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

Example 11 with RigidTransform3d

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

the class SpecularTest method createMesh.

FixedMeshBody createMesh(MechModel mech, double z) {
    PolygonalMesh mesh = MeshFactory.createRectangle(3, 1, 20, 20, /*texture=*/
    true);
    FixedMeshBody body = new FixedMeshBody(mesh);
    mech.addMeshBody(body);
    body.setPose(new RigidTransform3d(0, 0, z, 0, 0, Math.PI / 2));
    return body;
}

Example 12 with RigidTransform3d

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

the class PointFemAttachment method addFem.

// create an FEM beam model, translate it to (x,y,z), fix the leftmost
// nodes, and add it to a mech model
private FemModel3d addFem(MechModel mech, double x, double y, double z) {
    FemModel3d fem = FemFactory.createHexGrid(null, 1.0, 0.2, 0.2, 10, 3, 3);
    fem.setMaterial(new NeoHookeanMaterial());
    // RenderProps.setSphericalPoints (fem, 0.005, Color.GREEN);
    RenderProps.setLineColor(fem, Color.BLUE);
    RenderProps.setLineWidth(fem, 2);
    mech.addModel(fem);
    fem.transformGeometry(new RigidTransform3d(x, y, z));
    // find and fix the leftmost elements:
    PointList<FemNode3d> nodes = fem.getNodes();
    for (int i = 0; i < nodes.size(); i++) {
        FemNode3d n = nodes.get(i);
        if (Math.abs(n.getPosition().x - (-0.5 + x)) < 1e-8) {
            n.setDynamic(false);
        }
    }
    return fem;
}

Example 13 with RigidTransform3d

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

the class MeshFactory method createOpenQuadCylinder.

/**
 * Creates an open quad cylindrical mesh centered on the origin with the
 * main axis aligned with the z axis. All faces are quads.
 *
 * @param r outer radius of the cylinder
 * @param h height of the cylinder
 * @param nslices number of segments about the z axis
 * @param nh number of height segments along the z axis
 */
public static PolygonalMesh createOpenQuadCylinder(double r, double h, int nslices, int nh) {
    if (nslices < 3) {
        throw new IllegalArgumentException("argument nslices must be at least 3");
    }
    // set map tolerance to be 0.01 times smallest spacing between vertices
    double tol = Math.min(0.01 * h / nh, 0.01 * r * Math.sin(2 * Math.PI / nslices));
    VertexMap vtxMap = new VertexMap(tol);
    PolygonalMesh mesh = new PolygonalMesh();
    RigidTransform3d XLM = new RigidTransform3d();
    addQuadCylindricalSection(mesh, r, h, 2 * Math.PI, nh, nslices, /*outward=*/
    true, XLM, vtxMap);
    return mesh;
}

Example 14 with RigidTransform3d

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

the class MeshFactory method createBox.

