Examples with Vector2d maspack.matrix.Vector2d used on opensource projects

Example 1 with Vector2d

use of maspack.matrix.Vector2d in project artisynth_core by artisynth.

the class MeshThicken method applyThickening.

public void applyThickening(Region region, MeshBase mesh, double thickening) {
    double margin = region.myMargin;
    Point3d pnt = new Point3d();
    Vector3d nrm = new Vector3d();
    Vector2d p2d = new Vector2d();
    ArrayList<Vertex3d> verts = myMesh.getVertices();
    ArrayList<Vector3d> nrmls = mesh.getNormals();
    if (nrmls == null) {
        System.out.println("Mesh does not have normals; thickening ignored");
    }
    int cnt = 0;
    Vector3d regionNrm = new Vector3d();
    // region normal in mesh coordinates
    region.myFrame.R.getColumn(2, regionNrm);
    for (int i = 0; i < verts.size(); i++) {
        Vertex3d v = verts.get(i);
        pnt.inverseTransform(region.myFrame, v.pnt);
        nrm.inverseTransform(region.myFrame, nrmls.get(i));
        if (pnt.z <= region.myHeight && pnt.z >= -region.myBackHeight) {
            // if (Math.abs(pnt.z) <= region.myHeight) {
            p2d.set(pnt.x, pnt.y);
            double d = region.myDist.computeInteriorDistance(/*near=*/
            null, p2d);
            if (d <= 0) {
                double dz = computeDeltaZ(-d, margin, thickening);
                if (region.myUseNormalZScalingP) {
                    if (adjacentFacesCrossNormal(v, regionNrm)) {
                        dz = 0;
                    } else {
                        dz *= nrm.z;
                    }
                } else {
                    dz = (nrm.z >= 0 ? dz : -dz);
                }
                if (nrm.z >= 0) {
                    pnt.z += dz;
                } else {
                    if (region.getThickenBackSide()) {
                        pnt.z += dz;
                    }
                }
                v.pnt.transform(region.myFrame, pnt);
                cnt++;
            }
        }
    }
    System.out.println("count=" + cnt);
    myMesh.notifyVertexPositionsModified();
    viewer.rerender();
}

Example 2 with Vector2d

use of maspack.matrix.Vector2d in project artisynth_core by artisynth.

the class MeshCollider method getContactPlaneInfo.

