org.apache.commons.math3.geometry.euclidean.threed.Rotation Java Examples
The following examples show how to use
org.apache.commons.math3.geometry.euclidean.threed.Rotation.
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Example #1
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() throws MathArithmeticException, MathIllegalArgumentException {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #2
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() throws MathArithmeticException, MathIllegalArgumentException {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #3
| Source File: QuaternionTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public final void testPolarForm() {
final Random r = new Random(48);
final int numberOfTrials = 1000;
for (int i = 0; i < numberOfTrials; i++) {
final Quaternion q = new Quaternion(2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5),
2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5));
final Quaternion qP = q.getPositivePolarForm();
Assert.assertTrue(qP.isUnitQuaternion(COMPARISON_EPS));
Assert.assertTrue(qP.getQ0() >= 0);
final Rotation rot = new Rotation(q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(), true);
final Rotation rotP = new Rotation(qP.getQ0(), qP.getQ1(), qP.getQ2(), qP.getQ3(), true);
Assert.assertEquals(rot.getAngle(), rotP.getAngle(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getX(), rot.getAxis().getX(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getY(), rot.getAxis().getY(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getZ(), rot.getAxis().getZ(), COMPARISON_EPS);
}
}
Example #4
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #5
| Source File: BWRigidBody.java From NOVA-Core with GNU Lesser General Public License v3.0 | 6 votes |
|
void updateRotation(double deltaTime) {
//Integrate angular velocity to angular displacement
Rotation angularVel = angularVelocity();
Rotation deltaRotation = RotationUtil.slerp(Rotation.IDENTITY, angularVel, deltaTime);
entity().transform().setRotation(entity().rotation().applyTo(deltaRotation));
//Integrate torque to angular velocity
Vector3D torque = netTorque.scalarMultiply(deltaTime);
if (!Vector3D.ZERO.equals(torque)) {
setAngularVelocity(angularVelocity().applyTo(new Rotation(Vector3DUtil.FORWARD, torque)));
}
//Clear net torque
netTorque = Vector3D.ZERO;
//Apply drag
Vector3D eulerAngularVel = angularVelocity().applyInverseTo(Vector3DUtil.FORWARD);
addTorque(eulerAngularVel.negate().scalarMultiply(angularDrag()));
}
Example #6
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() throws MathArithmeticException, MathIllegalArgumentException {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #7
| Source File: QuaternionTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public final void testPolarForm() {
final Random r = new Random(48);
final int numberOfTrials = 1000;
for (int i = 0; i < numberOfTrials; i++) {
final Quaternion q = new Quaternion(2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5),
2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5));
final Quaternion qP = q.getPositivePolarForm();
Assert.assertTrue(qP.isUnitQuaternion(COMPARISON_EPS));
Assert.assertTrue(qP.getQ0() >= 0);
final Rotation rot = new Rotation(q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(), true);
final Rotation rotP = new Rotation(qP.getQ0(), qP.getQ1(), qP.getQ2(), qP.getQ3(), true);
Assert.assertEquals(rot.getAngle(), rotP.getAngle(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getX(), rot.getAxis().getX(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getY(), rot.getAxis().getY(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getZ(), rot.getAxis().getZ(), COMPARISON_EPS);
}
}
Example #8
| Source File: QuaternionTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public final void testPolarForm() {
final Random r = new Random(48);
final int numberOfTrials = 1000;
for (int i = 0; i < numberOfTrials; i++) {
final Quaternion q = new Quaternion(2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5),
2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5));
final Quaternion qP = q.getPositivePolarForm();
Assert.assertTrue(qP.isUnitQuaternion(COMPARISON_EPS));
Assert.assertTrue(qP.getQ0() >= 0);
final Rotation rot = new Rotation(q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(), true);
final Rotation rotP = new Rotation(qP.getQ0(), qP.getQ1(), qP.getQ2(), qP.getQ3(), true);
