Examples with InternalErrorException maspack.util.InternalErrorException used on opensource projects

Example 51 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class AffineTransformWidget method updateInternalValue.

/**
 * Updates the internal representation of the value, updates any result
 * holders, and returns true if the new value differs from the old value.
 */
protected boolean updateInternalValue(Object value) {
    if (!valuesEqual(value, getInternalValue())) {
        maskValueChanges(true);
        if (value == Property.VoidValue) {
            for (LabeledTextField c : myFields) {
                c.setValue(Property.VoidValue);
            }
            myValueIsVoid = true;
        } else {
            RotationMatrix3d R = new RotationMatrix3d();
            Vector3d p = new Vector3d();
            Vector3d scale = new Vector3d(1, 1, 1);
            Vector3d shear = new Vector3d(0, 0, 0);
            if (value instanceof RigidTransform3d) {
                RigidTransform3d newX = (RigidTransform3d) value;
                p.set(newX.p);
                R.set(newX.R);
            // System.out.println ("newT\n" + newX.toString("%10.6f"));
            } else if (value instanceof AffineTransform3d) {
                AffineTransform3d newX = (AffineTransform3d) value;
                p.set(newX.p);
                newX.factorA(R, scale, shear);
            // System.out.println ("newX\n" + newX.toString("%10.6f"));
            } else {
                throw new InternalErrorException("Unknown value type " + value.getClass());
            }
            setTranslation(p);
            setRotation(R.getAxisAngle());
            setScale(scale);
            setShear(shear);
            myValueIsVoid = false;
        }
        maskValueChanges(false);
        return true;
    } else {
        return false;
    }
}

Example 52 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class Translator3d method intersectRayAndFixture.

private void intersectRayAndFixture(Point3d p, Line ray) {
    Line draggerRay = new Line(ray);
    draggerRay.inverseTransform(myXDraggerToWorld);
    switch(mySelectedComponent) {
        case X_AXIS:
            {
                double l = xAxis.nearestPoint(p, draggerRay);
                p.y = p.z = 0;
                break;
            }
        case Y_AXIS:
            {
                yAxis.nearestPoint(p, draggerRay);
                p.x = p.z = 0;
                break;
            }
        case Z_AXIS:
            {
                zAxis.nearestPoint(p, draggerRay);
                p.x = p.y = 0;
                break;
            }
        case XY_PLANE:
            {
                draggerRay.intersectPlane(p, xyPlane);
                p.z = 0;
                break;
            }
        case YZ_PLANE:
            {
                draggerRay.intersectPlane(p, yzPlane);
                p.x = 0;
                break;
            }
        case ZX_PLANE:
            {
                draggerRay.intersectPlane(p, zxPlane);
                p.y = 0;
                break;
            }
        default:
            {
                throw new InternalErrorException("unexpected case " + mySelectedComponent);
            }
    }
}

Example 53 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class Transrotator3d method findRotation.

/**
 * Given a ray intersecting one of the rotational dragger components, find
 * the intersection point p on the component (in dragger coordinates),
 * along with the corresponding rotation R.
 */
protected void findRotation(RotationMatrix3d R, Point3d p, Line ray) {
    Line draggerRay = new Line(ray);
    draggerRay.inverseTransform(myXDraggerToWorld0);
    switch(mySelectedComponent) {
        case X_ROTATE:
            {
                draggerRay.intersectPlane(p, yzPlane);
                R.setAxisAngle(xAxis.getDirection(), Math.atan2(p.z, p.y));
                break;
            }
        case Y_ROTATE:
            {
                draggerRay.intersectPlane(p, zxPlane);
                R.setAxisAngle(yAxis.getDirection(), Math.atan2(p.x, p.z));
                break;
            }
        case Z_ROTATE:
            {
                draggerRay.intersectPlane(p, xyPlane);
                R.setAxisAngle(zAxis.getDirection(), Math.atan2(p.y, p.x));
                break;
            }
        default:
            {
                throw new InternalErrorException("unexpected case " + mySelectedComponent);
            }
    }
    double mag = p.norm();
    if (mag != 0) {
        p.scale(myRotatorRelativeSize * mySize / mag);
    }
}

Example 54 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class LemkeContactSolver method partitionVariables.

