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

Example 36 with RotationMatrix3d

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

the class AffineTransformWidget method updateInternalValue.

/**
 * Updates the internal representation of the value, updates any result
 * holders, and returns true if the new value differs from the old value.
 */
protected boolean updateInternalValue(Object value) {
    if (!valuesEqual(value, getInternalValue())) {
        maskValueChanges(true);
        if (value == Property.VoidValue) {
            for (LabeledTextField c : myFields) {
                c.setValue(Property.VoidValue);
            }
            myValueIsVoid = true;
        } else {
            RotationMatrix3d R = new RotationMatrix3d();
            Vector3d p = new Vector3d();
            Vector3d scale = new Vector3d(1, 1, 1);
            Vector3d shear = new Vector3d(0, 0, 0);
            if (value instanceof RigidTransform3d) {
                RigidTransform3d newX = (RigidTransform3d) value;
                p.set(newX.p);
                R.set(newX.R);
            // System.out.println ("newT\n" + newX.toString("%10.6f"));
            } else if (value instanceof AffineTransform3d) {
                AffineTransform3d newX = (AffineTransform3d) value;
                p.set(newX.p);
                newX.factorA(R, scale, shear);
            // System.out.println ("newX\n" + newX.toString("%10.6f"));
            } else {
                throw new InternalErrorException("Unknown value type " + value.getClass());
            }
            setTranslation(p);
            setRotation(R.getAxisAngle());
            setScale(scale);
            setShear(shear);
            myValueIsVoid = false;
        }
        maskValueChanges(false);
        return true;
    } else {
        return false;
    }
}

Example 37 with RotationMatrix3d

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

the class AxisAngleField method main.

public static void main(String[] args) {
    JFrame frame = new JFrame("AxisAngleField Test");
    LabeledComponentPanel panel = new LabeledComponentPanel();
    AxisAngleField widget = new AxisAngleField();
    frame.getContentPane().add(panel);
    RotationMatrix3d R = new RotationMatrix3d(1, 0, 0, Math.toRadians(45));
    widget.setValue(new AxisAngle(R));
    panel.addWidget("axisAng", widget);
    // panel.addWidget (widget);
    frame.pack();
    frame.setVisible(true);
}

Example 38 with RotationMatrix3d

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

the class GLViewer method computeInverseTranspose.

protected Matrix3d computeInverseTranspose(Matrix3dBase M) {
    Matrix3d out = new Matrix3d(M);
    if (!(M instanceof RotationMatrix3d)) {
        boolean success = out.invert();
        if (!success) {
            SVDecomposition3d svd3 = new SVDecomposition3d(M);
            svd3.pseudoInverse(out);
        }
        out.transpose();
    }
    return out;
}

Example 39 with RotationMatrix3d

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

the class GLViewer method rotateFixedUp.

/**
 * Rotate the eye coordinate frame about the center point, while maintaining
 * the default up vector.
 *
 * @param xang
 * amount of horizontal rotation (in radians)
 * @param yang
 * amount of vertical rotation (in radians)
 * @see #getUpVector
 */
protected void rotateFixedUp(double xang, double yang) {
    Vector3d reye = new Vector3d();
    reye.sub(getEye(), myViewState.myCenter);
    if (yang != 0) {
        // right-facing vector
        Vector3d xCam = new Vector3d();
        synchronized (viewMatrix) {
            viewMatrix.R.getRow(0, xCam);
        }
        double oldAngle = Math.acos(reye.dot(myViewState.myUp) / reye.norm());
        if (!((yang < 0 && (-yang) > oldAngle) || (yang > 0 && yang > (Math.PI - oldAngle)))) {
            reye.transform(new RotationMatrix3d(new AxisAngle(xCam, yang)));
        }
    }
    if (xang != 0) {
        reye.transform(new RotationMatrix3d(new AxisAngle(myViewState.myUp, xang)));
    }
    Point3d eye = new Point3d();
    eye.add(reye, myViewState.myCenter);
    setEyeToWorld(eye, myViewState.myCenter, myViewState.myUp);
    repaint();
}

Example 40 with RotationMatrix3d

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

the class Transrotator3d method updateRotation.

protected void updateRotation(RotationMatrix3d Rot, boolean constrained) {
    RigidTransform3d Tinc = (RigidTransform3d) myIncrementalTransform;
    RigidTransform3d T = (RigidTransform3d) myTransform;
    RotationMatrix3d R = new RotationMatrix3d();
    R.mulInverseLeft(myRot0, Rot);
    if (constrained) {
        AxisAngle axisAng = new AxisAngle();
        R.getAxisAngle(axisAng);
        double deg = Math.toDegrees(axisAng.angle);
        axisAng.angle = Math.toRadians(5 * Math.round(deg / 5));
        R.setAxisAngle(axisAng);
        myRotPnt.transform(R, myPnt0);
    }
    Tinc.R.mulInverseLeft(T.R, R);
    if (myConstrainer != null) {
        RotationMatrix3d Rnew = new RotationMatrix3d();
        Rnew.mul(myXDraggerToWorld.R, Tinc.R);
        RigidTransform3d Tnew = new RigidTransform3d(myXDraggerToWorld);
        if (myConstrainer.updateRotation(Rnew, myXDraggerToWorld)) {
            Tinc.R.mulInverseLeft(myXDraggerToWorld.R, Rnew);
            myXDraggerToWorld.R.set(Rnew);
            T.R.mul(Tinc.R);
            myRotPnt.transform(T.R, myPnt0);
        } else {
            Tinc.R.setIdentity();
        }
    } else {
        T.R.set(R);
        myXDraggerToWorld.R.mul(Tinc.R);
    }
}