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

Example 11 with Point3d

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

the class MultiSpringTest method addMixedUpSprings.

protected void addMixedUpSprings(MechModel mech) {
    Particle p = new Particle(1, new Point3d(0, 0, 0.1));
    mech.addParticle(p);
    Particle lastp = p;
    for (int i = 0; i < 20; ++i) {
        p = new Particle(1, new Point3d((i + 1) * 0.1, 2 * (i % 2 - 0.5) * 0.1, 0.1));
        mech.addParticle(p);
        AxialSpring ax = new AxialSpring("spring mixed " + i);
        if (i % 2 == 0) {
            ax.setPoints(lastp, p);
        } else {
            ax.setPoints(p, lastp);
        }
        mech.addAxialSpring(ax);
        lastp = p;
    }
}

Example 12 with Point3d

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

the class MultiSpringTest method addSeparatedSprings.

protected void addSeparatedSprings(MechModel mech) {
    for (int i = 0; i < 10; ++i) {
        Particle p1 = new Particle(1, new Point3d((2 * i) * 0.1, 2 * (i % 2 - 0.5) * 0.1, -0.1));
        Particle p2 = new Particle(1, new Point3d((2 * i + 1) * 0.1, -2 * (i % 2 - 0.5) * 0.1, -0.1));
        mech.addParticle(p1);
        mech.addParticle(p2);
        AxialSpring ax = new AxialSpring("spring detached " + i);
        if (i % 2 == 0) {
            ax.setPoints(p1, p2);
        } else {
            ax.setPoints(p2, p1);
        }
        mech.addAxialSpring(ax);
    }
}

Example 13 with Point3d

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

the class MultiSpringTest method addSprings.

protected void addSprings(MechModel mech) {
    Particle p = new Particle(1, new Point3d(0, 0, 0));
    mech.addParticle(p);
    Particle lastp = p;
    for (int i = 0; i < 20; ++i) {
        p = new Particle(1, new Point3d((i + 1) * 0.1, 2 * (i % 2 - 0.5) * 0.1, 0));
        mech.addParticle(p);
        AxialSpring ax = new AxialSpring("spring " + i);
        ax.setPoints(lastp, p);
        mech.addAxialSpring(ax);
        lastp = p;
    }
}