/**
 * Creates a box mesh, with a specified mesh resolution in each direction,
 * and centered at a defined center point. The faces type is specified
 * by <code>faceType</code>
 *
 * @param wx width in the x direction
 * @param wy width in the y direction
 * @param wz width in the z direction
 * @param center center of the box
 * @param nx number of subdivisions along x
 * @param ny number of subdivisions along y
 * @param nz number of subdivisions along z
 * @param addNormals if <code>true</code>, generates normals perpendicular
 * to each side
 * @param faceType specifies the face type to be either quads, triangles,
 * or triangles with alternating diagonals
 */
public static PolygonalMesh createBox(double wx, double wy, double wz, Point3d center, int nx, int ny, int nz, boolean addNormals, FaceType faceType) {
    PolygonalMesh mesh = new PolygonalMesh();
    Vertex3d[][][] vtxs = new Vertex3d[nx + 1][ny + 1][nz + 1];
    Vertex3d[] faceVtxs = new Vertex3d[4];
    ArrayList<Vector3d> nrmls = null;
    int[] nrmlIdxs = null;
    if (addNormals) {
        nrmls = new ArrayList<Vector3d>();
        nrmls.add(new Vector3d(1, 0, 0));
        nrmls.add(new Vector3d(0, 1, 0));
        nrmls.add(new Vector3d(0, 0, 1));
        nrmls.add(new Vector3d(-1, 0, 0));
        nrmls.add(new Vector3d(0, -1, 0));
        nrmls.add(new Vector3d(0, 0, -1));
        int nindices;
        if (faceType == FaceType.QUAD) {
            nindices = 8 * (nx * ny + nx * nz + ny * nz);
        } else {
            // trianglar
            nindices = 12 * (nx * ny + nx * nz + ny * nz);
        }
        nrmlIdxs = new int[nindices];
    }
    Vector3d dx = new Vector3d(wx / (nx), wy / (ny), wz / (nz));
    Point3d offset = new Point3d(-wx / 2, -wy / 2, -wz / 2);
    boolean[] hardEdges;
    // bottom/top (sides in x/y plane)
    for (int i = 0; i < nx; i++) {
        for (int j = 0; j < ny; j++) {
            faceVtxs[0] = getOrCreateVertex(i, j, 0, vtxs, offset, dx, mesh);
            faceVtxs[1] = getOrCreateVertex(i, j + 1, 0, vtxs, offset, dx, mesh);
            faceVtxs[2] = getOrCreateVertex(i + 1, j + 1, 0, vtxs, offset, dx, mesh);
            faceVtxs[3] = getOrCreateVertex(i + 1, j, 0, vtxs, offset, dx, mesh);
            // notes: edge(i) appears *before* vertex(i).
            hardEdges = new boolean[] { j == 0, i == 0, j == ny - 1, i == nx - 1 };
            addFaces(mesh, faceVtxs, hardEdges, 5, nrmlIdxs, i + j, faceType);
            faceVtxs[0] = getOrCreateVertex(i, j, nz, vtxs, offset, dx, mesh);
            faceVtxs[3] = getOrCreateVertex(i, j + 1, nz, vtxs, offset, dx, mesh);
            faceVtxs[2] = getOrCreateVertex(i + 1, j + 1, nz, vtxs, offset, dx, mesh);
            faceVtxs[1] = getOrCreateVertex(i + 1, j, nz, vtxs, offset, dx, mesh);
            hardEdges = new boolean[] { i == 0, j == 0, i == nx - 1, j == ny - 1 };
            addFaces(mesh, faceVtxs, hardEdges, 2, nrmlIdxs, i + j, faceType);
        }
    }
    // back/front (sides in z/x plane)
    for (int i = 0; i < nx; i++) {
        for (int k = 0; k < nz; k++) {
            faceVtxs[0] = getOrCreateVertex(i, 0, k, vtxs, offset, dx, mesh);
            faceVtxs[3] = getOrCreateVertex(i, 0, k + 1, vtxs, offset, dx, mesh);
            faceVtxs[2] = getOrCreateVertex(i + 1, 0, k + 1, vtxs, offset, dx, mesh);
            faceVtxs[1] = getOrCreateVertex(i + 1, 0, k, vtxs, offset, dx, mesh);
            hardEdges = new boolean[] { i == 0, k == 0, i == nx - 1, k == nz - 1 };
            addFaces(mesh, faceVtxs, hardEdges, 4, nrmlIdxs, i + k, faceType);
            faceVtxs[0] = getOrCreateVertex(i, ny, k, vtxs, offset, dx, mesh);
            faceVtxs[1] = getOrCreateVertex(i, ny, k + 1, vtxs, offset, dx, mesh);
            faceVtxs[2] = getOrCreateVertex(i + 1, ny, k + 1, vtxs, offset, dx, mesh);
            faceVtxs[3] = getOrCreateVertex(i + 1, ny, k, vtxs, offset, dx, mesh);
            hardEdges = new boolean[] { k == 0, i == 0, k == nz - 1, i == nx - 1 };
            addFaces(mesh, faceVtxs, hardEdges, 1, nrmlIdxs, i + k, faceType);
        }
    }
    // left/right (sides in y/z plane)
    for (int j = 0; j < ny; j++) {
        for (int k = 0; k < nz; k++) {
            faceVtxs[0] = getOrCreateVertex(0, j, k, vtxs, offset, dx, mesh);
            faceVtxs[3] = getOrCreateVertex(0, j + 1, k, vtxs, offset, dx, mesh);
            faceVtxs[2] = getOrCreateVertex(0, j + 1, k + 1, vtxs, offset, dx, mesh);
            faceVtxs[1] = getOrCreateVertex(0, j, k + 1, vtxs, offset, dx, mesh);
            hardEdges = new boolean[] { k == 0, j == 0, k == nz - 1, j == ny - 1 };
            addFaces(mesh, faceVtxs, hardEdges, 3, nrmlIdxs, j + k, faceType);
            faceVtxs[0] = getOrCreateVertex(nx, j, k, vtxs, offset, dx, mesh);
            faceVtxs[1] = getOrCreateVertex(nx, j + 1, k, vtxs, offset, dx, mesh);
            faceVtxs[2] = getOrCreateVertex(nx, j + 1, k + 1, vtxs, offset, dx, mesh);
            faceVtxs[3] = getOrCreateVertex(nx, j, k + 1, vtxs, offset, dx, mesh);
            hardEdges = new boolean[] { j == 0, k == 0, j == ny - 1, k == nz - 1 };
            addFaces(mesh, faceVtxs, hardEdges, 0, nrmlIdxs, j + k, faceType);
        }
    }
    if (addNormals) {
        mesh.setNormals(nrmls, nrmlIdxs);
    }
    if (center != null) {
        mesh.transform(new RigidTransform3d(center.x, center.y, center.z));
    }
    return mesh;
}

Example 15 with RigidTransform3d

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

the class MeshFactory method createOctahedralSphere.

public static PolygonalMesh createOctahedralSphere(double r, Point3d c, int divisions) {
    PolygonalMesh mesh = createOctahedralSphere(r, divisions);
    mesh.transform(new RigidTransform3d(c.x, c.y, c.z));
    return mesh;
}