Assert.assertEquals(rot.getAngle(), rotP.getAngle(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getX(), rot.getAxis().getX(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getY(), rot.getAxis().getY(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getZ(), rot.getAxis().getZ(), COMPARISON_EPS);
}
}
Example #9
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #10
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() throws MathArithmeticException, MathIllegalArgumentException {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3, 1.0e-10);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #11
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() throws MathArithmeticException, MathIllegalArgumentException {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #12
| Source File: QuaternionTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public final void testPolarForm() {
final Random r = new Random(48);
final int numberOfTrials = 1000;
for (int i = 0; i < numberOfTrials; i++) {
final Quaternion q = new Quaternion(2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5),
2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5));
final Quaternion qP = q.getPositivePolarForm();
Assert.assertTrue(qP.isUnitQuaternion(COMPARISON_EPS));
Assert.assertTrue(qP.getQ0() >= 0);
final Rotation rot = new Rotation(q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(), true);
final Rotation rotP = new Rotation(qP.getQ0(), qP.getQ1(), qP.getQ2(), qP.getQ3(), true);
Assert.assertEquals(rot.getAngle(), rotP.getAngle(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getX(), rot.getAxis().getX(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getY(), rot.getAxis().getY(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getZ(), rot.getAxis().getZ(), COMPARISON_EPS);
}
}
Example #13
| Source File: QuaternionTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public final void testPolarForm() {
final Random r = new Random(48);
final int numberOfTrials = 1000;
for (int i = 0; i < numberOfTrials; i++) {
final Quaternion q = new Quaternion(2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5),
2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5));
final Quaternion qP = q.getPositivePolarForm();
Assert.assertTrue(qP.isUnitQuaternion(COMPARISON_EPS));
Assert.assertTrue(qP.getQ0() >= 0);
final Rotation rot = new Rotation(q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(), true);
final Rotation rotP = new Rotation(qP.getQ0(), qP.getQ1(), qP.getQ2(), qP.getQ3(), true);
Assert.assertEquals(rot.getAngle(), rotP.getAngle(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getX(), rot.getAxis().getX(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getY(), rot.getAxis().getY(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getZ(), rot.getAxis().getZ(), COMPARISON_EPS);
}
}
Example #14
| Source File: BWRigidBody.java From NOVA-Core with GNU Lesser General Public License v3.0 | 6 votes |
|
void updateRotation(double deltaTime) {
//Integrate angular velocity to angular displacement
Rotation angularVel = angularVelocity();
Rotation deltaRotation = RotationUtil.slerp(Rotation.IDENTITY, angularVel, deltaTime);
entity().transform().setRotation(entity().rotation().applyTo(deltaRotation));
//Integrate torque to angular velocity
Vector3D torque = netTorque.scalarMultiply(deltaTime);
if (!Vector3D.ZERO.equals(torque)) {
setAngularVelocity(angularVelocity().applyTo(new Rotation(Vector3DUtil.FORWARD, torque)));
}
//Clear net torque
netTorque = Vector3D.ZERO;
//Apply drag
Vector3D eulerAngularVel = angularVelocity().applyInverseTo(Vector3DUtil.FORWARD);
addTorque(eulerAngularVel.negate().scalarMultiply(angularDrag()));
}
Example #15
| Source File: RotationUtil.java From NOVA-Core with GNU Lesser General Public License v3.0 | 6 votes |
|
/**
* Returns the slerp interpolation of Rotations {@code a} and {@code b}, at
* time {@code t}.
* <p>
* {@code t} should range in {@code [0,1]}. Result is a when {@code t=0 } and
* {@code b} when {@code t=1}.
* <p>
* When {@code allowFlip} is true (default) the slerp interpolation will
* always use the "shortest path" between the Rotations' orientations, by
* "flipping" the source Rotation if needed.
* @param a the first Rotation
* @param b the second Rotation
* @param t the temporal interpolation parameter
* @param allowFlip tells whether or not the interpolation allows axis flip
* @return The slerp interpolation of Rotations {@code a} and {@code b}, at time {@code t}.