Example 14 with Point3d

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

the class SDGridTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    PolygonalMesh mesh = new PolygonalMesh();
    Vertex3d[] v = new Vertex3d[9 * 2 + 8];
    Face[] f = new Face[8 * 6];
    int idx = 0;
    int fidx = 0;
    double c = 64;
    v[idx++] = mesh.addVertex(-c, -c, -c);
    v[idx++] = mesh.addVertex(-c, -c, 0);
    v[idx++] = mesh.addVertex(-c, -c, c);
    v[idx++] = mesh.addVertex(-c, 0, -c);
    v[idx++] = mesh.addVertex(-c, 0, 0);
    v[idx++] = mesh.addVertex(-c, 0, c);
    v[idx++] = mesh.addVertex(-c, c, -c);
    v[idx++] = mesh.addVertex(-c, c, 0);
    v[idx++] = mesh.addVertex(-c, c, c);
    // left
    f[fidx++] = mesh.addFace(v[0], v[1], v[4]);
    f[fidx++] = mesh.addFace(v[1], v[2], v[4]);
    f[fidx++] = mesh.addFace(v[2], v[5], v[4]);
    f[fidx++] = mesh.addFace(v[5], v[8], v[4]);
    f[fidx++] = mesh.addFace(v[8], v[7], v[4]);
    f[fidx++] = mesh.addFace(v[7], v[6], v[4]);
    f[fidx++] = mesh.addFace(v[6], v[3], v[4]);
    f[fidx++] = mesh.addFace(v[3], v[0], v[4]);
    v[idx++] = mesh.addVertex(0, -c, -c);
    v[idx++] = mesh.addVertex(0, -c, 0);
    v[idx++] = mesh.addVertex(0, -c, c);
    v[idx++] = mesh.addVertex(0, 0, -c);
    // test.addVertex( 0, 0, 0);
    v[idx++] = mesh.addVertex(0, 0, c);
    v[idx++] = mesh.addVertex(0, c, -c);
    v[idx++] = mesh.addVertex(0, c, 0);
    v[idx++] = mesh.addVertex(0, c, c);
    // back
    f[fidx++] = mesh.addFace(v[0], v[9], v[10]);
    f[fidx++] = mesh.addFace(v[1], v[0], v[10]);
    f[fidx++] = mesh.addFace(v[2], v[1], v[10]);
    f[fidx++] = mesh.addFace(v[11], v[2], v[10]);
    // top
    f[fidx++] = mesh.addFace(v[2], v[11], v[13]);
    f[fidx++] = mesh.addFace(v[5], v[2], v[13]);
    f[fidx++] = mesh.addFace(v[8], v[5], v[13]);
    f[fidx++] = mesh.addFace(v[16], v[8], v[13]);
    // front
    f[fidx++] = mesh.addFace(v[8], v[16], v[15]);
    f[fidx++] = mesh.addFace(v[7], v[8], v[15]);
    f[fidx++] = mesh.addFace(v[6], v[7], v[15]);
    f[fidx++] = mesh.addFace(v[14], v[6], v[15]);
    // bottom
    f[fidx++] = mesh.addFace(v[3], v[6], v[12]);
    f[fidx++] = mesh.addFace(v[6], v[14], v[12]);
    f[fidx++] = mesh.addFace(v[0], v[3], v[12]);
    f[fidx++] = mesh.addFace(v[9], v[0], v[12]);
    v[idx++] = mesh.addVertex(c, -c, -c);
    v[idx++] = mesh.addVertex(c, -c, 0);
    v[idx++] = mesh.addVertex(c, -c, c);
    v[idx++] = mesh.addVertex(c, 0, -c);
    v[idx++] = mesh.addVertex(c, 0, 0);
    v[idx++] = mesh.addVertex(c, 0, c);
    v[idx++] = mesh.addVertex(c, c, -c);
    v[idx++] = mesh.addVertex(c, c, 0);
    v[idx++] = mesh.addVertex(c, c, c);
    // bottom
    f[fidx++] = mesh.addFace(v[17], v[9], v[12]);
    f[fidx++] = mesh.addFace(v[20], v[17], v[12]);
    f[fidx++] = mesh.addFace(v[23], v[20], v[12]);
    f[fidx++] = mesh.addFace(v[14], v[23], v[12]);
    f[fidx++] = mesh.addFace(v[9], v[17], v[10]);
    f[fidx++] = mesh.addFace(v[17], v[18], v[10]);
    f[fidx++] = mesh.addFace(v[18], v[19], v[10]);
    f[fidx++] = mesh.addFace(v[19], v[11], v[10]);
    f[fidx++] = mesh.addFace(v[11], v[19], v[13]);
    f[fidx++] = mesh.addFace(v[19], v[22], v[13]);
    f[fidx++] = mesh.addFace(v[22], v[25], v[13]);
    f[fidx++] = mesh.addFace(v[25], v[16], v[13]);
    f[fidx++] = mesh.addFace(v[16], v[25], v[15]);
    f[fidx++] = mesh.addFace(v[25], v[24], v[15]);
    f[fidx++] = mesh.addFace(v[24], v[23], v[15]);
    f[fidx++] = mesh.addFace(v[23], v[14], v[15]);
    f[fidx++] = mesh.addFace(v[25], v[22], v[21]);
    f[fidx++] = mesh.addFace(v[22], v[19], v[21]);
    f[fidx++] = mesh.addFace(v[19], v[18], v[21]);
    f[fidx++] = mesh.addFace(v[18], v[17], v[21]);
    f[fidx++] = mesh.addFace(v[17], v[20], v[21]);
    f[fidx++] = mesh.addFace(v[20], v[23], v[21]);
    f[fidx++] = mesh.addFace(v[23], v[24], v[21]);
    f[fidx++] = mesh.addFace(v[24], v[25], v[21]);
    // Move in some corner(s)
    v[0].setPosition(new Point3d(0, 0, 0));
    // v[25].setPosition(new Point3d(0,0,0));
    int divisions = 3;
    mesh = MeshFactory.subdivide(mesh, divisions);
    // randomize vertex order and re-number (to test different chiralities)
    ArrayList<Vertex3d> vertices = mesh.getVertices();
    Collections.shuffle(vertices);
    for (int i = 0; i < vertices.size(); ++i) {
        vertices.get(i).setIndex(i);
    }
    FixedMeshBody fm = new FixedMeshBody("cube", mesh);
    RenderProps.setFaceStyle(fm, FaceStyle.FRONT_AND_BACK);
    addRenderable(fm);
    int cells = 1 << (divisions + 2);
    double margin = 1.0 / cells;
    cells += 2;
    sdgrid = new DistanceGrid(mesh.getFaces(), margin, cells, /*signed=*/
    true);
    // test a bunch of inside points
    Vector3d norm = new Vector3d();
    double dx = 2 * c / ((1 << (divisions + 1)));
    for (double x = -c + dx; x < c; x += dx) {
        for (double y = -c + dx; y < c; y += dx) {
            for (double z = -c + dx; z < c; z += dx) {
                double d = sdgrid.getLocalDistanceAndNormal(norm, x, y, z);
                // check bottom corner
                if ((x < 0 && y < 0 && z < 0)) {
                    // ||(x > 0 && y > 0 && z > 0)) {
                    if (d < 0) {
                        System.err.println("Point (" + x + "," + y + "," + z + ") incorrectly labelled as inside");
                    }
                } else {
                    if (d > 0) {
                        System.err.println("Point (" + x + "," + y + "," + z + ") incorrectly labelled as outside");
                    }
                }
            }
        }
    }
    RenderProps.setDrawEdges(fm, true);
}

Example 15 with Point3d

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

the class SurfaceMeshCollider method getNearestPoint.

public double getNearestPoint(Point3d nearest, Face f, Point3d p) {
    Point3d p0, p1, p2;
    p0 = f.getVertex(0).getWorldPoint();
    p1 = f.getVertex(1).getWorldPoint();
    p2 = f.getVertex(2).getWorldPoint();
    return faceIntersector.nearestpoint(p0, p1, p2, p, nearest, null);
}