/**
 * Get information about a specific region of intersections.
 */
static void getContactPlaneInfo(ContactPlane region, PolygonalMesh mesh0, PolygonalMesh mesh1, double pointTol) {
    Vector3d sectnormal = new Vector3d(), tmpnormal = new Vector3d();
    BVFeatureQuery query = new BVFeatureQuery();
    RigidTransform3d trans0 = mesh0.getMeshToWorld();
    RigidTransform3d trans1 = mesh1.getMeshToWorld();
    // calculate a weighted average of the face normals
    for (TriTriIntersection isect : region.intersections) {
        region.points = new ArrayList<Point3d>();
        region.points.add(isect.points[0]);
        region.points.add(isect.points[1]);
        double length = isect.points[0].distance(isect.points[1]);
        tmpnormal.transform(trans0, isect.face0.getNormal());
        tmpnormal.negate();
        sectnormal.scaledAdd(length, tmpnormal, sectnormal);
        tmpnormal.transform(trans1, isect.face1.getNormal());
        sectnormal.scaledAdd(length, tmpnormal, sectnormal);
    }
    // calculate the weighted intersection center
    Point3d center = new Point3d();
    double weight = 0;
    for (TriTriIntersection isect : region.intersections) {
        double length = isect.points[0].distance(isect.points[1]);
        center.scaledAdd(length, isect.points[0], center);
        center.scaledAdd(length, isect.points[1], center);
        weight += 2 * length;
    }
    center.scale(1.0 / weight);
    region.centroid = center;
    // calculate the weighted normal
    Vector3d cp0 = new Vector3d(), cp1 = new Vector3d();
    region.normal.setZero();
    for (TriTriIntersection isect : region.intersections) {
        cp0.sub(isect.points[0], center);
        cp1.sub(isect.points[1], center);
        tmpnormal.cross(cp0, cp1);
        if (tmpnormal.dot(sectnormal) < 0)
            tmpnormal.negate();
        region.normal.add(tmpnormal);
    }
    if (region.normal.dot(sectnormal) < 0)
        region.normal.negate();
    // handle degenerate cases
    if (region.normal.containsNaN() || region.normal.norm() < EPS) {
        region.normal.setZero();
        Point3d p0 = new Point3d();
        Point3d p1 = new Point3d();
        Vector3d c0 = new Vector3d();
        Vector3d c1 = new Vector3d();
        for (TriTriIntersection isect : region.intersections) {
            for (Point3d p : isect.points) {
                p0.inverseTransform(trans0, p);
                p1.inverseTransform(trans1, p);
                Vertex3d u0 = isect.face0.getVertex(0);
                Vertex3d u1 = isect.face0.getVertex(1);
                Vertex3d u2 = isect.face0.getVertex(2);
                Vertex3d v0 = isect.face1.getVertex(0);
                Vertex3d v1 = isect.face1.getVertex(1);
                Vertex3d v2 = isect.face1.getVertex(2);
                getCoordinates(c0, u0.pnt, u1.pnt, u2.pnt, p0);
                getCoordinates(c1, v0.pnt, v1.pnt, v2.pnt, p1);
                int[] type0 = classifyPoint(c0);
                int[] type1 = classifyPoint(c1);
                if (type0[0] == 2) {
                    if (type1[0] == 2) {
                        // vertex,vertex
                        region.normal.add(vertexVertexNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else if (type1[0] == 1) {
                        // vertex,edge
                        region.normal.add(vertexEdgeNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else {
                        // vertex,face
                        region.normal.add(vertexFaceNormal(trans0, trans1, isect.face0, isect.face1, type0[1]));
                    }
                } else if (type0[0] == 1) {
                    if (type1[0] == 2) {
                        // edge,vertex
                        region.normal.sub(vertexEdgeNormal(trans1, trans0, isect.face1, isect.face0, type1[1], type0[1]));
                    } else if (type1[0] == 1) {
                        // edge,edge
                        region.normal.add(edgeEdgeNormal(trans0, trans1, isect.face0, isect.face1, type0[1], type1[1]));
                    } else {
                        // edge,face
                        region.normal.add(edgeFaceNormal(trans0, trans1, isect.face0, isect.face1, type0[1]));
                    }
                } else {
                    if (type1[0] == 2) {
                        // face,vertex
                        region.normal.sub(vertexFaceNormal(trans1, trans0, isect.face1, isect.face0, type1[1]));
                    } else if (type1[0] == 1) {
                        // face,edge
                        region.normal.sub(edgeFaceNormal(trans1, trans0, isect.face1, isect.face0, type1[1]));
                    } else {
                        // face,face
                        region.normal.add(faceFaceNormal(trans0, trans1, isect.face0, isect.face1));
                    }
                }
            }
        }
    }
    region.normal.normalize();
    // calculate the contact depth for the region
    boolean foundPenetratingVertice = false;
    Point3d p = new Point3d();
    Point3d nearest = new Point3d();
    Vector3d diff = new Vector3d();