*/
public static Rotation slerp(Rotation a, Rotation b, double t, boolean allowFlip) {
// TODO: this method should not normalize the Rotation
double cosAngle = dotProduct(a, b);
double c1, c2;
// Linear interpolation for close orientations
if ((1.0 - FastMath.abs(cosAngle)) < 0.01) {
c1 = 1.0f - t;
c2 = t;
} else {
// Spherical interpolation
double angle = FastMath.acos(FastMath.abs(cosAngle));
double sinAngle = FastMath.sin(angle);
c1 = FastMath.sin(angle * (1.0f - t)) / sinAngle;
c2 = FastMath.sin(angle * t) / sinAngle;
}
// Use the shortest path
if (allowFlip && (cosAngle < 0.0)) {
c1 = -c1;
}
return new Rotation(c1 * a.getQ1() + c2 * b.getQ1(), c1 * a.getQ2() + c2 * b.getQ2(), c1 * a.getQ3()
+ c2 * b.getQ3(), c1 * a.getQ0() + c2 * b.getQ0(), false);
}
Example #16
| Source File: BWRigidBody.java From NOVA-Core with GNU Lesser General Public License v3.0 | 6 votes |
|
void updateRotation(double deltaTime) {
//Integrate angular velocity to angular displacement
Rotation angularVel = angularVelocity();
Rotation deltaRotation = RotationUtil.slerp(Rotation.IDENTITY, angularVel, deltaTime);
entity().transform().setRotation(entity().rotation().applyTo(deltaRotation));
//Integrate torque to angular velocity
Vector3D torque = netTorque.scalarMultiply(deltaTime);
if (!Vector3D.ZERO.equals(torque)) {
setAngularVelocity(angularVelocity().applyTo(new Rotation(Vector3DUtil.FORWARD, torque)));
}
//Clear net torque
netTorque = Vector3D.ZERO;
//Apply drag
Vector3D eulerAngularVel = angularVelocity().applyInverseTo(Vector3DUtil.FORWARD);
addTorque(eulerAngularVel.negate().scalarMultiply(angularDrag()));
}
Example #17
| Source File: PlaneTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public void testRotate() throws MathArithmeticException, MathIllegalArgumentException {
Vector3D p1 = new Vector3D(1.2, 3.4, -5.8);
Vector3D p2 = new Vector3D(3.4, -5.8, 1.2);
Vector3D p3 = new Vector3D(-2.0, 4.3, 0.7);
Plane p = new Plane(p1, p2, p3, 1.0e-10);
Vector3D oldNormal = p.getNormal();
p = p.rotate(p2, new Rotation(p2.subtract(p1), 1.7));
Assert.assertTrue(p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p2, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(p.contains(p2));
Assert.assertTrue(! p.contains(p3));
p = p.rotate(p1, new Rotation(oldNormal, 0.1));
Assert.assertTrue(! p.contains(p1));
Assert.assertTrue(! p.contains(p2));
Assert.assertTrue(! p.contains(p3));
}
Example #18
| Source File: QuaternionTest.java From astor with GNU General Public License v2.0 | 6 votes |
|
@Test
public final void testPolarForm() {
final Random r = new Random(48);
final int numberOfTrials = 1000;
for (int i = 0; i < numberOfTrials; i++) {
final Quaternion q = new Quaternion(2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5),
2 * (r.nextDouble() - 0.5), 2 * (r.nextDouble() - 0.5));
final Quaternion qP = q.getPositivePolarForm();
Assert.assertTrue(qP.isUnitQuaternion(COMPARISON_EPS));
Assert.assertTrue(qP.getQ0() >= 0);
final Rotation rot = new Rotation(q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(), true);
final Rotation rotP = new Rotation(qP.getQ0(), qP.getQ1(), qP.getQ2(), qP.getQ3(), true);
Assert.assertEquals(rot.getAngle(), rotP.getAngle(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getX(), rot.getAxis().getX(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getY(), rot.getAxis().getY(), COMPARISON_EPS);
Assert.assertEquals(rot.getAxis().getZ(), rot.getAxis().getZ(), COMPARISON_EPS);
}
}
Example #19
| Source File: RayTraceTest.java From NOVA-Core with GNU Lesser General Public License v3.0 | 5 votes |
|
@Test
public void testRayTraceEntity() {
