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

Example 86 with VectorNd

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

the class MechSystemBase method copy.

public MechSystemBase copy(int flags, Map<ModelComponent, ModelComponent> copyMap) {
    MechSystemBase msb = (MechSystemBase) super.copy(flags, copyMap);
    // Being overly thorough here since many of these variables will be
    // reset anyway by updateDynamicComponents()
    msb.myDynamicComponents = null;
    msb.myParametricComponents = null;
    msb.myOrderedAttachments = null;
    msb.myConstrainers = null;
    msb.myDynamicSizes = null;
    msb.myNumActive = 0;
    msb.myNumAttached = 0;
    msb.myNumParametric = 0;
    msb.myActiveVelStateSize = 0;
    msb.myActivePosStateSize = 0;
    msb.myParametricVelStateSize = 0;
    msb.myParametricPosStateSize = 0;
    msb.myProfilingP = myProfilingP;
    msb.setUpdateForcesAtStepEndMode(myUpdateForcesAtStepEndMode);
    if (myUpdateForcesAtStepEndMode == PropertyMode.Explicit) {
        msb.setUpdateForcesAtStepEnd(myUpdateForcesAtStepEnd);
    }
    msb.myMassMatrix = null;
    // msb.myStabilization = myStabilization;
    msb.myDynamicsEnabled = myDynamicsEnabled;
    msb.allocateSolver(mySolver);
    // msb.myPosSolver = new KKTSolver();
    msb.myRg = new VectorNd(0);
    msb.myBg = new VectorNd(0);
    msb.myRn = new VectorNd(0);
    msb.myBn = new VectorNd(0);
    return msb;
}

Example 87 with VectorNd

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

the class MechSystemBase method printState.

private synchronized void printState(String fmt, double t) {
    if (myPrintInterval != -1) {
        // reset last print time if necessary
        if (TimeBase.compare(t, myLastPrintTime) < 0) {
            myLastPrintTime = ((int) (t / myPrintInterval)) * myPrintInterval;
        }
    }
    if (myPrintInterval == -1 || TimeBase.compare(t, myLastPrintTime + myPrintInterval) >= 0) {
        updateDynamicComponentLists();
        VectorNd x = new VectorNd(myActivePosStateSize);
        VectorNd v = new VectorNd(myActiveVelStateSize);
        getActivePosState(x, 0);
        // Hack: get vel in body coords until data is converted ...
        getActiveVelState(v, 0, /*bodyCoords=*/
        false);
        if (myPrintStateWriter == null) {
            System.out.println("t=" + t + ":");
            System.out.println("v: " + v.toString(fmt));
            System.out.println("x: " + x.toString(fmt));
        } else {
            myPrintStateWriter.println("t=" + t + ":");
            myPrintStateWriter.println("v: " + v.toString(fmt));
            myPrintStateWriter.println("x: " + x.toString(fmt));
            myPrintStateWriter.flush();
        }
        if (myPrintInterval != -1) {
            myLastPrintTime += myPrintInterval;
        }
    }
}

Example 88 with VectorNd

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

the class MechSystemBase method getMassMatrix.

public void getMassMatrix(SparseBlockMatrix M, VectorNd f, double t) {
    updateDynamicComponentLists();
    if (!checkMatrixSize(M)) {
        throw new IllegalArgumentException("M improperly sized; perhaps not created with buildMassMatrix()?");
    }
    if (f != null) {
        f.setSize(mySystemSize);
    } else {
        // XXX it seems some components require it to exist
        f = new VectorNd(mySystemSize);
    }
    for (int i = 0; i < myDynamicComponents.size(); i++) {
        myDynamicComponents.get(i).resetEffectiveMass();
    }
    for (DynamicAttachment a : getOrderedAttachments()) {
        a.addMassToMasters();
    }
    getMassMatrixValues(M, f, t);
// TODO - need to fix this for non-block diagonal mass matrices:
// for (DynamicAttachment a : getOrderedAttachments()) {
// a.reduceMass (M, f);
// }
}

Example 89 with VectorNd

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

the class MechSystemBase method getAttachmentDerivatives.

public VectorNd getAttachmentDerivatives() {
    updateDynamicComponentLists();
    ArrayList<DynamicAttachment> attachments = getOrderedAttachments();
    int csize = 0;
    for (int k = 0; k < attachments.size(); k++) {
        DynamicAttachment a = attachments.get(k);
        csize += myDynamicSizes[a.getSlave().getSolveIndex()];
    }
    VectorNd g = new VectorNd(csize);
    double[] gbuf = g.getBuffer();
    int goff = csize;
    for (int k = 0; k < attachments.size(); k++) {
        DynamicAttachment a = attachments.get(k);
        int bj = attachments.size() - 1 - k;
        goff -= myDynamicSizes[a.getSlave().getSolveIndex()];
        a.getDerivative(gbuf, goff);
    }
    return g;
}

Example 90 with VectorNd

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

the class ColorBar method render.

