Examples with Vector3i maspack.matrix.Vector3i used on opensource projects

Example 6 with Vector3i

use of maspack.matrix.Vector3i in project artisynth_core by artisynth.

the class DistanceGrid method getLocalDistanceAndGradient.

/**
 * Calculates the distance and gradient at an arbitrary point in local
 * coordinates using multilinear interpolation of the vertex values for the
 * grid cell containing the point. The gradient is the true derivative
 * of the interpolated distance function within the cell, and is
 * in fact linear within the cell.
 * If the point lies outside the grid volume, {@link #OUTSIDE_GRID} is
 * returned.
 *
 * @param grad returns the gradient direction (local coordinates)
 * @param point point at which to calculate the gradient and distance
 * (local coordinates).
 * @return interpolated distance, or <code>OUTSIDE_GRID</code>.
 */
public double getLocalDistanceAndGradient(Vector3d grad, Point3d point) {
    Vector3d coords = new Vector3d();
    Vector3i vidx = new Vector3i();
    if (!getCellCoords(vidx, coords, point)) {
        return OUTSIDE_GRID;
    }
    double dx = coords.x;
    double dy = coords.y;
    double dz = coords.z;
    double w100x = (1 - dy) * (1 - dz);
    double w101x = (1 - dy) * dz;
    double w110x = dy * (1 - dz);
    double w111x = dy * dz;
    double w010y = (1 - dx) * (1 - dz);
    double w011y = (1 - dx) * dz;
    double w110y = dx * (1 - dz);
    double w111y = dx * dz;
    double w001z = (1 - dx) * (1 - dy);
    double w011z = (1 - dx) * dy;
    double w101z = dx * (1 - dy);
    double w111z = dx * dy;
    double w000 = w001z * (1 - dz);
    double w001 = w001z * dz;
    double w010 = w011z * (1 - dz);
    double w011 = w011z * dz;
    double w100 = w101z * (1 - dz);
    double w101 = w101z * dz;
    double w110 = w111z * (1 - dz);
    double w111 = w111z * dz;
    double d000 = getVertexDistance(vidx.x, vidx.y, vidx.z);
    double d001 = getVertexDistance(vidx.x, vidx.y, vidx.z + 1);
    double d010 = getVertexDistance(vidx.x, vidx.y + 1, vidx.z);
    double d011 = getVertexDistance(vidx.x, vidx.y + 1, vidx.z + 1);
    double d100 = getVertexDistance(vidx.x + 1, vidx.y, vidx.z);
    double d101 = getVertexDistance(vidx.x + 1, vidx.y, vidx.z + 1);
    double d110 = getVertexDistance(vidx.x + 1, vidx.y + 1, vidx.z);
    double d111 = getVertexDistance(vidx.x + 1, vidx.y + 1, vidx.z + 1);
    if (grad != null) {
        grad.x = (-w100x * d000 - w101x * d001 - w110x * d010 - w111x * d011 + w100x * d100 + w101x * d101 + w110x * d110 + w111x * d111);
        grad.y = (-w010y * d000 - w011y * d001 + w010y * d010 + w011y * d011 - w110y * d100 - w111y * d101 + w110y * d110 + w111y * d111);
        grad.z = (-w001z * d000 + w001z * d001 - w011z * d010 + w011z * d011 - w101z * d100 + w101z * d101 - w111z * d110 + w111z * d111);
        myGridToLocal.transformCovec(grad, grad);
    }
    return (w000 * d000 + w001 * d001 + w010 * d010 + w011 * d011 + w100 * d100 + w101 * d101 + w110 * d110 + w111 * d111);
}

Example 7 with Vector3i

use of maspack.matrix.Vector3i in project artisynth_core by artisynth.

the class DistanceGrid method fitToFeaturesOBB.

public void fitToFeaturesOBB(Collection<List<? extends Feature>> featureSets, double marginFrac, int maxRes) {
    Vector3d widths = new Vector3d();
    RigidTransform3d TCL = new RigidTransform3d();
    fitOBB(widths, TCL, marginFrac, featureSets, OBB.Method.Covariance);
    if (maxRes > 0) {
        double cwidth = widths.maxElement() / maxRes;
        Vector3i resolution = new Vector3i((int) (Math.ceil(widths.x / cwidth)), (int) (Math.ceil(widths.y / cwidth)), (int) (Math.ceil(widths.z / cwidth)));
        setResolution(resolution);
        // update widths and origin to accommodate uniform cell width
        widths.set(resolution);
        widths.scale(cwidth);
    }
    setWidths(widths);
    setCenterAndOrientation(TCL);
}

Example 8 with Vector3i

use of maspack.matrix.Vector3i in project artisynth_core by artisynth.

the class DistanceGrid method getQuadTet.

/**
 * Used for debugging
 */
public TetDesc getQuadTet(Point3d point) {
    Vector3d coords = new Vector3d();
    Vector3i vidx = new Vector3i();
    if (getQuadCellCoords(coords, vidx, point, myQuadGridToLocal) == -1) {
        return null;
    }
    double dx = coords.x;
    double dy = coords.y;
    double dz = coords.z;
    return new TetDesc(vidx, TetID.findSubTet(dx, dy, dz));
}

Example 9 with Vector3i

use of maspack.matrix.Vector3i in project artisynth_core by artisynth.

the class DistanceGrid method createEdgeNode.

protected Vector3i createEdgeNode(Vector3i v0, Vector3i v1) {
    Vector3i en = new Vector3i();
    en.x = (v0.x + v1.x) / 2;
    en.y = (v0.y + v1.y) / 2;
    en.z = (v0.z + v1.z) / 2;
    return en;
}

Example 10 with Vector3i

use of maspack.matrix.Vector3i in project artisynth_core by artisynth.

the class DistanceGridFeatureQuery method getOrCreateFaceGrid.

private static DistanceGrid getOrCreateFaceGrid(PolygonalMesh mesh) {
    DistanceGrid sdGrid = mesh.getSignedDistanceGrid();
    if (sdGrid == null) {
        Vector3i cellDivisions = new Vector3i(20, 20, 20);
        double gridMargin = 0.1;
        sdGrid = mesh.getSignedDistanceGrid(gridMargin, cellDivisions);
    }
    return sdGrid;
}