fakeWorld.setBlock(new Vector3D(5, 5, 5), RayTraceMod.solid);
Entity entity = fakeWorld.addEntity(RayTraceMod.testEntity);
entity.setPosition(new Vector3D(5.1, 0, 5.1));
entity.setRotation(new Rotation(RotationUtil.DEFAULT_ORDER, 0, Math.PI / 2, 0));
RayTracer rayTracer = new RayTracer(entity).setDistance(10);
List<RayTracer.RayTraceBlockResult> rayTraceBlockResults = rayTracer.rayTraceBlocks(fakeWorld).collect(Collectors.toList());
assertThat(rayTraceBlockResults.size()).isEqualTo(1);
}
Example #20
| Source File: SphericalPolygonsSetTest.java From astor with GNU General Public License v2.0 | 5 votes |
|
private SubCircle create(Vector3D pole, Vector3D x, Vector3D y,
double tolerance, double ... limits) {
RegionFactory<Sphere1D> factory = new RegionFactory<Sphere1D>();
Circle circle = new Circle(pole, tolerance);
Circle phased =
(Circle) Circle.getTransform(new Rotation(circle.getXAxis(), circle.getYAxis(), x, y)).apply(circle);
ArcsSet set = (ArcsSet) factory.getComplement(new ArcsSet(tolerance));
for (int i = 0; i < limits.length; i += 2) {
set = (ArcsSet) factory.union(set, new ArcsSet(limits[i], limits[i + 1], tolerance));
}
return new SubCircle(phased, set);
}
Example #21
| Source File: CircleTest.java From astor with GNU General Public License v2.0 | 5 votes |
|
@Test
public void testTransform() {
RandomGenerator random = new Well1024a(0x16992fc4294bf2f1l);
UnitSphereRandomVectorGenerator sphRandom = new UnitSphereRandomVectorGenerator(3, random);
for (int i = 0; i < 100; ++i) {
Rotation r = new Rotation(new Vector3D(sphRandom.nextVector()),
FastMath.PI * random.nextDouble());
Transform<Sphere2D, Sphere1D> t = Circle.getTransform(r);
S2Point p = new S2Point(new Vector3D(sphRandom.nextVector()));
S2Point tp = (S2Point) t.apply(p);
Assert.assertEquals(0.0, r.applyTo(p.getVector()).distance(tp.getVector()), 1.0e-10);
Circle c = new Circle(new Vector3D(sphRandom.nextVector()), 1.0e-10);
Circle tc = (Circle) t.apply(c);
Assert.assertEquals(0.0, r.applyTo(c.getPole()).distance(tc.getPole()), 1.0e-10);
Assert.assertEquals(0.0, r.applyTo(c.getXAxis()).distance(tc.getXAxis()), 1.0e-10);
Assert.assertEquals(0.0, r.applyTo(c.getYAxis()).distance(tc.getYAxis()), 1.0e-10);
Assert.assertEquals(c.getTolerance(), ((Circle) t.apply(c)).getTolerance(), 1.0e-10);
SubLimitAngle sub = new LimitAngle(new S1Point(MathUtils.TWO_PI * random.nextDouble()),
random.nextBoolean(), 1.0e-10).wholeHyperplane();
Vector3D psub = c.getPointAt(((LimitAngle) sub.getHyperplane()).getLocation().getAlpha());
SubLimitAngle tsub = (SubLimitAngle) t.apply(sub, c, tc);
Vector3D ptsub = tc.getPointAt(((LimitAngle) tsub.getHyperplane()).getLocation().getAlpha());
Assert.assertEquals(0.0, r.applyTo(psub).distance(ptsub), 1.0e-10);
}
}
Example #22
| Source File: SubCircleTest.java From astor with GNU General Public License v2.0 | 5 votes |
|
private SubCircle create(Vector3D pole, Vector3D x, Vector3D y,
double tolerance, double ... limits) {
RegionFactory<Sphere1D> factory = new RegionFactory<Sphere1D>();
Circle circle = new Circle(pole, tolerance);
Circle phased =
(Circle) Circle.getTransform(new Rotation(circle.getXAxis(), circle.getYAxis(), x, y)).apply(circle);
ArcsSet set = (ArcsSet) factory.getComplement(new ArcsSet(tolerance));
for (int i = 0; i < limits.length; i += 2) {
set = (ArcsSet) factory.union(set, new ArcsSet(limits[i], limits[i + 1], tolerance));
}
return new SubCircle(phased, set);
}
Example #23
| Source File: SphericalPolygonsSet.java From astor with GNU General Public License v2.0 | 5 votes |
|
/** Build the vertices representing a regular polygon.
