Java Code Examples for javax.vecmath.Matrix3d#rotZ()

/**
 * Rotate all the vertexes by a given amount
 * @param arg0 amount in degrees to rotate around X,Y, and then Z. 
 */
public void adjustRotation(Vector3d arg0) {
	// generate the pose matrix
	Matrix3d pose = new Matrix3d();
	Matrix3d rotX = new Matrix3d();
	Matrix3d rotY = new Matrix3d();
	Matrix3d rotZ = new Matrix3d();
	rotX.rotX((float)Math.toRadians(arg0.x));
	rotY.rotY((float)Math.toRadians(arg0.y));
	rotZ.rotZ((float)Math.toRadians(arg0.z));
	pose.set(rotX);
	pose.mul(rotY);
	pose.mul(rotZ);
	adjust.set(pose);
	isDirty=true;
}
 

public DHTool_GoProCamera() {
	super();
	setName("GoPro Camera");
	flags = LinkAdjust.R;
	
	refreshPoseMatrix();
	
	setModelFilename("/Sixi2/gopro/gopro.stl");
	setModelScale(0.1f);
	setModelOrigin(0, 0, 0.5);
	setModelRotation(90, 90, 0);
	
	// adjust the model's position and rotation.
	this.setPosition(new Vector3d(50,0,50));
	Matrix3d m = new Matrix3d();
	m.setIdentity();
	m.rotX(Math.toRadians(90));
	Matrix3d m2 = new Matrix3d();
	m2.setIdentity();
	m2.rotZ(Math.toRadians(90));
	m.mul(m2);
	this.setRotation(m);
}
 

protected Matrix3d buildPanTiltMatrix(double panDeg,double tiltDeg) {
	Matrix3d a = new Matrix3d();
	Matrix3d b = new Matrix3d();
	Matrix3d c = new Matrix3d();
	a.rotZ(Math.toRadians(panDeg));
	b.rotX(Math.toRadians(-tiltDeg));
	c.mul(b,a);

	right.x=c.m00;
	right.y=c.m01;
	right.z=c.m02;

	up.x=c.m10;
	up.y=c.m11;
	up.z=c.m12;
	
	forward.x=c.m20;
	forward.y=c.m21;
	forward.z=c.m22;
	
	c.transpose();
	
	return c;
}
 

@Override
public Matrix3d getViewMatrix(int index) {
	Matrix3d m = new Matrix3d();
	switch (index) {
	case 0:
		m.setIdentity(); // front vertex-centered
		break;
	case 1:
		m.rotX(-0.6523581397843639); // back face-centered -0.5535743588970415 m.rotX(Math.toRadians(-26));
		break;
	case 2:
		m.rotZ(Math.PI/2);
		Matrix3d m1 = new Matrix3d();
		m1.rotX(-1.0172219678978445);
		m.mul(m1);
		break;
	default:
		throw new IllegalArgumentException("getViewMatrix: index out of range:" + index);
	}
	return m;
}
 

/**
 * Returns the vertices of an n-fold polygon of given radius and center
 * @return
 */
@Override
public Point3d[] getVertices() {
	Point3d[] polygon = new Point3d[2*n];
	Matrix3d m = new Matrix3d();

	Point3d center = new Point3d(0, 0, height/2);

	for (int i = 0; i < n; i++) {
		polygon[i] = new Point3d(0, circumscribedRadius, 0);
		m.rotZ(i*2*Math.PI/n);
		m.transform(polygon[i]);
		polygon[n+i] = new  Point3d(polygon[i]);
		polygon[i].sub(center);
		polygon[n+i].add(center);
	}

	return polygon;
}
 

@Override
public Matrix3d getViewMatrix(int index) {
	Matrix3d m = new Matrix3d();
	switch (index) {
	case 0:
		m.setIdentity(); // C4 vertex-centered
		break;
	case 1:
		m.rotX(-0.5 * TETRAHEDRAL_ANGLE); // C3 face-centered  2.0*Math.PI/3
		Matrix3d m1 = new Matrix3d();
		m1.rotZ(Math.PI/4);
		m.mul(m1);
		break;
	case 2:
		m.rotY(Math.PI/4); // side face-centered
		break;
	default:
		throw new IllegalArgumentException("getViewMatrix: index out of range:" + index);
	}
	return m;
}
 

/**
 * Generic quadcopter constructor.
 *
 * @param world          world where to place the vehicle
 * @param modelName      filename of model to load, in .obj format
 * @param orientation    "x" or "+"
 * @param armLength      length of arm from center
 * @param rotorThrust    full thrust of one rotor
 * @param rotorTorque    torque at full thrust of one rotor
 * @param rotorTimeConst spin-up time of rotor
 * @param rotorsOffset   rotors positions offset from gravity center
 * @throws FileNotFoundException if .obj model file not found
 */
public Quadcopter(World world, String modelName, String orientation, double armLength, double rotorThrust,
                  double rotorTorque, double rotorTimeConst, Vector3d rotorsOffset) throws FileNotFoundException {
    super(world, modelName);
    rotorPositions[0] = new Vector3d(0.0, armLength, 0.0);
    rotorPositions[1] = new Vector3d(0.0, -armLength, 0.0);
    rotorPositions[2] = new Vector3d(armLength, 0.0, 0.0);
    rotorPositions[3] = new Vector3d(-armLength, 0.0, 0.0);
    if (orientation.equals("x") || orientation.equals("X")) {
        Matrix3d r = new Matrix3d();
        r.rotZ(-Math.PI / 4);
        for (int i = 0; i < rotorsNum; i++) {
            r.transform(rotorPositions[i]);
        }
    } else if (orientation.equals("+")) {
    } else {
        throw new RuntimeException("Unknown orientation: " + orientation);
    }
    for (int i = 0; i < rotors.length; i++) {
        rotorPositions[i].add(rotorsOffset);
        Rotor rotor = rotors[i];
        rotor.setFullThrust(rotorThrust);
        rotor.setFullTorque(i < 2 ? -rotorTorque : rotorTorque);
        rotor.setTimeConstant(rotorTimeConst);
    }
}
 

