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

Example 76 with Point3d

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

the class PolygonalMesh method extendOpenEdges.

/**
 * Extends the first open edge loop found.
 *
 * @param amount
 * The amount to extend it by.
 */
public void extendOpenEdges(double amount) {
    // Vertex3d v0;
    HalfEdge he0 = null;
    boolean found = false;
    for (Object fo : myFaces) {
        Face f = (Face) fo;
        he0 = f.he0;
        do {
            if (isOpen(he0)) {
                found = true;
                break;
            }
            he0 = he0.next;
        } while (he0 != f.he0);
        if (found)
            break;
    }
    Vector3d i = new Vector3d(), j = new Vector3d();
    HalfEdge he = he0;
    ArrayList<Vertex3d> iverts = new ArrayList<Vertex3d>(), overts = new ArrayList<Vertex3d>();
    do {
        HalfEdgeNode hen = he.tail.getIncidentHedges();
        while (hen != null) {
            if (isOpen(hen.he)) {
                break;
            }
            hen = hen.next;
        }
        he.computeUnitVec(i);
        hen.he.computeUnitVec(j);
        double angleFactor = 1.0 - i.angle(j) / Math.PI;
        i.add(j);
        i.cross(he.face.getNormal());
        i.normalize();
        Point3d p = new Point3d();
        p.scaledAdd(amount * angleFactor, i, he.tail.pnt);
        iverts.add(he.tail);
        overts.add(addVertex(p));
        he = hen.he;
    } while (he != he0);
    Vertex3d lastiv = iverts.get(iverts.size() - 1), lastov = overts.get(overts.size() - 1);
    for (int v = 0; v < iverts.size(); v++) {
        Vertex3d iv = iverts.get(v), ov = overts.get(v);
        addFace(new int[] { lastiv.idx, iv.idx, ov.idx });
        addFace(new int[] { ov.idx, lastov.idx, lastiv.idx });
        lastiv = iv;
        lastov = ov;
    }
}

Example 77 with Point3d

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

the class PolygonalMesh method computePrincipalAxes.

public static RigidTransform3d computePrincipalAxes(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));
}

Example 78 with Point3d

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

the class NURBSObject method drawControlPoints.

protected void drawControlPoints(Renderer renderer, RenderProps props, int flags) {
    Point3d tmp = new Point3d();
    boolean selecting = renderer.isSelecting();
    for (int i = 0; i < myCtrlPnts.size(); i++) {
        if (selecting) {
            renderer.beginSelectionQuery(i);
            drawControlPoint(renderer, props, i, tmp);
            renderer.endSelectionQuery();
        } else {
            drawControlPoint(renderer, props, i, tmp);
        }
    }
    renderer.setPointSize(1);
}

Example 79 with Point3d

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

the class OBB method computeBoundsFromConvexHullPoints.

// protected void setUsingConvexHullOfPoints (
// double[] pnts, int npnts, double margin) {
// 
// Matrix3d C = new Matrix3d();
// Point3d cent = new Point3d();
// 
// quickhull3d.Point3d[] hullPnts =
// computeConvexHullAndCovariance (C, cent, pnts, npnts);
// 
// setTransform (C, cent);
// Point3d max = new Point3d (-INF, -INF, -INF);
// Point3d min = new Point3d (INF, INF, INF);
// computeBoundsFromConvexHullPoints (min, max, hullPnts, hullPnts.length);
// setWidthsAndCenter (min, max, margin);
// }
// 
private void computeBoundsFromConvexHullPoints(Point3d min, Point3d max, quickhull3d.Point3d[] pnts, int num) {
    Vector3d xpnt = new Point3d();
    for (int i = 0; i < num; i++) {
        xpnt.set(pnts[i].x, pnts[i].y, pnts[i].z);
        xpnt.inverseTransform(myX);
        xpnt.updateBounds(min, max);
    }
}

Example 80 with Point3d

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

the class OBB method set.

public void set(Boundable[] elems, int num, double margin, Method method) {
    Matrix3d C = new Matrix3d();
    Point3d cent = new Point3d();
    Point3d max = new Point3d(-INF, -INF, -INF);
    Point3d min = new Point3d(INF, INF, INF);
    switch(method) {
        case ConvexHull:
            {
                HashedPointSet pointSet = createPointSetForOBB(elems, num);
                quickhull3d.Point3d[] hullPnts = computeConvexHullAndCovariance(C, cent, pointSet.getPointsAsDoubleArray(), pointSet.size());
                setTransform(C, cent);
                computeBoundsFromConvexHullPoints(min, max, hullPnts, hullPnts.length);
                break;
            }
        case Covariance:
            {
                computeCovarianceFromElements(C, cent, elems, num);
                setTransform(C, cent);
                computeBoundsFromElements(min, max, elems, num);
                break;
            }
        case Points:
            {
                HashedPointSet pointSet = createPointSetForOBB(elems, num);
                Point3d[] pnts = pointSet.getPoints();
                computeCovarianceFromPoints(C, cent, pnts);
                setTransform(C, cent);
                computeBoundsFromPoints(min, max, pnts);
                break;
            }
        default:
            throw new InternalErrorException("Unimplemented method " + method);
    }
    setWidthsAndCenter(min, max, margin);
}