* @param center center of the polygon (the center is in the inside half)
* @param meridian point defining the reference meridian for first polygon vertex
* @param outsideRadius distance of the vertices to the center
* @param n number of sides of the polygon
* @return vertices array
*/
private static S2Point[] createRegularPolygonVertices(final Vector3D center, final Vector3D meridian,
final double outsideRadius, final int n) {
final S2Point[] array = new S2Point[n];
final Rotation r0 = new Rotation(Vector3D.crossProduct(center, meridian), outsideRadius);
array[0] = new S2Point(r0.applyTo(center));
final Rotation r = new Rotation(center, MathUtils.TWO_PI / n);
for (int i = 1; i < n; ++i) {
array[i] = new S2Point(r.applyTo(array[i - 1].getVector()));
}
return array;
}
Example #24
| Source File: MatrixStackTest.java From NOVA-Core with GNU Lesser General Public License v3.0 | 5 votes |
|
@Test
public void testTransforms() {
ms.translate(Vector3DUtil.ONE);
ms.scale(Vector3DUtil.ONE.scalarMultiply(2));
ms.pushMatrix();
ms.rotate(Vector3D.PLUS_J, Math.PI / 2);
assertThat(ms.apply(Vector3D.PLUS_K)).isAlmostEqualTo(new Vector3D(-1, 1, 1));
ms.popMatrix();
ms.transform(MatrixUtils.createRealMatrix(new Rotation(Vector3D.PLUS_J, Math.PI / 2).getMatrix()));
assertThat(ms.apply(Vector3D.PLUS_K)).isAlmostEqualTo(new Vector3D(-1, 1, 1));
assertThat(ms.apply(Vector3DUtil.ONE)).isAlmostEqualTo(ms.apply(Vector3DUtil.ONE));
}
Example #25
| Source File: MatrixStack.java From NOVA-Core with GNU Lesser General Public License v3.0 | 5 votes |
|
/**
* Rotates the current matrix
*
* @param rotation The rotation to aply
* @return The rorated matrix
*/
public MatrixStack rotate(Rotation rotation) {
RealMatrix rotMat = MatrixUtils.createRealMatrix(4, 4);
rotMat.setSubMatrix(rotation.getMatrix(), 0, 0);
rotMat.setEntry(3, 3, 1);
current = current.preMultiply(rotMat);
return this;
}
Example #26
| Source File: SphericalPolygonsSet.java From astor with GNU General Public License v2.0 | 5 votes |
|
/** Build the vertices representing a regular polygon.
