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

Example 91 with Vector3d

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

the class MatricesUBO method putMatrix.

public static void putMatrix(ByteBuffer buff, AffineTransform3dBase T) {
    Matrix3dBase M = T.getMatrix();
    Vector3d b = T.getOffset();
    buff.putFloat((float) M.m00);
    buff.putFloat((float) M.m10);
    buff.putFloat((float) M.m20);
    buff.putFloat((float) 0);
    buff.putFloat((float) M.m01);
    buff.putFloat((float) M.m11);
    buff.putFloat((float) M.m21);
    buff.putFloat((float) 0);
    buff.putFloat((float) M.m02);
    buff.putFloat((float) M.m12);
    buff.putFloat((float) M.m22);
    buff.putFloat((float) 0);
    buff.putFloat((float) b.x);
    buff.putFloat((float) b.y);
    buff.putFloat((float) b.z);
    buff.putFloat((float) 1);
}

Example 92 with Vector3d

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

the class LineSegment method computeFocalPoint.

/**
 * Given a plane expressed in eye coordinates, compute a representative focal
 * point (in eye coordinates) for this plane, and return the distance
 * per-pixal for this focal point. Returning -1 means that the plane is
 * invisible.
 *
 * <p>
 * The method works by finding the centroid of the (clipped) polygon
 * associated with the grid boundary, as seen in screen coordinates. This
 * centroid is the projected back onto the plane.
 */
private double computeFocalPoint(Point3d focus, RigidTransform3d TGW, Renderer renderer) {
    RigidTransform3d XGridToEye = new RigidTransform3d();
    RigidTransform3d TWorldToEye = renderer.getViewMatrix();
    XGridToEye.mul(TWorldToEye, TGW);
    if (focus == null) {
        focus = new Point3d();
    }
    if (renderer.isOrthogonal()) {
        Plane plane = new Plane();
        plane.set(XGridToEye);
        computeFocalPoint(focus, plane, 0, 0, 1);
        return renderer.getViewPlaneWidth() / renderer.getScreenWidth();
    }
    double near = renderer.getViewPlaneDistance();
    double far = renderer.getFarPlaneDistance();
    double vw = renderer.getViewPlaneWidth();
    double vh = renderer.getViewPlaneHeight();
    // double fov = renderer.getFieldOfViewY();
    int height = renderer.getScreenHeight();
    double nearDistPerPixel = renderer.getViewPlaneHeight() / height;
    GridCentroidComputer newComp = new GridCentroidComputer(myMinSize, near, far);
    Point3d cent = new Point3d();
    if (!newComp.computeCentroid(cent, XGridToEye, vw, vh)) {
        return -1;
    }
    double zmax = newComp.getZmax();
    double zmin = newComp.getZmin();
    RotationMatrix3d R = XGridToEye.R;
    Plane plane = new Plane(new Vector3d(R.m02, R.m12, R.m22), new Point3d(XGridToEye.p));
    double s = plane.intersectLine(focus, cent, Point3d.ZERO);
    if (s == Double.POSITIVE_INFINITY) {
        focus.scale(-(zmin + zmax) / (2 * near), cent);
    }
    double zref = -focus.z;
    return zref / near * nearDistPerPixel;
}

Example 93 with Vector3d

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

the class LineSegment method drawAxisLabels.

