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

Example 6 with Point3d

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

the class MeshCollider method createContactPlanes.

/**
 * From a complete set of intersections, get all of the regions so that each
 * region is defined by a set of continuous intersections.
 *
 * @param regions (output) the complete set of intersection regions.
 * @param intersections
 * The complete set of intersections.
 * @param regionTol tolerance
 */
static void createContactPlanes(ArrayList<ContactPlane> regions, ArrayList<TriTriIntersection> intersections, double regionTol) {
    if (intersections.size() == 0) {
        // no intersections, so no planes to compute
        return;
    }
    AccelerationGrid<TriTriIntersection> accgrid = new AccelerationGrid<TriTriIntersection>();
    Point3d min = new Point3d(intersections.get(0).points[0]), max = new Point3d(intersections.get(0).points[0]);
    for (TriTriIntersection isect : intersections) for (Point3d p : isect.points) {
        min.min(p);
        max.max(p);
    }
    double dist = Math.max(min.distance(max), EPS);
    min.x -= dist * 0.1;
    min.y -= dist * 0.1;
    min.z -= dist * 0.1;
    max.x += dist * 0.1;
    max.y += dist * 0.1;
    max.z += dist * 0.1;
    accgrid.set(min, max, intersections.size() * 2);
    for (TriTriIntersection isect : intersections) for (Point3d p : isect.points) accgrid.add_element(isect, p, p);
    for (TriTriIntersection isect : intersections) {
        ContactPlane region = new ContactPlane();
        if (accgrid.elementidxs.get(isect) != null) {
            traverseRegion(accgrid, region, isect, regionTol);
            regions.add(region);
        }
    }
// System.out.println("region time " + (System.currentTimeMillis() - t0));
}

Example 7 with Point3d

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

the class MeshCollider method getContactPlaneInfo.

