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

Example 96 with Vector3d

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

the class GLViewer method rotateContinuous.

// /**
// * Distance of pixel from center (Euchlidean)
// * @param x
// * @param y
// * @return
// */
// private double centerDistance (int x, int y) {
// int dx = x - width / 2;
// int dy = y - height / 2;
// return Math.sqrt (dx * dx + dy * dy);
// }
/**
 * Rotate the eye coordinate frame about the center point, independent
 * of the default up vector.
 *
 * @param xang
 * amount of horizontal rotation (in radians)
 * @param yang
 * amount of vertical rotation (in radians)
 */
protected void rotateContinuous(double xang, double yang) {
    Vector3d reye = new Vector3d();
    reye.sub(getEye(), myViewState.myCenter);
    // up-facing vector
    Vector3d yCam = new Vector3d();
    // right-facing vector
    Vector3d xCam = new Vector3d();
    synchronized (viewMatrix) {
        viewMatrix.R.getRow(1, yCam);
        viewMatrix.R.getRow(0, xCam);
    }
    // System.out.println("Transform: " + XEyeToWorld.R);
    if (yang != 0) {
        RotationMatrix3d R = new RotationMatrix3d(new AxisAngle(xCam, yang));
        reye.transform(R);
        yCam.transform(R);
    }
    if (xang != 0) {
        reye.transform(new RotationMatrix3d(new AxisAngle(yCam, xang)));
    }
    Point3d eye = new Point3d();
    eye.add(reye, myViewState.myCenter);
    setEyeToWorld(eye, myViewState.myCenter, yCam);
    repaint();
}

Example 97 with Vector3d

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

the class GLViewer method getEyeZDirection.

public Vector3d getEyeZDirection() {
    Vector3d zdir = new Vector3d();
    viewMatrix.R.getRow(2, zdir);
    return zdir;
}

Example 98 with Vector3d

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

the class RotatableScaler3d method updatePosition.

private void updatePosition(Point3d p1, boolean constrained, boolean repositioning) {
    if (repositioning) {
        Vector3d del = new Vector3d();
        del.sub(p1, myPnt0);
        if (constrained) {
            double s = getConstrainedStepSize();
            del.x = s * Math.round(del.x / s);
            del.y = s * Math.round(del.y / s);
            del.z = s * Math.round(del.z / s);
        }
        myXDraggerToWorld.mulXyz(del.x, del.y, del.z);
    } else {
        AffineTransform3d Tinc = (AffineTransform3d) myIncrementalTransform;
        AffineTransform3d T = (AffineTransform3d) myTransform;
        Vector3d d = new Vector3d(), o = new Vector3d();
        o.sub(myPnt0, T.p);
        if (constrained) {
            d.sub(p1, myPnt0);
            double s = getConstrainedStepSize();
            d.x = s * Math.round(d.x / s);
            d.y = s * Math.round(d.y / s);
            d.z = s * Math.round(d.z / s);
            d.add(o);
        } else {
            d.sub(p1, T.p);
        }
        double x, y, z;
        x = d.x == 0 ? 1 : (o.x == 0 ? 1e-10 : Math.abs(d.x / o.x));
        y = d.y == 0 ? 1 : (o.y == 0 ? 1e-10 : Math.abs(d.y / o.y));
        z = d.z == 0 ? 1 : (o.z == 0 ? 1e-10 : Math.abs(d.z / o.z));
        // x = d.x == 0 ? 1 : (o.x == 0 ? 1e-10 : d.x / o.x);
        // y = d.y == 0 ? 1 : (o.y == 0 ? 1e-10 : d.y / o.y);
        // z = d.z == 0 ? 1 : (o.z == 0 ? 1e-10 : d.z / o.z);
        Tinc.set(T);
        T.setIdentity();
        T.applyScaling(x, y, z);
        Tinc.mulInverseLeft(Tinc, T);
    }
}

Example 99 with Vector3d

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

the class Scaler3d method updatePosition.

private void updatePosition(Point3d p1, boolean constrained) {
    Vector3d d = new Vector3d(), o = new Vector3d();
    o.sub(myPnt0, myTransform.p);
    if (constrained) {
        d.sub(p1, myPnt0);
        double s = getConstrainedStepSize();
        d.x = s * Math.round(d.x / s);
        d.y = s * Math.round(d.y / s);
        d.z = s * Math.round(d.z / s);
        d.add(o);
    } else {
        d.sub(p1, myTransform.p);
    }
    double x, y, z;
    x = d.x == 0 ? 1 : (o.x == 0 ? 1e-10 : Math.abs(d.x / o.x));
    y = d.y == 0 ? 1 : (o.y == 0 ? 1e-10 : Math.abs(d.y / o.y));
    z = d.z == 0 ? 1 : (o.z == 0 ? 1e-10 : Math.abs(d.z / o.z));
    // x = d.x == 0 ? 1 : (o.x == 0 ? 1e-10 : d.x / o.x);
    // y = d.y == 0 ? 1 : (o.y == 0 ? 1e-10 : d.y / o.y);
    // z = d.z == 0 ? 1 : (o.z == 0 ? 1e-10 : d.z / o.z);
    myIncrementalTransform.set(myTransform);
    myTransform.setIdentity();
    myTransform.applyScaling(x, y, z);
    myIncrementalTransform.mulInverseLeft(myIncrementalTransform, myTransform);
}

Example 100 with Vector3d

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

the class CGSolverTest method createConstraintProblem.

public SparseMatrixNd createConstraintProblem(int nbodies) {
    SparseMatrixNd M = new SparseMatrixNd(5 * nbodies, 5 * nbodies);
    Matrix3d mass = new Matrix3d();
    for (int k = 0; k < nbodies; k++) {
        mass.setRandom(-0.5, 0.5, randGen);
        mass.mulTranspose(mass);
        for (int i = 0; i < 3; i++) {
            for (int j = 0; j < 3; j++) {
                M.set(3 * k + i, 3 * k + j, mass.get(i, j));
            }
        }
    }
    int[] connectionCount = new int[nbodies * nbodies];
    Vector3d n = new Vector3d();
    for (int k = 0; k < 2 * nbodies; k++) {
        // find a random connection between two bodies
        int bod1, bod2;
        do {
            bod1 = randGen.nextInt(nbodies);
            bod2 = randGen.nextInt(nbodies);
            if (bod1 < bod2) {
                int l = bod1;
                bod1 = bod2;
                bod2 = l;
            }
        } while (bod1 == bod2 || connectionCount[bod1 * nbodies + bod2] >= 2);
        connectionCount[bod1 * nbodies + bod2]++;
        n.setRandom(-0.5, 0.5, randGen);
        for (int i = 0; i < 3; i++) {
            M.set(bod1 * 3 + i, 3 * nbodies + k, n.get(i));
            M.set(bod2 * 3 + i, 3 * nbodies + k, -n.get(i));
            M.set(3 * nbodies + k, bod1 * 3 + i, n.get(i));
            M.set(3 * nbodies + k, bod2 * 3 + i, -n.get(i));
        }
    }
    return M;
}