Examples with RigidTransform3d maspack.matrix.RigidTransform3d used on opensource projects

Example 46 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class StlRenderer method drawSpindle.

@Override
public void drawSpindle(Vector3d pnt0, Vector3d pnt1, double rad) {
    if (rad < Double.MIN_NORMAL) {
        return;
    }
    double dx = pnt1.x - pnt0.x;
    double dy = pnt1.y - pnt0.y;
    double dz = pnt1.z - pnt0.z;
    double len = Math.sqrt(dx * dx + dy * dy + dz * dz);
    // compute required rotation
    RigidTransform3d lineRot = getLineTransform(pnt0, pnt1);
    int resolution = getSurfaceResolution();
    PrimitiveKey key = new PrimitiveKey(PrimitiveType.SPINDLE, resolution);
    RenderObject robj = primitiveMap.get(key);
    if (robj == null) {
        robj = RenderObjectFactory.createSpindle(resolution, resolution / 2);
        primitiveMap.put(key, robj);
    }
    // scale and translate model matrix
    pushModelMatrix();
    mulModelMatrix(lineRot);
    scaleModelMatrix(rad, rad, len);
    // draw spindle
    drawTriangles(robj, 0);
    // revert matrix transform
    popModelMatrix();
}

Example 47 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class StlRenderer method drawCylinder.

@Override
public void drawCylinder(Vector3d pnt0, Vector3d pnt1, double rad, boolean capped) {
    if (rad < Double.MIN_NORMAL) {
        return;
    }
    double dx = pnt1.x - pnt0.x;
    double dy = pnt1.y - pnt0.y;
    double dz = pnt1.z - pnt0.z;
    double len = Math.sqrt(dx * dx + dy * dy + dz * dz);
    // compute required rotation
    RigidTransform3d lineRot = getLineTransform(pnt0, pnt1);
    int resolution = getSurfaceResolution();
    PrimitiveKey key;
    if (capped) {
        key = new PrimitiveKey(PrimitiveType.CAPPED_CYLINDER, resolution);
    } else {
        key = new PrimitiveKey(PrimitiveType.UNCAPPED_CYLINDER, resolution);
    }
    RenderObject robj = primitiveMap.get(key);
    if (robj == null) {
        robj = RenderObjectFactory.createCylinder(resolution, capped);
        primitiveMap.put(key, robj);
    }
    // scale and translate model matrix
    pushModelMatrix();
    mulModelMatrix(lineRot);
    scaleModelMatrix(rad, rad, len);
    // draw cylinder
    drawTriangles(robj, 0);
    // revert matrix transform
    popModelMatrix();
}

Example 48 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class StlRenderer method restoreDefaultState.

@Override
public void restoreDefaultState(boolean strictChecking) {
    if (myMappingsSet) {
        if (myColorMapProps != null) {
            setColorMap(null);
        }
        if (myNormalMapProps != null) {
            setNormalMap(null);
        }
        if (myBumpMapProps != null) {
            setBumpMap(null);
        }
        myMappingsSet = false;
    }
    if (myNonDefaultColorSettings != 0) {
        if (myBackColor != null) {
            setBackColor(null);
        }
        if ((myNonDefaultColorSettings & EMISSION_BIT) != 0) {
            setEmission(DEFAULT_MATERIAL_EMISSION);
        }
        if ((myNonDefaultColorSettings & SPECULAR_BIT) != 0) {
            setSpecular(DEFAULT_MATERIAL_SPECULAR);
        }
        if ((myNonDefaultColorSettings & SHININESS_BIT) != 0) {
            setShininess(DEFAULT_MATERIAL_SHININESS);
        }
        if (getColorInterpolation() != DEFAULT_COLOR_INTERPOLATION) {
            setColorInterpolation(DEFAULT_COLOR_INTERPOLATION);
        }
        if (myActiveColor == ActiveColor.HIGHLIGHT) {
            setHighlighting(false);
        }
        myNonDefaultColorSettings = 0;
    }
    if (myNonDefaultGeneralSettings != 0) {
        if (myViewerState.faceMode != DEFAULT_FACE_STYLE) {
            setFaceStyle(DEFAULT_FACE_STYLE);
        }
        if ((myNonDefaultGeneralSettings & LINE_WIDTH_BIT) != 0) {
            setLineWidth(DEFAULT_LINE_WIDTH);
        }
        if ((myNonDefaultGeneralSettings & POINT_SIZE_BIT) != 0) {
            setPointSize(DEFAULT_POINT_SIZE);
        }
        if (myViewerState.shading != DEFAULT_SHADING) {
            setShading(DEFAULT_SHADING);
        }
        // }
        if (myViewerState.colorMixing != DEFAULT_COLOR_MIXING) {
            setVertexColorMixing(DEFAULT_COLOR_MIXING);
        }
        if (getDepthOffset() != DEFAULT_DEPTH_OFFSET) {
            setDepthOffset(DEFAULT_DEPTH_OFFSET);
        }
        myNonDefaultGeneralSettings = 0;
    }
    if (myModelMatrixSet) {
        int mmsize = modelMatrixStack.size();
        if (mmsize > 0) {
            if (strictChecking) {
                throw new IllegalStateException("render() method exited with model matrix stack size of " + mmsize);
            } else {
                while (mmsize > 0) {
                    modelMatrixStack.pop();
                    mmsize--;
                }
            }
        } else {
            synchronized (modelMatrix) {
                if (!modelMatrix.isIdentity()) {
                    // reset to identity
                    modelMatrix = new RigidTransform3d();
                    modelNormalMatrix = new Matrix3d();
                }
            }
        }
        myModelMatrixSet = false;
    }
    if (myDrawMode != null) {
        if (strictChecking) {
            throw new IllegalStateException("render() method exited while still in draw mode: " + myDrawMode);
        } else {
            resetDraw();
        }
    }
    // set front alpha if not one
    if (myCurrentMaterial.isTransparent()) {
        setFrontAlpha(1.0f);
    }
}