/**
 * Get information about a specific region of intersections.
 */
static void getContactPlaneInfo(ContactPlane region, PolygonalMesh mesh0, PolygonalMesh mesh1, double pointTol) {
    Vector3d sectnormal = new Vector3d(), tmpnormal = new Vector3d();
    BVFeatureQuery query = new BVFeatureQuery();
    RigidTransform3d trans0 = mesh0.getMeshToWorld();
    RigidTransform3d trans1 = mesh1.getMeshToWorld();
    // calculate a weighted average of the face normals
    for (TriTriIntersection isect : region.intersections) {
        region.points = new ArrayList<Point3d>();
        region.points.add(isect.points[0]);
        region.points.add(isect.points[1]);
        double length = isect.points[0].distance(isect.points[1]);
        tmpnormal.transform(trans0, isect.face0.getNormal());
        tmpnormal.negate();
        sectnormal.scaledAdd(length, tmpnormal, sectnormal);
        tmpnormal.transform(trans1, isect.face1.getNormal());
        sectnormal.scaledAdd(length, tmpnormal, sectnormal);
    }
    // calculate the weighted intersection center
    Point3d center = new Point3d();
    double weight = 0;
    for (TriTriIntersection isect : region.intersections) {
        double length = isect.points[0].distance(isect.points[1]);
        center.scaledAdd(length, isect.points[0], center);
        center.scaledAdd(length, isect.points[1], center);
        weight += 2 * length;
    }
    center.scale(1.0 / weight);
    region.centroid = center;
    // calculate the weighted normal
    Vector3d cp0 = new Vector3d(), cp1 = new Vector3d();
    region.normal.setZero();
    for (TriTriIntersection isect : region.intersections) {
        cp0.sub(isect.points[0], center);
        cp1.sub(isect.points[1], center);
        tmpnormal.cross(cp0, cp1);
        if (tmpnormal.dot(sectnormal) < 0)
            tmpnormal.negate();
        region.normal.add(tmpnormal);
    }
    if (region.normal.dot(sectnormal) < 0)
        region.normal.negate();
    // handle degenerate cases
    if (region.normal.containsNaN() || region.normal.norm() < EPS) {
        region.normal.setZero();
        Point3d p0 = new Point3d();
        Point3d p1 = new Point3d();
        Vector3d c0 = new Vector3d();
        Vector3d c1 = new Vector3d();
        for (TriTriIntersection isect : region.intersections) {
            for (Point3d p : isect.points) {
                p0.inverseTransform(trans0, p);
                p1.inverseTransform(trans1, p);
                Vertex3d u0 = isect.face0.getVertex(0);
                Vertex3d u1 = isect.face0.getVertex(1);
                Vertex3d u2 = isect.face0.getVertex(2);
                Vertex3d v0 = isect.face1.getVertex(0);
                Vertex3d v1 = isect.face1.getVertex(1);
                Vertex3d v2 = isect.face1.getVertex(2);
                getCoordinates(c0, u0.pnt, u1.pnt, u2.pnt, p0);
                getCoordinates(c1, v0.pnt, v1.pnt, v2.pnt, p1);
                int[] type0 = classifyPoint(c0);
                int[] type1 = classifyPoint(c1);
                if (type0[0] == 2) {
                    if (type1[0] == 2) {
                        // vertex,vertex
                        region.normal.add(vertexVertexNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else if (type1[0] == 1) {
                        // vertex,edge
                        region.normal.add(vertexEdgeNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else {
                        // vertex,face
                        region.normal.add(vertexFaceNormal(trans0, trans1, isect.face0, isect.face1, type0[1]));
                    }
                } else if (type0[0] == 1) {
                    if (type1[0] == 2) {
                        // edge,vertex
                        region.normal.sub(vertexEdgeNormal(trans1, trans0, isect.face1, isect.face0, type1[1], type0[1]));
                    } else if (type1[0] == 1) {
                        // edge,edge
                        region.normal.add(edgeEdgeNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else {
                        // edge,face
                        region.normal.add(edgeFaceNormal(trans0, trans1, isect.face0, isect.face1, type0[1]));
                    }
                } else {
                    if (type1[0] == 2) {
                        // face,vertex
                        region.normal.sub(vertexFaceNormal(trans1, trans0, isect.face1, isect.face0, type1[1]));
                    } else if (type1[0] == 1) {
                        // face,edge
                        region.normal.sub(edgeFaceNormal(trans1, trans0, isect.face1, isect.face0, type1[1]));
                    } else {
                        // face,face
                        region.normal.add(faceFaceNormal(trans0, trans1, isect.face0, isect.face1));
                    }
                }
            }
        }
    }
    region.normal.normalize();
    // calculate the contact depth for the region
    boolean foundPenetratingVertice = false;
    Point3d p = new Point3d();
    Point3d nearest = new Point3d();
    Vector3d diff = new Vector3d();
    Vector2d coords = new Vector2d();
    Vertex3d v;
    Face nf;
    Point3d plocal = new Point3d();
    LinkedHashSet<Vertex3d> regionvertices0 = new LinkedHashSet<Vertex3d>();
    LinkedHashSet<Vertex3d> regionvertices1 = new LinkedHashSet<Vertex3d>();
    region.depth = 0;
    for (TriTriIntersection isect : region.intersections) {
        for (int i = 0; i < 3; i++) {
            // face0 vertex depths
            v = isect.face0.getVertex(i);
            p.transform(trans0, v.pnt);
            plocal.inverseTransform(trans1, p);
            plocal.sub(isect.face1.getVertex(0).pnt);
            if (plocal.dot(isect.face1.getNormal()) <= 0) {
                regionvertices0.add(v);
            }
            // face1 vertex depths
            v = isect.face1.getVertex(i);
            p.transform(trans1, v.pnt);
            plocal.inverseTransform(trans0, p);
            plocal.sub(isect.face0.getVertex(0).pnt);
            if (plocal.dot(isect.face0.getNormal()) <= 0) {
                regionvertices1.add(v);
            }
        }
    }
    for (Vertex3d v0 : regionvertices0) {
        p.transform(trans0, v0.pnt);
        // XXX Sanchez, Jun 22, 2014
        // Changed to isInside.  Sometimes a vertex is outside
        // the mesh but determined to be "penetrating" due to
        // normal (e.g. when nearest to an edge)
        // nf = myQuery.nearestFaceToPoint (nearest, coords, mesh1, p);
        boolean inside = query.isInsideOrientedMesh(mesh1, p, 0);
        if (inside) {
            query.getFaceForInsideOrientedTest(nearest, coords);
            nearest.transform(trans1);
            diff.sub(p, nearest);
            diff.inverseTransform(trans1);
            foundPenetratingVertice = true;
            // -diff.dot (nf.getNormal());
            double dist = diff.norm();
            if (dist > region.depth)
                region.depth = dist;
        }
    }
    for (Vertex3d v1 : regionvertices1) {
        p.transform(trans1, v1.pnt);
        // nf = myQuery.nearestFaceToPoint (nearest, coords, mesh0, p);
        boolean inside = query.isInsideOrientedMesh(mesh0, p, 0);
        if (inside) {
            query.getFaceForInsideOrientedTest(nearest, coords);
            nearest.transform(trans0);
            diff.sub(p, nearest);
            diff.inverseTransform(trans0);
            foundPenetratingVertice = true;
            // -diff.dot (nf.getNormal());
            double dist = diff.norm();
            if (dist > region.depth)
                region.depth = dist;
        }
    }
    if (!foundPenetratingVertice) {
        double min = Double.POSITIVE_INFINITY, max = Double.NEGATIVE_INFINITY;
        for (int i = 0; i < region.points.size(); i++) {
            double d = region.points.get(i).dot(region.normal);
            if (d < min)
                min = d;
            if (d > max)
                max = d;
        }
        region.depth = max - min;
    }
    // eliminate redundant points
    // use point tolerance
    region.points.clear();
    for (TriTriIntersection isect : region.intersections) {
        for (Point3d pcandidate : isect.points) {
            boolean add = true;
            for (Point3d other : region.points) if (pcandidate.epsilonEquals(other, pointTol)) {
                add = false;
                break;
            }
            if (add) {
                region.points.add(pcandidate);
            }
        }
    }
    // take extrema along n axes
    if (numextremaaxes > 0) {
        // final ArrayList<Vector3d> axes = new ArrayList<Vector3d>();
        Vector3d crosszup = new Vector3d(0, 0, 1);
        crosszup.cross(region.normal, crosszup);
        double crosszupnorm = crosszup.norm();
        RigidTransform3d normtoworld;
        if (crosszup.norm() > EPS) {
            normtoworld = new RigidTransform3d(new Vector3d(), new AxisAngle(crosszup, Math.asin(crosszupnorm)));
        } else {
            normtoworld = new RigidTransform3d();
        }
        boolean[] keep = new boolean[region.points.size()];
        for (int j = 0; j < region.points.size(); j++) keep[j] = false;
        Vector3d offset = new Vector3d();
        Vector3d axis = new Vector3d();
        for (int i = 0; i < numextremaaxes; i++) {
            double min = Double.POSITIVE_INFINITY, max = Double.NEGATIVE_INFINITY;
            int mini = 0, maxi = 0;
            double angle = Math.PI * i / numextremaaxes;
            axis.set(Math.cos(angle), Math.sin(angle), 0);
            axis.transform(normtoworld);
            for (int j = 0; j < region.points.size(); j++) {
                offset.sub(region.points.get(j), center);
                double dot = offset.dot(axis);
                if (dot < min) {
                    min = dot;
                    mini = j;
                }
                if (dot > max) {
                    max = dot;
                    maxi = j;
                }
            }
            keep[mini] = true;
            keep[maxi] = true;
        }
        for (int j = (region.points.size() - 1); j >= 0; j--) {
            if (!keep[j])
                region.points.remove(j);
        }
    }
}