private void partitionVariables(ContactVariable drive) {
    thetaAlpha.clear();
    phiAlphaP.clear();
    phiAlphaX.clear();
    wBeta.clear();
    wAlpha.clear();
    kernGamma = null;
    ksize = 0;
    if (drive == null) {
        wzVar = null;
        z0InKernel = false;
    } else {
        wzVar = drive.isZ() ? (ContactVariable) drive.complement : drive;
        if (wzVar.type == GAMMA) {
            kernGamma = wzVar;
        }
        z0InKernel = true;
        ksize++;
    }
    for (int i = 0; i < numc; i++) {
        ContactVariable theta = zVars[i];
        ContactVariable nu = wVars[i];
        phiXArray[i] = null;
        if (theta.isBasic) {
            thetaAlpha.add(theta);
            wAlpha.add(nu);
            ksize++;
        } else if (nu.isBasic) {
            wBeta.add(nu);
        }
        if (frictionStatus[i] == FRICTION_ACTIVE) {
            ContactVariable lambda = zVars[theta.di + numd];
            ContactVariable gamma = wVars[theta.di + numd];
            for (int j = 0; j < numd; j++) {
                ContactVariable phi = zVars[theta.di + j];
                ContactVariable sigma = wVars[theta.di + j];
                if (phi.isBasic) {
                    if (lambda.isBasic && phiXArray[i] == null) {
                        phiAlphaX.add(phi);
                        phiXArray[i] = phi;
                    } else {
                        phiAlphaP.add(phi);
                        ksize++;
                    }
                    wAlpha.add(sigma);
                // phiCnt[i]++;
                } else if (sigma.isBasic) {
                    wBeta.add(sigma);
                }
            }
            if (lambda.isBasic) {
                wAlpha.add(gamma);
                if (phiXArray[i] == null) {
                    // sanity check
                    if (kernGamma != null) {
                        throw new InternalErrorException("zero col lambda not unique: contacts " + kernGamma.ci + " and " + lambda.ci);
                    }
                    if (wzVar == null || lambda.ci != wzVar.ci || wzVar.type != SIGMA) {
                        throw new InternalErrorException("zero col lambda not associated with sigma, contact" + lambda.ci);
                    }
                    kernGamma = (ContactVariable) lambda.complement;
                }
            } else if (gamma.isBasic) {
                wBeta.add(gamma);
            }
        }
    }
    if (wzVar != null) {
        wAlpha.add(wzVar);
    }
    String caseName = "PRINCIPAL";
    if (wzVar != null) {
        if (wzVar.type == NU) {
            caseName = "NU";
        } else if (wzVar.type == SIGMA && kernGamma == null) {
            caseName = "SIGMA non-zero";
        } else if (wzVar.type == SIGMA) {
            caseName = "SIGMA zero";
        } else if (wzVar.type == GAMMA) {
            caseName = "GAMMA";
        } else {
            throw new InternalErrorException("bogus type: " + wzVar.getName());
        }
    }
    thetaAlpha.close();
    phiAlphaP.close();
    phiAlphaX.close();
    wBeta.close();
    wAlpha.close();
    if (false) {
        System.out.println("ta:" + thetaAlpha.size() + " pa:" + phiAlphaP.size() + " px:" + phiAlphaX.size() + " ksize:" + ksize + " " + caseName);
    }
    if (ksize == 8) {
        printBasis(drive);
    }
}

Example 55 with InternalErrorException

use of maspack.util.InternalErrorException in project artisynth_core by artisynth.

the class Rotator3d method findRotation.

private void findRotation(RotationMatrix3d R, Point3d p, Line ray) {
    Line draggerRay = new Line(ray);
    draggerRay.inverseTransform(myXDraggerToWorld0);
    switch(mySelectedComponent) {
        case X_AXIS:
            {
                draggerRay.intersectPlane(p, yzPlane);
                R.setAxisAngle(xAxis.getDirection(), Math.atan2(p.z, p.y));
                break;
            }
        case Y_AXIS:
            {
                draggerRay.intersectPlane(p, zxPlane);
                R.setAxisAngle(yAxis.getDirection(), Math.atan2(p.x, p.z));
                break;
            }
        case Z_AXIS:
            {
                draggerRay.intersectPlane(p, xyPlane);
                R.setAxisAngle(zAxis.getDirection(), Math.atan2(p.y, p.x));
                break;
            }
        case OUTER_SPHERE:
            {
                break;
            }
        default:
            {
                throw new InternalErrorException("unexpected case " + mySelectedComponent);
            }
    }
    double mag = p.norm();
    if (mag != 0) {
        p.scale(mySize / mag);
    }
}