Examples with Vector3d maspack.matrix.Vector3d used on opensource projects

Example 51 with Vector3d

use of maspack.matrix.Vector3d in project artisynth_core by artisynth.

the class CPDTest method main.

public static void main(String[] args) {
    AffineTransform3d trans = new AffineTransform3d();
    RotationMatrix3d R = new RotationMatrix3d(0.7605, -0.6307, 0.1541, 0.6485, 0.7263, -0.2279, 0.0318, 0.2733, 0.9614);
    double s = 2.7;
    trans.setA(R, new Vector3d(s, s, s), new Vector3d(0, 0, 0));
    trans.setTranslation(new Vector3d(1, 2, 3));
    Point3d[] X = get3DFish();
    int N = X.length;
    int M = N - 20;
    Point3d[] Y = new Point3d[M];
    Point3d[] out = new Point3d[M];
    for (int i = 0; i < N; i++) {
        if (i < M) {
            Y[i] = new Point3d(X[i]);
            out[i] = new Point3d();
        }
        X[i].transform(trans);
    }
    double w = 0.01;
    double lambda = 0.1;
    double beta2 = 3.5;
    CPD.verbose = true;
    ScaledRigidTransform3d rigidT = CPD.rigid(X, Y, w, 1e-10, 100, true, out);
    AffineTransform3d affT = CPD.affine(X, Y, w, 1e-10, 100, out);
    CPD.coherent(X, Y, lambda, beta2, w, 1e-10, 100, out);
    System.out.println("Original: \n" + trans.toString());
    System.out.println("Rigid Computed: \n" + rigidT.toString());
    System.out.println("Affine Computed: \n" + affT.toString());
    for (int i = 0; i < M; i++) {
        System.out.println(X[i].toString() + "\n" + out[i].toString() + "\n");
    }
}

Example 52 with Vector3d

use of maspack.matrix.Vector3d in project artisynth_core by artisynth.

the class ConstrainedTranslator3d method render.

public void render(Renderer renderer, int flags) {
    if (!myVisibleP) {
        return;
    }
    Shading savedShading = renderer.setShading(Shading.NONE);
    renderer.setLineWidth(myLineWidth);
    renderer.pushModelMatrix();
    Vector3d t = myXDraggerToWorld.p;
    renderer.translateModelMatrix(t.x, t.y, t.z);
    renderer.scaleModelMatrix(mySize);
    if (renderObject == null) {
        renderObject = createRenderable();
    }
    int gidx = selected ? 1 : 0;
    renderer.drawLines(renderObject, gidx);
    renderer.popModelMatrix();
    renderer.setShading(savedShading);
}

Example 53 with Vector3d

use of maspack.matrix.Vector3d in project artisynth_core by artisynth.

the class HalfEdge method projectionParameter.

/**
 * Computes the projection parameter of a point <code>px</code>
 * with respect to a line defined by points <code>p0</code> and
 * <code>p1</code>. This is the value <i>s</i> such that
 * <pre>
 * pp = (1-s) p0 + s p1
 * </pre>
 * gives the projection of <code>px-p0</code> onto the line. If
 * <code>p0</code> and <code>p1</code> are identical, the
 * method returns positive infinity.
 *
 * @param p0 first point defining the line
 * @param p1 second point defining the libe
 * @param px point for which the project parameter should be computed
 * @return parameter s which projects px onto the line
 */
public static double projectionParameter(Point3d p0, Point3d p1, Point3d px) {
    Vector3d del10 = new Vector3d();
    Vector3d delx0 = new Vector3d();
    del10.sub(p1, p0);
    delx0.sub(px, p0);
    double len10Sqr = del10.normSquared();
    if (len10Sqr == 0) {
        return Double.POSITIVE_INFINITY;
    } else {
        return del10.dot(delx0) / len10Sqr;
    }
}

Example 54 with Vector3d

use of maspack.matrix.Vector3d in project artisynth_core by artisynth.

the class PolygonalMesh method translateToCenterOfVolume.

/**
 * Translates the vertices of this mesh so that its origin coincides
 * with the center of volume. The topology of the mesh remains unchanged.
 */
public void translateToCenterOfVolume() {
    Vector3d off = new Vector3d();
    computeCentreOfVolume(off);
    off.negate();
    translate(off);
}

Example 55 with Vector3d

use of maspack.matrix.Vector3d in project artisynth_core by artisynth.

the class PolygonalMesh method setHardEdgesFromNormals.

/**
 */
public boolean setHardEdgesFromNormals() {
    HashSet<HalfEdge> hardSet = new HashSet<HalfEdge>();
    if (myNormals == null || myNormals.size() == numVertices()) {
        // multiple normals.
        return false;
    }
    for (Vertex3d vtx : myVertices) {
        Iterator<HalfEdge> it = vtx.getIncidentHalfEdges();
        while (it.hasNext()) {
            HalfEdge he = it.next();
            if (hardEdgeInferredFromNormals(he)) {
                hardSet.add(he);
                he.setHard(true);
            }
        }
    }
    ArrayList<Vector3d> normals = new ArrayList<Vector3d>();
    int[] indices = computeVertexNormals(normals, myMultiAutoNormalsP);
    // now see if the normals and indices equal those within the mesh, to
    // within 1e-8
    double eps = 1e-8;
    boolean normalsEqual = false;
    if (myNormals.size() == normals.size()) {
        int i;
        for (i = 0; i < myNormals.size(); i++) {
            Vector3d nrm0 = myNormals.get(i);
            Vector3d nrm1 = normals.get(i);
            if (!nrm0.epsilonEquals(nrm1, eps)) {
                break;
            }
        }
        if (i == myNormals.size()) {
            normalsEqual = Arrays.equals(myNormalIndices, indices);
        }
    }
    if (!normalsEqual) {
        myNormalsExplicitP = true;
        // leave the half edges set
        return false;
    } else {
        myNormalsExplicitP = false;
        myAutoNormalsValidP = true;
        return true;
    }
}