get(i));
        if (pnt.z <= region.myHeight && pnt.z >= -region.myBackHeight) {
            // if (Math.abs(pnt.z) <= region.myHeight) {
            p2d.set(pnt.x, pnt.y);
            double d = region.myDist.computeInteriorDistance(/*near=*/
            null, p2d);
            if (d <= 0) {
                double dz = computeDeltaZ(-d, margin, thickening);
                if (region.myUseNormalZScalingP) {
                    if (adjacentFacesCrossNormal(v, regionNrm)) {
                        dz = 0;
                    } else {
                        dz *= nrm.z;
                    }
                } else {
                    dz = (nrm.z >= 0 ? dz : -dz);
                }
                if (nrm.z >= 0) {
                    pnt.z += dz;
                } else {
                    if (region.getThickenBackSide()) {
                        pnt.z += dz;
                    }
                }
                v.pnt.transform(region.myFrame, pnt);
                cnt++;
            }
        }
    }
    System.out.println("count=" + cnt);
    myMesh.notifyVertexPositionsModified();
    viewer.rerender();
}

Example 3 with Point3d

use of maspack.matrix.Point3d in project artisynth_core by artisynth.

the class IntersectionContour method fitPlane.

/**
 * Fits this contour to a plane by first computing the centroid,
 * and then forming a normal by summing the cross products of
 * adjacent rays between the centroid and the contour points.
 * This sum is returned in the optional argument <code>areaVec</code>.
 *
 * <p>When computing the centroid, points closer to each other
 * than <code>pointTol</code> are ignored. The points that are
 * actually used are collected into a separate list that is
 * returned by this method.
 *
 * @param areaVec if non-null, returns the computed area vector.
 * Normalizing this vector gives the normal for the plane, while
 * the length of this vector gives twice the area of the contour
 * with respect to the plane.
 * @param centroid if non-null, returns the computed centroid.
 * @param pointTol minimum distance between contour points used for
 * computing the plane
 * @return list of contours points with those closer than
 * <code>pointTol</code> removed.
 */
public ArrayList<IntersectionPoint> fitPlane(Vector3d areaVec, Vector3d centroid, double pointTol) {
    ArrayList<IntersectionPoint> points = new ArrayList<IntersectionPoint>(size());
    if (centroid == null) {
        centroid = new Vector3d();
    } else {
        centroid.setZero();
    }
    if (areaVec == null) {
        areaVec = new Vector3d();
    } else {
        areaVec.setZero();
    }
    IntersectionPoint plast = get(0);
    centroid.set(plast);
    points.add(plast);
    boolean closeToFirst = false;
    for (int i = 1; i < size(); i++) {
        IntersectionPoint p = get(i);
        if (isClosed() && i == size() - 1) {
            // in case contour is closed, check closeness to first point too
            closeToFirst = (p.distance(get(0)) < pointTol);
        }
        if (p.distance(plast) >= pointTol && !closeToFirst) {
            centroid.add(p);
            points.add(p);
            plast = p;
        }
    }
    int nump = points.size();
    centroid.scale(1.0 / nump);
    if (nump >= 3) {
        Vector3d ray0 = new Vector3d();
        Vector3d ray1 = new Vector3d();
        ray0.sub(points.get(nump - 1), centroid);
        for (Point3d p : points) {
            ray1.sub(p, centroid);
            areaVec.crossAdd(ray0, ray1, areaVec);
            ray0.set(ray1);
        }
    }
    return points;
}

Example 4 with Point3d

use of maspack.matrix.Point3d in project artisynth_core by artisynth.

the class IntersectionContour method printCornerPoints.

public void printCornerPoints(String name, String fmt, RigidTransform3d T) {
    if (name != null) {
        System.out.println(name);
    }
    double tol = computeLength() * 100 * DOUBLE_PREC;
    ArrayList<? extends Point3d> corners = getCornerPoints(tol);
    Point3d p = new Point3d();
    for (int i = 0; i < corners.size(); i++) {
        p.set(corners.get(i));
        if (T != null) {
            p.transform(T);
        }
        System.out.println(p.toString(fmt));
    }
}

Example 5 with Point3d

use of maspack.matrix.Point3d in project artisynth_core by artisynth.

the class IntersectionContour method computeLength.

/**
 * Computes the length of this contour
 *
 * @return contour length
 */
public double computeLength() {
    double length = 0;
    if (size() >= 2) {
        Point3d pa = get(0);
        for (int i = 1; i < size(); i++) {
            Point3d pb = get(i);
            length += pa.distance(pb);
            pa = pb;
        }
        if (isClosed) {
            length += pa.distance(get(0));
        }
    }
    return length;
}