@Override
public void render(Renderer renderer, int flags) {
    if (!isSelectable() && renderer.isSelecting()) {
        return;
    }
    RenderObject robj = myRenderObject;
    VectorNd labelPos = myLabelPos;
    ArrayList<String> labelText = myLabelText;
    if (robj == null || labelPos == null || labelText == null) {
        System.out.println((robj == null) + " " + (labelPos == null) + " " + (labelText == null));
        return;
    }
    int screenWidth = renderer.getScreenWidth();
    int screenHeight = renderer.getScreenHeight();
    // turn off shading for the labels
    Renderer.Shading savedShadeModel = renderer.getShading();
    renderer.setShading(Renderer.Shading.NONE);
    double x0 = myLoc.x;
    double y0 = myLoc.y;
    double w = myLoc.width;
    double h = myLoc.height;
    if (horizontal) {
        h = myLoc.width;
        w = myLoc.height;
        x0 = myLoc.y;
        y0 = myLoc.x;
    }
    // absolute or normalized -> absolute
    if (Math.abs(x0) <= 1) {
        x0 = x0 * screenWidth;
    }
    if (x0 < 0) {
        x0 = screenWidth + x0;
    }
    if (Math.abs(y0) <= 1) {
        y0 = y0 * screenHeight;
    }
    if (y0 < 0) {
        y0 = screenHeight + y0;
    }
    if (w <= 1) {
        w = w * screenWidth;
    }
    if (h <= 1) {
        h = h * screenHeight;
    }
    renderer.pushModelMatrix();
    renderer.setModelMatrix2d(0, screenWidth, 0, screenHeight);
    // transform so that the colorbar occupies correct location
    AffineTransform3d trans = new AffineTransform3d();
    if (horizontal) {
        trans.setRotation(ROT_Z_270);
        trans.applyScaling(h, w, 1);
    } else {
        trans.applyScaling(w, h, 1);
    }
    trans.setTranslation(x0, y0, 0);
    renderer.mulModelMatrix(trans);
    renderer.setVertexColorMixing(ColorMixing.REPLACE);
    renderer.drawTriangles(robj, 0);
    float savedLineWidth = renderer.getLineWidth();
    LineFaceRenderProps props = (LineFaceRenderProps) getRenderProps();
    renderer.setLineWidth(props.getLineWidth());
    renderer.setLineColoring(props, /*highlight=*/
    false);
    renderer.setVertexColorMixing(ColorMixing.NONE);
    renderer.drawLines(robj, 0);
    renderer.popModelMatrix();
    // return line width
    renderer.setLineWidth(savedLineWidth);
    // labels
    int nLabels = Math.min(labelPos.size(), labelText.size());
    if (nLabels > 0) {
        double tx, ty;
        // // for consistency, assume line top as 3/4 font size
        // double t = myTextSize*0.75;
        // double vc = myTextSize* 0.25;
        // double b = myTextSize*0.25;
        renderer.setFaceColoring(props, isSelected());
        float[] loc = new float[3];
        for (int i = 0; i < nLabels; i++) {
            tx = 0;
            ty = 0;
            // text orientation computation
            String label = labelText.get(i);
            Rectangle2D box = renderer.getTextBounds(myFont, label, myTextSize);
            double bw = box.getWidth();
            double bh = box.getHeight();
            double b = box.getY();
            double vc = b + bh / 2;
            double t = bh + b;
            if (horizontal) {
                switch(hAlignment) {
                    case LEFT:
                        tx = x0 + myTextOffset.x;
                        break;
                    case CENTRE:
                        tx = x0 - bw / 2;
                        break;
                    case RIGHT:
                        tx = x0 - myTextOffset.x - bw;
                        break;
                }
                tx += w * labelPos.get(i);
                switch(vAlignment) {
                    case BOTTOM:
                        ty = y0 - myTextOffset.y - t;
                        break;
                    case CENTRE:
                        ty = y0 - vc + h / 2;
                        break;
                    case TOP:
                        ty = y0 + h + myTextOffset.y + b;
                        break;
                }
            } else {
                switch(hAlignment) {
                    case LEFT:
                        tx = x0 - myTextOffset.x - bw;
                        break;
                    case CENTRE:
                        tx = x0 - bw / 2 + w / 2;
                        break;
                    case RIGHT:
                        tx = x0 + myTextOffset.x + w;
                        break;
                }
                switch(vAlignment) {
                    case BOTTOM:
                        ty = y0 + myTextOffset.y;
                        break;
                    case CENTRE:
                        ty = y0 - vc;
                        break;
                    case TOP:
                        ty = y0 - myTextOffset.y - t;
                        break;
                }
                ty += h * labelPos.get(i);
            }
            loc[0] = (float) tx;
            loc[1] = (float) ty;
            renderer.drawText(myFont, label, loc, myTextSize);
        }
    }
    renderer.setShading(savedShadeModel);
}