Example 8 with Point3d

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

the class WavefrontToMaya method stringifyPolyline.

private static String stringifyPolyline(int[] vtxIndices, ArrayList<Point3d> vtxList, String name, NumberFormat fmt) {
    if (fmt == null) {
        fmt = new NumberFormat();
    }
    String lineStr = "";
    String transname = name + "trans";
    lineStr += "createNode transform -n \"" + transname + "\";\n";
    lineStr += "createNode nurbsCurve -n \"" + name + "\";\n";
    lineStr += "\tsetAttr -k off \".v\";\n";
    lineStr += "\tsetAttr \".cc\" -type \"nurbsCurve\"\n";
    int nverts = vtxIndices.length;
    lineStr += "\t\t1 " + (nverts - 1) + " 0 no 3\n";
    lineStr += "\t\t" + nverts;
    for (int i = 0; i < nverts; i++) {
        lineStr += " " + i;
    }
    lineStr += "\n\t\t" + nverts + "\n";
    // vertex locations
    for (int i = 0; i < nverts; i++) {
        Point3d pos = vtxList.get(vtxIndices[i]);
        lineStr += "\t\t" + fmt.format(pos.x) + " " + fmt.format(pos.y) + " " + fmt.format(pos.z) + "\n";
    }
    lineStr += "\t\t;\n";
    return lineStr;
}

Example 9 with Point3d

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

the class AhoIntersectionContour method getArea.

/**
 * Return the area of this (approximately planar) contour.
 *
 * @return area
 */
public double getArea() {
    /* Compute the centroid of all the points. */
    int pSize = size();
    if (pSize < 3)
        return (0);
    Point3d centroid = new Point3d();
    int N = size();
    if (!isOpen()) {
        N--;
    }
    for (int i = 0; i < N; i++) {
        centroid.add(get(i));
    }
    centroid.scale(1.0d / N);
    Vector3d cp = new Vector3d();
    Vector3d normalSum = new Vector3d();
    Vector3d rLast = new Vector3d();
    rLast.sub(get(pSize - 1), centroid);
    Vector3d r = new Vector3d();
    for (int i = 0; i < pSize; i++) {
        r.sub(get(i), centroid);
        cp.cross(r, rLast);
        normalSum.add(cp);
        Vector3d rTemp = rLast;
        rLast = r;
        r = rTemp;
    }
    return normalSum.norm() * 0.5;
}

Example 10 with Point3d

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

the class EdgeEdgeContact method isPointInsideFace.

/*
    * return true if the specified point is "opposite" and inside the face,
    * which means close to being inside a volume swept by translating the face
    * along its normal.
    */
boolean isPointInsideFace(SurfaceMeshCollider collider, Point3d p, Face f) {
    Point3d nearest = new Point3d();
    collider.getNearestPoint(nearest, f, p);
    nearest.sub(p);
    if (nearest.dot(nearest) == 0) {
        return true;
    }
    double x = nearest.angle(f.getWorldNormal());
    return x < insideLim;
}