    Vector2d coords = new Vector2d();
    Vertex3d v;
    Face nf;
    Point3d plocal = new Point3d();
    LinkedHashSet<Vertex3d> regionvertices0 = new LinkedHashSet<Vertex3d>();
    LinkedHashSet<Vertex3d> regionvertices1 = new LinkedHashSet<Vertex3d>();
    region.depth = 0;
    for (TriTriIntersection isect : region.intersections) {
        for (int i = 0; i < 3; i++) {
            // face0 vertex depths
            v = isect.face0.getVertex(i);
            p.transform(trans0, v.pnt);
            plocal.inverseTransform(trans1, p);
            plocal.sub(isect.face1.getVertex(0).pnt);
            if (plocal.dot(isect.face1.getNormal()) <= 0) {
                regionvertices0.add(v);
            }
            // face1 vertex depths
            v = isect.face1.getVertex(i);
            p.transform(trans1, v.pnt);
            plocal.inverseTransform(trans0, p);
            plocal.sub(isect.face0.getVertex(0).pnt);
            if (plocal.dot(isect.face0.getNormal()) <= 0) {
                regionvertices1.add(v);
            }
        }
    }
    for (Vertex3d v0 : regionvertices0) {
        p.transform(trans0, v0.pnt);
        // XXX Sanchez, Jun 22, 2014
        // Changed to isInside.  Sometimes a vertex is outside
        // the mesh but determined to be "penetrating" due to
        // normal (e.g. when nearest to an edge)
        // nf = myQuery.nearestFaceToPoint (nearest, coords, mesh1, p);
        boolean inside = query.isInsideOrientedMesh(mesh1, p, 0);
        if (inside) {
            query.getFaceForInsideOrientedTest(nearest, coords);
            nearest.transform(trans1);
            diff.sub(p, nearest);
            diff.inverseTransform(trans1);
            foundPenetratingVertice = true;
            // -diff.dot (nf.getNormal());
            double dist = diff.norm();
            if (dist > region.depth)
                region.depth = dist;
        }
    }
    for (Vertex3d v1 : regionvertices1) {
        p.transform(trans1, v1.pnt);
        // nf = myQuery.nearestFaceToPoint (nearest, coords, mesh0, p);
        boolean inside = query.isInsideOrientedMesh(mesh0, p, 0);
        if (inside) {
            query.getFaceForInsideOrientedTest(nearest, coords);
            nearest.transform(trans0);
            diff.sub(p, nearest);
            diff.inverseTransform(trans0);
            foundPenetratingVertice = true;
            // -diff.dot (nf.getNormal());
            double dist = diff.norm();
            if (dist > region.depth)
                region.depth = dist;
        }
    }
    if (!foundPenetratingVertice) {
        double min = Double.POSITIVE_INFINITY, max = Double.NEGATIVE_INFINITY;
        for (int i = 0; i < region.points.size(); i++) {
            double d = region.points.get(i).dot(region.normal);
            if (d < min)
                min = d;
            if (d > max)
                max = d;
        }
        region.depth = max - min;
    }
    // eliminate redundant points
    // use point tolerance
    region.points.clear();
    for (TriTriIntersection isect : region.intersections) {
        for (Point3d pcandidate : isect.points) {
            boolean add = true;
            for (Point3d other : region.points) if (pcandidate.epsilonEquals(other, pointTol)) {
                add = false;
                break;
            }
            if (add) {
                region.points.add(pcandidate);
            }
        }
    }
    // take extrema along n axes
    if (numextremaaxes > 0) {
        // final ArrayList<Vector3d> axes = new ArrayList<Vector3d>();
        Vector3d crosszup = new Vector3d(0, 0, 1);
        crosszup.cross(region.normal, crosszup);
        double crosszupnorm = crosszup.norm();
        RigidTransform3d normtoworld;
        if (crosszup.norm() > EPS) {
            normtoworld = new RigidTransform3d(new Vector3d(), new AxisAngle(crosszup, Math.asin(crosszupnorm)));
        } else {
            normtoworld = new RigidTransform3d();
        }
        boolean[] keep = new boolean[region.points.size()];
        for (int j = 0; j < region.points.size(); j++) keep[j] = false;
        Vector3d offset = new Vector3d();
        Vector3d axis = new Vector3d();
        for (int i = 0; i < numextremaaxes; i++) {
            double min = Double.POSITIVE_INFINITY, max = Double.NEGATIVE_INFINITY;
            int mini = 0, maxi = 0;
            double angle = Math.PI * i / numextremaaxes;
            axis.set(Math.cos(angle), Math.sin(angle), 0);
            axis.transform(normtoworld);
            for (int j = 0; j < region.points.size(); j++) {
                offset.sub(region.points.get(j), center);
                double dot = offset.dot(axis);
                if (dot < min) {
                    min = dot;
                    mini = j;
                }
                if (dot > max) {
                    max = dot;
                    maxi = j;
                }
            }
            keep[mini] = true;
            keep[maxi] = true;
        }
        for (int j = (region.points.size() - 1); j >= 0; j--) {
            if (!keep[j])
                region.points.remove(j);
        }
    }
}