* @param center center of the polygon (the center is in the inside half)
* @param meridian point defining the reference meridian for first polygon vertex
* @param outsideRadius distance of the vertices to the center
* @param n number of sides of the polygon
* @return vertices array
*/
private static S2Point[] createRegularPolygonVertices(final Vector3D center, final Vector3D meridian,
final double outsideRadius, final int n) {
final S2Point[] array = new S2Point[n];
final Rotation r0 = new Rotation(Vector3D.crossProduct(center, meridian), outsideRadius);
array[0] = new S2Point(r0.applyTo(center));
final Rotation r = new Rotation(center, MathUtils.TWO_PI / n);
for (int i = 1; i < n; ++i) {
array[i] = new S2Point(r.applyTo(array[i - 1].getVector()));
}
return array;
}
Example #27
| Source File: SubCircleTest.java From astor with GNU General Public License v2.0 | 5 votes |
|
private SubCircle create(Vector3D pole, Vector3D x, Vector3D y,
double tolerance, double ... limits) {
RegionFactory<Sphere1D> factory = new RegionFactory<Sphere1D>();
Circle circle = new Circle(pole, tolerance);
Circle phased =
(Circle) Circle.getTransform(new Rotation(circle.getXAxis(), circle.getYAxis(), x, y)).apply(circle);
ArcsSet set = (ArcsSet) factory.getComplement(new ArcsSet(tolerance));
for (int i = 0; i < limits.length; i += 2) {
set = (ArcsSet) factory.union(set, new ArcsSet(limits[i], limits[i + 1], tolerance));
}
return new SubCircle(phased, set);
}
Example #28
| Source File: CircleTest.java From astor with GNU General Public License v2.0 | 5 votes |
|
@Test
public void testTransform() {
RandomGenerator random = new Well1024a(0x16992fc4294bf2f1l);
UnitSphereRandomVectorGenerator sphRandom = new UnitSphereRandomVectorGenerator(3, random);
for (int i = 0; i < 100; ++i) {
Rotation r = new Rotation(new Vector3D(sphRandom.nextVector()),
FastMath.PI * random.nextDouble());
Transform<Sphere2D, Sphere1D> t = Circle.getTransform(r);
S2Point p = new S2Point(new Vector3D(sphRandom.nextVector()));
S2Point tp = (S2Point) t.apply(p);
Assert.assertEquals(0.0, r.applyTo(p.getVector()).distance(tp.getVector()), 1.0e-10);
Circle c = new Circle(new Vector3D(sphRandom.nextVector()), 1.0e-10);
Circle tc = (Circle) t.apply(c);
Assert.assertEquals(0.0, r.applyTo(c.getPole()).distance(tc.getPole()), 1.0e-10);
Assert.assertEquals(0.0, r.applyTo(c.getXAxis()).distance(tc.getXAxis()), 1.0e-10);
Assert.assertEquals(0.0, r.applyTo(c.getYAxis()).distance(tc.getYAxis()), 1.0e-10);
Assert.assertEquals(c.getTolerance(), ((Circle) t.apply(c)).getTolerance(), 1.0e-10);
SubLimitAngle sub = new LimitAngle(new S1Point(MathUtils.TWO_PI * random.nextDouble()),
random.nextBoolean(), 1.0e-10).wholeHyperplane();
Vector3D psub = c.getPointAt(((LimitAngle) sub.getHyperplane()).getLocation().getAlpha());
SubLimitAngle tsub = (SubLimitAngle) t.apply(sub, c, tc);
Vector3D ptsub = tc.getPointAt(((LimitAngle) tsub.getHyperplane()).getLocation().getAlpha());
Assert.assertEquals(0.0, r.applyTo(psub).distance(ptsub), 1.0e-10);
}
}
Example #29
| Source File: SphericalPolygonsSetTest.java From astor with GNU General Public License v2.0 | 5 votes |
|
private SubCircle create(Vector3D pole, Vector3D x, Vector3D y,
double tolerance, double ... limits) {
RegionFactory<Sphere1D> factory = new RegionFactory<Sphere1D>();
Circle circle = new Circle(pole, tolerance);
Circle phased =
(Circle) Circle.getTransform(new Rotation(circle.getXAxis(), circle.getYAxis(), x, y)).apply(circle);
ArcsSet set = (ArcsSet) factory.getComplement(new ArcsSet(tolerance));
for (int i = 0; i < limits.length; i += 2) {
set = (ArcsSet) factory.union(set, new ArcsSet(limits[i], limits[i + 1], tolerance));
}
return new SubCircle(phased, set);
}
Example #30
| Source File: MCEntityTransform.java From NOVA-Core with GNU Lesser General Public License v3.0 | 4 votes |
|
@Override
public void setRotation(Rotation rotation) {
double[] euler = rotation.getAngles(RotationUtil.DEFAULT_ORDER);
wrapper.rotationYaw = (float) Math.toDegrees(euler[0]);
wrapper.rotationPitch = (float) Math.toDegrees(euler[1]);
}
