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

Example 81 with Point3d

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

the class OBB method intersectsLineSegment.

public boolean intersectsLineSegment(Point3d p1, Point3d p2) {
    Vector3d hw = myHalfWidths;
    Point3d p1t = new Point3d(p1);
    Point3d p2t = new Point3d(p2);
    p1t.inverseTransform(myX);
    p2t.inverseTransform(myX);
    // if either point is inside, return true
    if (Math.abs(p1t.x) <= hw.x && Math.abs(p1t.y) <= hw.y && Math.abs(p1t.z) <= hw.z) {
        return true;
    }
    if (Math.abs(p2t.x) <= hw.x && Math.abs(p2t.y) <= hw.y && Math.abs(p2t.z) <= hw.z) {
        return true;
    }
    // otherwise, intersect with edges
    double[] dir = { p2t.x - p1t.x, p2t.y - p1t.y, p2t.z - p1t.z };
    double[] min = { -hw.x, -hw.y, -hw.z };
    double[] max = { hw.x, hw.y, hw.z };
    double[] p1v = { p1t.x, p1t.y, p1t.z };
    double[] p2v = { p2t.x, p2t.y, p2t.z };
    double near = -INF;
    double far = INF;
    double t1, t2, tMin, tMax;
    // check line/plane intersections
    for (int i = 0; i < 3; i++) {
        if (dir[i] == 0) {
            if ((min[i] - p1v[i] > 0) || (max[i] - p1v[i] < 0)) {
                return false;
            }
        } else {
            t1 = (min[i] - p1v[i]) / dir[i];
            t2 = (min[i] - p2v[i]) / dir[i];
            tMin = Math.min(t1, t2);
            tMax = Math.max(t1, t2);
            if (tMin > near) {
                near = tMin;
            }
            if (tMax < far) {
                far = tMax;
            }
            if (near > far)
                return false;
        }
    }
    if ((near >= 0 && near <= 1) || (far >= 0 && far <= 1)) {
        return true;
    }
    return false;
}

Example 82 with Point3d

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

the class OBB method computeCovarianceFromElements.

private void computeCovarianceFromElements(Matrix3d C, Point3d cent, Boundable[] elems, int num) {
    Matrix3d Celem = new Matrix3d();
    Point3d centElem = new Point3d();
    double size = 0;
    for (int i = 0; i < num; i++) {
        Boundable elem = elems[i];
        double s = elem.computeCovariance(Celem);
        if (s < 0) {
            throw new IllegalArgumentException("Cannot create OBB: boundable type " + elem.getClass() + " does not implement computeCovariance()");
        }
        elem.computeCentroid(centElem);
        C.add(Celem);
        size += s;
        cent.scaledAdd(s, centElem);
    }
    cent.scale(1.0 / size);
    C.addScaledOuterProduct(-size, cent, cent);
}

Example 83 with Point3d

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

the class OBB method containsPoint.

public boolean containsPoint(Point3d pnt) {
    Point3d p = new Point3d(pnt);
    p.inverseTransform(myX);
    Vector3d hw = myHalfWidths;
    boolean status = (-hw.x <= p.x && p.x <= hw.x && -hw.y <= p.y && p.y <= hw.y && -hw.z <= p.z && p.z <= hw.z);
    return status;
}

Example 84 with Point3d

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

the class OBB method computeBoundsFromPoints.

private void computeBoundsFromPoints(Point3d min, Point3d max, Point3d[] pnts) {
    Vector3d xpnt = new Point3d();
    for (Point3d pnt : pnts) {
        xpnt.inverseTransform(myX, pnt);
        xpnt.updateBounds(min, max);
    }
}

Example 85 with Point3d

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

the class PointMesh method write.

/**
 * Writes this mesh to a PrintWriter, using an Alias Wavefront "obj" file
 * format. Vertices are printed first, each starting with the letter "v" and
 * followed by x, y, and z coordinates. Normals, if present, are printed
 * next, starting with the letter "vn" and followed by x, y, and z
 * coordinates.
 *
 * <p>
 * The format used to print vertex coordinates is specified by a
 * {@link maspack.util.NumberFormat NumberFormat}.
 *
 * @param pw
 * PrintWriter to write this mesh to
 * @param fmt
 * (optional) format for writing the vertex and normals coordinates. If <code>null</code>,
 * a format of <code>"%.8g"</code> is assumed.
 * @param zeroIndexed
 * if true, index numbering for mesh vertices starts at 0. Otherwise,
 * numbering starts at 1.
 */
public void write(PrintWriter pw, NumberFormat fmt, boolean zeroIndexed) throws IOException {
    if (fmt == null) {
        fmt = new NumberFormat("%.8g");
    }
    for (Vertex3d vertex : myVertices) {
        Point3d pnt = vertex.pnt;
        pw.println("v " + fmt.format(pnt.x) + " " + fmt.format(pnt.y) + " " + fmt.format(pnt.z));
    }
    if (myNormals != null) {
        for (Vector3d nrm : myNormals) {
            pw.println("vn " + fmt.format(nrm.x) + " " + fmt.format(nrm.y) + " " + fmt.format(nrm.z));
        }
    }
    pw.flush();
}