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

Example 16 with RigidTransform3d

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

the class MeshFactory method createQuadHemisphere.

public static PolygonalMesh createQuadHemisphere(double r, int nslices, int nlevels, double x, double y, double z) {
    double tol = computeSphericalPointTolerance(r, 2 * Math.PI, Math.PI, nslices, nlevels);
    PolygonalMesh mesh = new PolygonalMesh();
    VertexMap vtxMap = new VertexMap(tol);
    RigidTransform3d XLM = new RigidTransform3d(x, y, z);
    addQuadSphericalSection(mesh, r, Math.PI, Math.PI / 2, nslices, nlevels, XLM, vtxMap);
    return mesh;
}

Example 17 with RigidTransform3d

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

the class MeshFactory method createQuadExtendedTorus.

/**
 * Creates a quad extended torus mesh in the x-y plane.  An extended torus
 * is a torus with straight sections added in the middle, giving a
 * shape similar to a chain link. The straight sections are parallel
 * to the x-axis.
 *
 * @param rmajor major radius of the torus
 * @param rminor minor radius of the torus
 * @param xlen length of the straight sections
 * @param nmajor number of slices along the major radius
 * @param nminor number of slices along the minor radius
 */
public static PolygonalMesh createQuadExtendedTorus(double rmajor, double rminor, double xlen, int nmajor, int nminor) {
    double tol = computeToroidalTolerance(rmajor, rminor, 2 * Math.PI, nmajor, nminor);
    VertexMap vtxMap = new VertexMap(tol);
    PolygonalMesh mesh = new PolygonalMesh();
    RigidTransform3d XLM = new RigidTransform3d();
    XLM.p.set(xlen / 2, 0, 0);
    XLM.R.setRpy(-Math.PI / 2, 0, 0);
    addQuadToroidalSection(mesh, rmajor, rminor, Math.PI, nmajor, nminor, XLM, vtxMap);
    XLM.p.set(-xlen / 2, 0, 0);
    XLM.R.setRpy(Math.PI / 2, 0, 0);
    addQuadToroidalSection(mesh, rmajor, rminor, Math.PI, nmajor, nminor, XLM, vtxMap);
    double outerChordLen = 2 * (rmajor + rminor) * Math.sin(Math.PI / (nmajor));
    int nx = (int) Math.ceil(xlen / outerChordLen);
    XLM.p.set(0, rmajor, 0);
    XLM.R.setRpy(0, Math.PI / 2, 0);
    addQuadCylindricalSection(mesh, rminor, xlen, 2 * Math.PI, nx, nminor, /*outward=*/
    true, XLM, vtxMap);
    XLM.p.set(0, -rmajor, 0);
    XLM.R.setRpy(0, Math.PI / 2, 0);
    addQuadCylindricalSection(mesh, rminor, xlen, 2 * Math.PI, nx, nminor, /*outward=*/
    true, XLM, vtxMap);
    return mesh;
}

Example 18 with RigidTransform3d

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

the class MeshFactory method createQuadBoxNew.

public static PolygonalMesh createQuadBoxNew(double wx, double wy, double wz, Point3d center, int nx, int ny, int nz) {
    double tol = Math.min(wx / nx, wy / ny);
    tol = Math.min(tol, wz / nz);
    VertexMap vtxMap = new VertexMap(tol);
    PolygonalMesh mesh = new PolygonalMesh();
    RigidTransform3d XLM = new RigidTransform3d();
    XLM.p.set(center);
    XLM.p.z = center.z + wz / 2;
    addQuadRectangle(mesh, wx, wy, nx, ny, XLM, vtxMap);
    XLM.p.z = center.z - wz / 2;
    XLM.R.set(1, 0, 0, 0, -1, 0, 0, 0, -1);
    addQuadRectangle(mesh, wx, wy, nx, ny, XLM, vtxMap);
    XLM.p.z = 0;
    XLM.p.x = center.x + wx / 2;
    XLM.R.set(0, 0, -1, 0, 1, 0, 1, 0, 0);
    addQuadRectangle(mesh, wz, wy, nz, ny, XLM, vtxMap);
    XLM.p.x = center.x - wx / 2;
    XLM.R.set(0, 0, 1, 0, 1, 0, -1, 0, 0);
    addQuadRectangle(mesh, wz, wy, nz, ny, XLM, vtxMap);
    XLM.p.x = 0;
    XLM.p.y = center.y + wy / 2;
    XLM.R.set(1, 0, 0, 0, 0, -1, 0, 1, 0);
    addQuadRectangle(mesh, wz, wy, nz, ny, XLM, vtxMap);
    XLM.p.y = center.y - wy / 2;
    XLM.R.set(1, 0, 0, 0, 0, 1, 0, -1, 0);
    addQuadRectangle(mesh, wz, wy, nz, ny, XLM, vtxMap);
    return mesh;
}

Example 19 with RigidTransform3d

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

the class MeshFactory method createQuadSphere.

public static PolygonalMesh createQuadSphere(double r, int nslices, int nlevels, double x, double y, double z, boolean addTextureCoords) {
    double tol = computeSphericalPointTolerance(r, 2 * Math.PI, Math.PI, nslices, nlevels);
    PolygonalMesh mesh = new PolygonalMesh();
    VertexMap vtxMap = new VertexMap(tol);
    RigidTransform3d XLM = new RigidTransform3d(x, y, z);
    addQuadSphericalSection(mesh, r, Math.PI, Math.PI, nslices, nlevels, XLM, vtxMap);
    if (addTextureCoords) {
        Point3d origin = new Point3d(x, y, z);
        computeTextureCoordsForSphere(mesh, origin, r, tol);
    }
    return mesh;
}

Example 20 with RigidTransform3d

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

the class BVFeatureQueryTest method nearestVertexAndEdgeTest.

private void nearestVertexAndEdgeTest(MeshBase mesh) {
    // NearestFeatureQuery query = new NearestFeatureQuery();
    double inf = Double.POSITIVE_INFINITY;
    Point3d max = new Point3d(-inf, -inf, -inf);
    Point3d min = new Point3d(inf, inf, inf);
    Point3d center = new Point3d();
    Point3d widths = new Point3d();
    mesh.updateBounds(min, max);
    center.add(min, max);
    center.scale(0.5);
    widths.sub(max, min);
    widths.scale(0.5);
    double diameter = max.distance(min);
    RigidTransform3d X = new RigidTransform3d();
    OBBTree obbTree = new OBBTree(mesh, 2);
    AABBTree aabbTree = new AABBTree(mesh, 2, 0.001 * diameter);
    nearestVertexAndEdge(mesh, obbTree, X, center, diameter);
    nearestVertexAndEdge(mesh, aabbTree, X, center, diameter);
    X.setRandom();
    nearestVertexAndEdge(mesh, obbTree, X, center, diameter);
    // aabbTree.print();
    nearestVertexAndEdge(mesh, aabbTree, X, center, diameter);
    X.setRandom();
    nearestVertexAndEdge(mesh, obbTree, X, center, diameter);
    nearestVertexAndEdge(mesh, aabbTree, X, center, diameter);
    X.setRandom();
    nearestVertexAndEdge(mesh, obbTree, X, center, diameter);
    nearestVertexAndEdge(mesh, aabbTree, X, center, diameter);
}