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

Example 91 with RigidTransform3d

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

the class GridPlane method setPosition.

/**
 * Sets the 3D position of the centre of the display
 */
public void setPosition(Point3d pos) {
    RigidTransform3d X = new RigidTransform3d(XGridToWorld);
    X.p.set(pos);
    setGridToWorld(X);
}

Example 92 with RigidTransform3d

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

the class TextComponent3d method transformGeometry.

public void transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) {
    RigidTransform3d Xpose = new RigidTransform3d();
    // read rotation off myTransform to account for viewer rotation
    Xpose.setRotation(myOrientation);
    if (followEye) {
        Xpose.R.mul(rEye, Xpose.R);
    }
    Xpose.setTranslation(myPos);
    gtr.transform(Xpose);
    myTransform.set(Xpose);
    if (followEye) {
        myTransform.R.mulInverseLeft(rEye, Xpose.R);
    }
    myOrientation.set(myTransform.R);
    myPos.set(Xpose.p);
}

Example 93 with RigidTransform3d

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

the class SkinDemo method addRigidBodies.

public void addRigidBodies() {
    RigidTransform3d X;
    X = new RigidTransform3d();
    X.p.z = len / 2;
    myUpper = addBody("upper", X, "barm.obj");
    X = new RigidTransform3d();
    double angle = Math.toRadians(225);
    X.R.setAxisAngle(0, 1, 0, angle);
    X.p.set(len / 2 * Math.sin(angle), 0.0, len / 2 * Math.cos(angle));
    myLower = addBody("lower", X, "barm.obj");
}

Example 94 with RigidTransform3d

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

the class SkinDemo method addJoint.

public void addJoint() {
    RigidBody upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (upperArm == null || lowerArm == null) {
        return;
    }
    RevoluteJoint j = new RevoluteJoint();
    j.setName("elbow");
    RigidTransform3d TCA = new RigidTransform3d();
    TCA.p.z = -len / 2;
    TCA.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    RigidTransform3d TCW = new RigidTransform3d();
    TCW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    j.setBodies(lowerArm, TCA, null, TCW);
    j.setAxisLength(len / 3);
    model.addBodyConnector(j);
    upperArm.setDynamic(false);
}

Example 95 with RigidTransform3d

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

the class CSGCubeTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    PolygonalMesh cube1 = MeshFactory.createBox(1, 1, 1);
    PolygonalMesh cube2 = MeshFactory.createBox(0.5, 0.5, 0.5);
    cube2.transform(new RigidTransform3d(new Vector3d(0.25, 0.25, 0.25), AxisAngle.IDENTITY));
    cube1.setHardEdgesFromFaceNormals(0.707);
    cube2.setHardEdgesFromFaceNormals(0.707);
    PolygonalMesh isect = MeshFactory.getIntersection(cube1, cube2);
    isect.setHardEdgesFromFaceNormals(0.707);
    PolygonalMesh sub = MeshFactory.getSubtraction(cube1, cube2);
    sub.setHardEdgesFromFaceNormals(0.707);
    PolygonalMesh union = MeshFactory.getUnion(cube1, cube2);
    union.setHardEdgesFromFaceNormals(0.707);
    addRenderable(new FixedMeshBody("cube1", cube1));
    addRenderable(new FixedMeshBody("cube2", cube2));
    addRenderable(new FixedMeshBody("intersection", isect));
    addRenderable(new FixedMeshBody("subtraction", sub));
    addRenderable(new FixedMeshBody("union", union));
    for (Renderable r : renderables()) {
        if (r instanceof FixedMeshBody) {
            FixedMeshBody fmesh = (FixedMeshBody) r;
            PolygonalMesh mesh = (PolygonalMesh) (fmesh.getMesh());
            System.out.println("Mesh: " + fmesh.getName());
            System.out.println("  # verts: " + mesh.numVertices());
            System.out.println("  # faces: " + mesh.numFaces());
            System.out.println("  closed:  " + mesh.isClosed());
            System.out.println("  manifo:  " + mesh.isManifold());
            System.out.println("  area:    " + mesh.computeArea());
            System.out.println("  volume:  " + mesh.computeVolume());
        }
    }
    // PolygonalMesh cube3 = new PolygonalMesh(cube1);
    // cube3 = MeshFactory.subdivide(cube3);
    // cube3.mergeCoplanarFaces(0.99);
    // for (Face f : cube3.getFaces()) {
    // System.out.println(f.getIndex() + ", " + f.numEdges());
    // }
    // 
    // int[] nrmIdxs = cube3.getNormalIndices();
    // int[] offsets = cube3.getFeatureIndexOffsets();
    // for (int i=0; i<offsets.length-1; ++i) {
    // System.out.println("Face " + i + ": ");
    // for (int j = offsets[i]; j<offsets[i+1]; ++j) {
    // Vector3d nrm = cube3.getNormal(nrmIdxs[j]);
    // System.out.println(nrm.toString());
    // }
    // }
    // FixedMeshBody fm = new FixedMeshBody("cube3", cube3);
    // addRenderable(fm);
    // RenderProps.setFaceStyle(fm, FaceStyle.FRONT_AND_BACK);
    // RenderProps.setFaceColor(fm, Color.BLUE);
    // RenderProps.setBackColor(fm, Color.YELLOW);
    RenderProps.setDrawEdges(this, true);
}