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

Example 46 with Point3d

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

the class BVFeatureQueryTest method nearestFaceTiming.

private void nearestFaceTiming(PolygonalMesh mesh) {
    RigidTransform3d X = new RigidTransform3d();
    OBBTree obbTree = new OBBTree(mesh, 2);
    AABBTree aabbTree = new AABBTree(mesh);
    Point3d center = new Point3d();
    double diameter = 2 * aabbTree.getRadius();
    aabbTree.getCenter(center);
    X.setRandom();
    BVFeatureQuery query = new BVFeatureQuery();
    mesh.setMeshToWorld(X);
    obbTree.setBvhToWorld(X);
    aabbTree.setBvhToWorld(X);
    int numcases = 100;
    int timingcnt = 1000;
    Point3d pnt = new Point3d();
    Vector3d dir = new Vector3d();
    Point3d near = new Point3d();
    Vector2d coords = new Vector2d();
    Vector3d duv = new Vector3d();
    FunctionTimer obbFaceTimer = new FunctionTimer();
    FunctionTimer aabbFaceTimer = new FunctionTimer();
    // FunctionTimer oldFaceTimer = new FunctionTimer();
    FunctionTimer obbRayTimer = new FunctionTimer();
    FunctionTimer aabbRayTimer = new FunctionTimer();
    // FunctionTimer oldRayTimer = new FunctionTimer();
    TriangleIntersector ti = new TriangleIntersector();
    for (int i = 0; i < numcases; i++) {
        pnt.setRandom();
        pnt.scale(2 * diameter);
        pnt.add(center);
        pnt.transform(X, pnt);
        dir.setRandom();
        dir.normalize();
        obbFaceTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceToPoint(near, coords, obbTree, pnt);
        }
        obbFaceTimer.stop();
        aabbFaceTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceToPoint(near, coords, aabbTree, pnt);
        }
        aabbFaceTimer.stop();
        // oldFaceTimer.restart();
        // for (int j=0; j<timingcnt; j++) {
        // obbTree.nearestFace (pnt, null, near, coords, ti);
        // }
        // oldFaceTimer.stop();
        obbRayTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceAlongRay(near, duv, obbTree, center, dir);
        }
        obbRayTimer.stop();
        aabbRayTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceAlongRay(near, duv, aabbTree, center, dir);
        }
        aabbRayTimer.stop();
    // oldRayTimer.restart();
    // for (int j=0; j<timingcnt; j++) {
    // obbTree.intersect (center, dir, duv, ti);
    // }
    // oldRayTimer.stop();
    }
    int cnt = numcases * timingcnt;
    System.out.println("nearestFace with OBB: " + obbFaceTimer.result(cnt));
    System.out.println("nearestFace with AABB: " + aabbFaceTimer.result(cnt));
    // System.out.println (
    // "nearestFace with old OBB: " + oldFaceTimer.result(cnt));
    System.out.println("nearestRay with OBB: " + obbRayTimer.result(cnt));
    System.out.println("nearestRay with AABB: " + aabbRayTimer.result(cnt));
// System.out.println (
// "nearestRay with old OBB: " + oldRayTimer.result(cnt));
}

Example 47 with Point3d

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

the class BVFeatureQueryTest method getNearestVerticesToPoint.

private ArrayList<Vertex3d> getNearestVerticesToPoint(MeshBase mesh, Point3d pnt) {
    Point3d loc = new Point3d();
    loc.inverseTransform(mesh.getMeshToWorld(), pnt);
    ArrayList<Vertex3d> verts = mesh.getVertices();
    double mind = Double.POSITIVE_INFINITY;
    for (int i = 0; i < verts.size(); i++) {
        double d = verts.get(i).pnt.distance(loc);
        if (d < mind) {
            mind = d;
        }
    }
    ArrayList<Vertex3d> nearestVerts = new ArrayList<Vertex3d>();
    for (int i = 0; i < verts.size(); i++) {
        double d = verts.get(i).pnt.distance(loc);
        if (d == mind) {
            nearestVerts.add(verts.get(i));
        }
    }
    return nearestVerts;
}

Example 48 with Point3d

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

the class BVFeatureQueryTest method pointInsideTest.