private void drawAxisLabels(Renderer renderer, int xcnt, int ycnt, double majorSize, int numDivisions, double pixelSize) {
    double log10 = Math.log10(majorSize);
    int exp = (int) Math.floor(log10);
    int base = (int) Math.round(Math.pow(10, log10 - exp));
    renderer.setColor(getEffectiveLabelColor());
    // minimum indices of the major cell divisions along x and y.
    // maximum indices are the negatives of these
    int min_x_idx = -(xcnt - 1) / (2 * numDivisions);
    int min_y_idx = -(ycnt - 1) / (2 * numDivisions);
    // Find offset of grid center relative to viewer center. (These aren't
    // necessarily the same because of the need to align grid with major
    // divisions.)
    Point3d goff = new Point3d(renderer.getCenter());
    goff.inverseTransform(XGridToWorld);
    double sw = renderer.getScreenWidth() * pixelSize;
    double sh = renderer.getScreenHeight() * pixelSize;
    // Find indices of major divsions along which to draw x and y axis
    // labels.  These are the lowest and leftmost divisions that are visible
    // in the viewer, with an extra tolerance (0.25*majorSize) to allow room
    // for the labels themselves.
    int x_label_idx = Math.max(-(int) ((sh / 2 - goff.y) / majorSize - 0.25), min_y_idx);
    int y_label_idx = Math.max(-(int) ((sw / 2 - goff.x) / majorSize - 0.25), min_x_idx);
    double emSize = myLabelSize * pixelSize;
    // Find cordinates at grid center
    Point3d gcenter = new Point3d();
    Vector3d axisDirs = new Vector3d(1, 1, 1);
    if (myUseWorldOrigin) {
        gcenter.inverseTransform(XGridToWorld.R, XGridToWorld.p);
        axisDirs.inverseTransform(XGridToWorld.R, axisDirs);
    }
    if (myXAxisLabeling != AxisLabeling.OFF) {
        Vector3d pos = new Vector3d();
        double y = x_label_idx * majorSize - emSize;
        int izero = (int) Math.round(-gcenter.x / majorSize);
        int sgnx = axisDirs.x > 0 ? 1 : -1;
        int x_min = Math.max(y_label_idx - 1, min_x_idx);
        int x_max = Math.min((int) (x_min + sw / majorSize + 0.5), -min_x_idx);
        for (int i = x_min; i <= x_max; i++) {
            String label = createLabel(base, exp, sgnx * (i - izero));
            pos.set(i * majorSize + 2 * pixelSize, y, 0);
            renderer.drawText(label, pos, emSize);
        }
    }
    if (myYAxisLabeling != AxisLabeling.OFF) {
        Vector3d pos = new Vector3d();
        double x = y_label_idx * majorSize - 2 * pixelSize;
        int jzero = (int) Math.round(-gcenter.y / majorSize);
        int sgny = axisDirs.y > 0 ? 1 : -1;
        int y_min = Math.max(x_label_idx - 1, min_y_idx);
        int y_max = Math.min((int) (y_min + sh / majorSize + 0.5), -min_y_idx);
        for (int j = y_min; j <= y_max; j++) {
            String label = createLabel(base, exp, sgny * (j - jzero));
            Rectangle2D bounds = renderer.getTextBounds(renderer.getDefaultFont(), label, emSize);
            double y = j * majorSize + 2 * pixelSize;
            pos.set(x - bounds.getWidth(), y, 0);
            renderer.drawText(label, pos, emSize);
        }
    }
}

Example 94 with Vector3d

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

the class LineSegment method intersectBoundary.

private void intersectBoundary(ConvexPoly2d poly, RigidTransform3d XGridToEye, double nx, double ny, double nz, double d) {
    Plane plane = new Plane(nx, ny, nz, d);
    if (XGridToEye != RigidTransform3d.IDENTITY) {
        plane.inverseTransform(XGridToEye);
    }
    Vector3d u = new Vector3d();
    Point3d p = new Point3d();
    Plane polyPlane = new Plane(0, 0, 1, 0);
    if (polyPlane.intersectPlane(p, u, plane)) {
        poly.intersectHalfPlane(u.y, -u.x, p.x * u.y - p.y * u.x);
    }
}

Example 95 with Vector3d

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

the class Jack3d method updatePosition.

private void updatePosition(Point3d p0, Point3d p1) {
    Vector3d planeNormal = null;
    switch(mySelectedComponent) {
        case X_AXIS:
        case Y_AXIS:
        case Z_AXIS:
            {
                Vector3d del = new Vector3d();
                del.sub(p1, p0);
                myXDraggerToWorld.mulXyz(del.x, del.y, del.z);
                break;
            }
        case Z_ROTATE:
            {
                planeNormal = xyPlane.getNormal();
                break;
            }
        case X_ROTATE:
            {
                planeNormal = yzPlane.getNormal();
                break;
            }
        case Y_ROTATE:
            {
                planeNormal = zxPlane.getNormal();
                break;
            }
    }
    if (planeNormal != null) {
        Vector3d cross = new Vector3d();
        cross.cross(p0, p1);
        double ang = Math.asin(cross.norm() / (p0.norm() * p1.norm()));
        if (cross.dot(planeNormal) < 0) {
            ang = -ang;
        }
        myXDraggerToWorld.R.mulAxisAngle(planeNormal, ang);
    }
}