Example 49 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class StlRenderer method drawCone.

@Override
public void drawCone(Vector3d pnt0, Vector3d pnt1, double rad0, double rad1, boolean capped) {
    // get a capped or uncapped cylinder
    double rad = 1;
    double dx = pnt1.x - pnt0.x;
    double dy = pnt1.y - pnt0.y;
    double dz = pnt1.z - pnt0.z;
    double len = Math.sqrt(dx * dx + dy * dy + dz * dz);
    // compute required rotation
    RigidTransform3d lineRot = getLineTransform(pnt0, pnt1);
    int resolution = getSurfaceResolution();
    PrimitiveKey key;
    if (capped) {
        key = new PrimitiveKey(PrimitiveType.CAPPED_CYLINDER, resolution);
    } else {
        key = new PrimitiveKey(PrimitiveType.UNCAPPED_CYLINDER, resolution);
    }
    RenderObject robj = primitiveMap.get(key);
    if (robj == null) {
        robj = RenderObjectFactory.createCylinder(resolution, capped);
        primitiveMap.put(key, robj);
    }
    // scale and translate model matrix
    pushModelMatrix();
    mulModelMatrix(lineRot);
    scaleModelMatrix(rad, rad, len);
    Point3d p0 = new Point3d();
    Point3d p1 = new Point3d();
    Point3d p2 = new Point3d();
    // draw cylinder
    robj.readLock();
    {
        try {
            int[] tris = robj.getTriangles(0);
            int ntris = robj.numTriangles(0);
            int triStride = robj.getTriangleStride();
            for (int i = 0; i < triStride * ntris; i += triStride) {
                float[] v0 = robj.getVertexPosition(tris[i]);
                float[] v1 = robj.getVertexPosition(tris[i + 1]);
                float[] v2 = robj.getVertexPosition(tris[i + 2]);
                // scale radially based on z
                p0 = toPoint(v0);
                double s0 = v0[2] * rad1 + (1 - v0[2]) * rad0;
                p0.x *= s0;
                p0.y *= s0;
                p1 = toPoint(v1);
                double s1 = v1[2] * rad1 + (1 - v1[2]) * rad0;
                p1.x *= s1;
                p1.y *= s1;
                p2 = toPoint(v2);
                double s2 = v2[2] * rad1 + (1 - v2[2]) * rad0;
                p2.x *= s2;
                p2.y *= s2;
                // transform by model matrix
                p0.transform(modelMatrix);
                p1.transform(modelMatrix);
                p2.transform(modelMatrix);
                // write
                writer.writeTriangle(p0, p1, p2);
            }
        } catch (IOException e) {
            e.printStackTrace();
        }
    }
    robj.readUnlock();
    // revert matrix transform
    popModelMatrix();
}

Example 50 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class StlRenderer method getLineTransform.

protected RigidTransform3d getLineTransform(Vector3d p0, Vector3d p1) {
    RigidTransform3d X = new RigidTransform3d();
    Vector3d utmp = new Vector3d();
    utmp.set(p1.x - p0.x, p1.y - p0.y, p1.z - p0.z);
    X.p.set(p0.x, p0.y, p0.z);
    X.R.setZDirection(utmp);
    return X;
}