private void pointInsideTest(PolygonalMesh mesh, BVTree bvh, RigidTransform3d X, double radius, Point3d center) {
    int numtrials = 10000;
    Point3d pnt = new Point3d();
    double tol = EPS * (center.norm() + radius);
    TriangleIntersector intersector = new TriangleIntersector();
    BVFeatureQuery query = new BVFeatureQuery();
    mesh.setMeshToWorld(X);
    bvh.setBvhToWorld(X);
    tol = 0;
    int numInside = 0;
    for (int i = 0; i < numtrials; i++) {
        pnt.setRandom();
        pnt.scale(2 * radius);
        pnt.add(center);
        pnt.transform(X, pnt);
        if (pointInsideCheck(pnt, tol, mesh, bvh, query, intersector)) {
            numInside++;
        }
    }
    double avgEdgeLength = mesh.computeAverageEdgeLength();
    int numv = mesh.numVertices();
    for (int i = 0; i < numtrials / numv; i++) {
        for (int j = 0; j < numv; j++) {
            pnt.setRandom();
            pnt.scale(avgEdgeLength / 10);
            pnt.add(mesh.getVertex(j).pnt);
            pnt.transform(X, pnt);
            if (pointInsideCheck(pnt, tol, mesh, bvh, query, intersector)) {
                numInside++;
            }
        }
    }
    if (printInsideOutsideCounts) {
        System.out.println("numInside=" + numInside);
        System.out.println("numOutside=" + (numtrials - numInside));
        System.out.println("cases: V=" + query.numVertexCases + " E=" + query.numEdgeCases + " F=" + query.numFaceCases);
    }
}

Example 49 with Point3d

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

the class BVFeatureQueryTest method getNearestFacesToRay.

private ArrayList<NearestFaceInfo> getNearestFacesToRay(PolygonalMesh mesh, Point3d pnt, Vector3d dir, double tol) {
    Point3d lpnt = new Point3d();
    Vector3d ldir = new Vector3d();
    lpnt.inverseTransform(mesh.getMeshToWorld(), pnt);
    ldir.inverseTransform(mesh.getMeshToWorld(), dir);
    ArrayList<Face> faces = mesh.getFaces();
    NearestFaceInfo[] faceInfo = new NearestFaceInfo[faces.size()];
    TriangleIntersector intersector = new TriangleIntersector();
    double mind = Double.POSITIVE_INFINITY;
    for (int i = 0; i < faces.size(); i++) {
        NearestFaceInfo ninfo = new NearestFaceInfo();
        faceInfo[i] = ninfo;
        double d = ninfo.computeDistanceToRay(faces.get(i), lpnt, ldir, intersector);
        ninfo.myNear.transform(mesh.getMeshToWorld());
        if (d >= 0 && d < Double.POSITIVE_INFINITY) {
            if (d < mind) {
                mind = d;
            }
        }
    }
    ArrayList<NearestFaceInfo> nearestFaces = new ArrayList<NearestFaceInfo>();
    if (mind < Double.POSITIVE_INFINITY) {
        for (int i = 0; i < faces.size(); i++) {
            double d = faceInfo[i].myDist;
            if (d >= 0 && d < Double.POSITIVE_INFINITY) {
                if (Math.abs(d - mind) < tol) {
                    nearestFaces.add(faceInfo[i]);
                }
            }
        }
    }
    return nearestFaces;
}

Example 50 with Point3d

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

the class BVFeatureQueryTest method getNearestFacesToPoint.

private ArrayList<NearestFaceInfo> getNearestFacesToPoint(PolygonalMesh mesh, Point3d pnt, double tol) {
    Point3d loc = new Point3d();
    loc.inverseTransform(mesh.getMeshToWorld(), pnt);
    ArrayList<Face> faces = mesh.getFaces();
    NearestFaceInfo[] faceInfo = new NearestFaceInfo[faces.size()];
    TriangleIntersector intersector = new TriangleIntersector();
    double mind = Double.POSITIVE_INFINITY;
    for (int i = 0; i < faces.size(); i++) {
        NearestFaceInfo ninfo = new NearestFaceInfo();
        faceInfo[i] = ninfo;
        double d = ninfo.computeDistanceToPoint(faces.get(i), loc, intersector);
        ninfo.myNear.transform(mesh.getMeshToWorld());
        if (d < mind) {
            mind = d;
        }
    }
    ArrayList<NearestFaceInfo> nearestFaces = new ArrayList<NearestFaceInfo>();
    for (int i = 0; i < faces.size(); i++) {
        if (Math.abs(faceInfo[i].myDist - mind) < tol) {
            nearestFaces.add(faceInfo[i]);
        }
    }
    return nearestFaces;
}