Examples with RotationMatrix3d maspack.matrix.RotationMatrix3d used on opensource projects

Example 46 with RotationMatrix3d

use of maspack.matrix.RotationMatrix3d in project artisynth_core by artisynth.

the class CustomSphericalCoupling method getRpy.

public void getRpy(Vector3d angs, RigidTransform3d TGD) {
    // on entry, TGD is set to TCD. It is then projected to TGD
    projectToConstraint(TGD, TGD);
    double[] rpy = new double[3];
    RotationMatrix3d RDC = new RotationMatrix3d();
    RDC.transpose(TGD.R);
    doGetRpy(rpy, RDC);
    angs.x = rpy[2];
    angs.y = rpy[1];
    angs.z = rpy[0];
}

Example 47 with RotationMatrix3d

use of maspack.matrix.RotationMatrix3d in project artisynth_core by artisynth.

the class ParameterizedCoupling method setRoll.

public void setRoll(RigidTransform3d TGD, double roll) {
    // decompose matrix, update roll matrix
    RotationMatrix3d Rz = new RotationMatrix3d();
    RotationMatrix3d RDC = new RotationMatrix3d(TGD.R);
    RDC.transpose();
    doRollDecomposition(RDC, RDC, Rz);
    Rz.setRotZ(roll);
    RDC.mul(Rz);
    TGD.R.transpose(RDC);
    checkConstraintStorage();
    myConstraintInfo[5].coordinate = roll;
}

Example 48 with RotationMatrix3d

use of maspack.matrix.RotationMatrix3d in project artisynth_core by artisynth.

the class ParameterizedCoupling method getRoll.

public double getRoll(RigidTransform3d TGD) {
    // On entry, TGD is set to TCD. It is then projected to TGD
    projectToConstraint(TGD, TGD);
    RotationMatrix3d RDC = new RotationMatrix3d();
    RDC.transpose(TGD.R);
    return doGetRoll(RDC);
}

Example 49 with RotationMatrix3d

use of maspack.matrix.RotationMatrix3d in project artisynth_core by artisynth.

the class ViewerManager method resetViewers.

public void resetViewers(AxisAngle frontView) {
    AxisAlignedRotation view = AxisAlignedRotation.getNearest(new RotationMatrix3d(frontView));
    for (GLViewer v : myViewers) {
        v.setDefaultAxialView(view);
        resetViewer(v);
    }
}

Example 50 with RotationMatrix3d

use of maspack.matrix.RotationMatrix3d in project artisynth_core by artisynth.

the class MechSystemSolver method getRWB.

private RotationMatrix3d[] getRWB() {
    RotationMatrix3d[] RWB = new RotationMatrix3d[2 * myNumActive];
    MechSystemBase base = (MechSystemBase) mySys;
    for (int i = 0; i < myNumActive; i++) {
        DynamicComponent c = base.myDynamicComponents.get(i);
        RotationMatrix3d R = new RotationMatrix3d(((RigidBody) c).getPose().R);
        R.transpose();
        RWB[i * 2 + 0] = R;
        RWB[i * 2 + 1] = R;
    }
    return RWB;
}