Example 3 with Vector2d

use of maspack.matrix.Vector2d in project artisynth_core by artisynth.

the class BVFeatureQueryTest method nearestFaceTiming.

private void nearestFaceTiming(PolygonalMesh mesh) {
    RigidTransform3d X = new RigidTransform3d();
    OBBTree obbTree = new OBBTree(mesh, 2);
    AABBTree aabbTree = new AABBTree(mesh);
    Point3d center = new Point3d();
    double diameter = 2 * aabbTree.getRadius();
    aabbTree.getCenter(center);
    X.setRandom();
    BVFeatureQuery query = new BVFeatureQuery();
    mesh.setMeshToWorld(X);
    obbTree.setBvhToWorld(X);
    aabbTree.setBvhToWorld(X);
    int numcases = 100;
    int timingcnt = 1000;
    Point3d pnt = new Point3d();
    Vector3d dir = new Vector3d();
    Point3d near = new Point3d();
    Vector2d coords = new Vector2d();
    Vector3d duv = new Vector3d();
    FunctionTimer obbFaceTimer = new FunctionTimer();
    FunctionTimer aabbFaceTimer = new FunctionTimer();
    // FunctionTimer oldFaceTimer = new FunctionTimer();
    FunctionTimer obbRayTimer = new FunctionTimer();
    FunctionTimer aabbRayTimer = new FunctionTimer();
    // FunctionTimer oldRayTimer = new FunctionTimer();
    TriangleIntersector ti = new TriangleIntersector();
    for (int i = 0; i < numcases; i++) {
        pnt.setRandom();
        pnt.scale(2 * diameter);
        pnt.add(center);
        pnt.transform(X, pnt);
        dir.setRandom();
        dir.normalize();
        obbFaceTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceToPoint(near, coords, obbTree, pnt);
        }
        obbFaceTimer.stop();
        aabbFaceTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceToPoint(near, coords, aabbTree, pnt);
        }
        aabbFaceTimer.stop();
        // oldFaceTimer.restart();
        // for (int j=0; j<timingcnt; j++) {
        // obbTree.nearestFace (pnt, null, near, coords, ti);
        // }
        // oldFaceTimer.stop();
        obbRayTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceAlongRay(near, duv, obbTree, center, dir);
        }
        obbRayTimer.stop();
        aabbRayTimer.restart();
        for (int j = 0; j < timingcnt; j++) {
            query.nearestFaceAlongRay(near, duv, aabbTree, center, dir);
        }
        aabbRayTimer.stop();
    // oldRayTimer.restart();
    // for (int j=0; j<timingcnt; j++) {
    // obbTree.intersect (center, dir, duv, ti);
    // }
    // oldRayTimer.stop();
    }
    int cnt = numcases * timingcnt;
    System.out.println("nearestFace with OBB: " + obbFaceTimer.result(cnt));
    System.out.println("nearestFace with AABB: " + aabbFaceTimer.result(cnt));
    // System.out.println (
    // "nearestFace with old OBB: " + oldFaceTimer.result(cnt));
    System.out.println("nearestRay with OBB: " + obbRayTimer.result(cnt));
    System.out.println("nearestRay with AABB: " + aabbRayTimer.result(cnt));
// System.out.println (
// "nearestRay with old OBB: " + oldRayTimer.result(cnt));
}

Example 4 with Vector2d

use of maspack.matrix.Vector2d in project artisynth_core by artisynth.

the class Intersector2d method intersectLineLine.

public int intersectLineLine(Point2d c1, Vector2d v1, Point2d c2, Vector2d v2, ArrayList<Point2d> points) {
    int nAdded = 0;
    Vector2d n1 = new Vector2d(-v1.y, v1.x);
    Vector2d n2 = new Vector2d(-v2.y, v2.x);
    n1.normalize();
    n2.normalize();
    double b1 = c1.dot(n1);
    double b2 = c2.dot(n2);
    // denominator, if zero lines are parallel
    double d = n1.x * n2.y - n1.y * n2.x;
    if (Math.abs(d) < epsilon) {
        d = n1.dot(c2) - b1;
        // distance of c2 to line 1
        d = d / n1.norm();
        if (Math.abs(d) < epsilon) {
            // lines are colinear, so add both
            // add both points
            points.add(c1);
            points.add(c2);
            nAdded = 2;
        } else {
            nAdded = 0;
        }
    } else {
        double x = (n2.y * b1 - n1.y * b2) / d;
        double y = (-n2.x * b1 + n1.x * b2) / d;
        points.add(new Point2d(x, y));
        nAdded++;
    }
    return nAdded;
}

Example 5 with Vector2d

use of maspack.matrix.Vector2d in project artisynth_core by artisynth.

the class GLSupport method transformToGLMatrix.

/**
 * Converts a 2D affine transform to a 4D matrix expected by opengl
 */
public static void transformToGLMatrix(double[] mat, AffineTransform2dBase T) {
    Matrix2dBase M = T.getMatrix();
    Vector2d p = T.getOffset();
    mat[0] = M.m00;
    mat[1] = M.m10;
    mat[2] = 0;
    mat[3] = 0;
    mat[4] = M.m01;
    mat[5] = M.m11;
    mat[6] = 01;
    mat[7] = 0;
    mat[8] = 0;
    mat[9] = 0;
    mat[10] = 0;
    mat[11] = 0;
    mat[12] = p.x;
    mat[13] = p.y;
    mat[14] = 0;
    mat[15] = 1;
}