@Override
public Point3d[] getVertices() {
	Point3d[] icosahedron = new Point3d[12];
	// see http://answers.yahoo.com/question/index?qid=20080108041441AAJCjEu
	double c = circumscribedRadius * 1 / Math.sqrt(5);
	double s = 2 * c; // golden ratio
	double c1 = Math.sqrt((3-Math.sqrt(5))/8); // cos(2Pi/5)
	double s1 = Math.sqrt((5+Math.sqrt(5))/8); // sin(2Pi/5)
	double c2 = Math.sqrt((3+Math.sqrt(5))/8); // cos(Pi/5)
	double s2 = Math.sqrt((5-Math.sqrt(5))/8); // sin(Pi/5)

	icosahedron[0] = new Point3d(0, 0, circumscribedRadius);
	icosahedron[1] = new Point3d(s, 0, c);
	icosahedron[2] = new Point3d(s*c1, s*s1, c);
	icosahedron[3] = new Point3d(-s*c2, s*s2, c);
	icosahedron[4] = new Point3d(-s*c2, -s*s2, c);
	icosahedron[5] = new Point3d(s*c1, -s*s1, c);
	for (int i = 0; i < 6; i++) {
		icosahedron[i+6] = new Point3d(icosahedron[i]);
		icosahedron[i+6].negate();
	}

	Matrix3d m = new Matrix3d();
	m.rotZ(Math.PI/10);
	for (Point3d p: icosahedron) {
		m.transform(p);
	}

	return icosahedron;
}
 

/**
 * Returns the vertices of an n-fold polygon of given radius and center
 * @return
 */
public static Point3d[] getPolygonVertices(int n, double radius, Point3d center) {
	Point3d[] polygon = new Point3d[n];
	Matrix3d m = new Matrix3d();

	for (int i = 0; i < n; i++) {
		polygon[i] = new Point3d(0, radius, 0);
		m.rotZ(i*2*Math.PI/n);
		m.transform(polygon[i]);
		polygon[i].add(center);
	}
	return polygon;
}
 

/**
 * Generic hexacopter constructor.
 *
 * @param world          world where to place the vehicle
 * @param modelName      filename of model to load, in .obj format
 * @param orientation    "x" or "+"
 * @param armLength      length of arm from center
 * @param rotorThrust    full thrust of one rotor
 * @param rotorTorque    torque at full thrust of one rotor
 * @param rotorTimeConst spin-up time of rotor
 * @param rotorsOffset   rotors positions offset from gravity center
 * @throws FileNotFoundException if .obj model file not found
 */
public Hexacopter(World world, String modelName, String orientation, double armLength, double rotorThrust,
                  double rotorTorque, double rotorTimeConst, Vector3d rotorsOffset) throws FileNotFoundException {
    super(world, modelName);
    rotorPositions[0] = new Vector3d(armLength, 0.0, 0.0);
    rotorPositions[1] = new Vector3d(-armLength, 0.0, 0.0);
    rotorPositions[2] = new Vector3d(-armLength * Math.cos(Math.PI / 3), -armLength * Math.sin(Math.PI / 3), 0.0);
    rotorPositions[3] = new Vector3d(armLength * Math.cos(Math.PI / 3), armLength * Math.sin(Math.PI / 3), 0.0);
    rotorPositions[4] = new Vector3d(armLength * Math.cos(Math.PI / 3), -armLength * Math.sin(Math.PI / 3), 0.0);
    rotorPositions[5] = new Vector3d(-armLength * Math.cos(Math.PI / 3), armLength * Math.sin(Math.PI / 3), 0.0);
    if (orientation.equals("x") || orientation.equals("X")) {
        Matrix3d r = new Matrix3d();
        r.rotZ(Math.PI / 2);
        for (int i = 0; i < rotorsNum; i++) {
            r.transform(rotorPositions[i]);
        }
    } else if (orientation.equals("+")) {
    } else {
        throw new RuntimeException("Unknown orientation: " + orientation);
    }
    for (int i = 0; i < rotors.length; i++) {
        rotorPositions[i].add(rotorsOffset);
        Rotor rotor = rotors[i];
        rotor.setFullThrust(rotorThrust);
        rotor.setFullTorque((i == 1 || i == 3 || i == 4) ? -rotorTorque : rotorTorque);
        rotor.setTimeConstant(rotorTimeConst);
    }
}
 

public DHTool_Gripper() {
	super();
	setLetter("T");
	setName("Gripper");
	refreshPoseMatrix();
	
	gripperServoAngle=90;
	interpolatePoseT=1;
	startT=endT=gripperServoAngle;
	
	setModelFilename("/Sixi2/beerGripper/base.stl");
	setModelScale(0.1f);
	setModelOrigin(-1,0,4.15);
	setModelRotation(0,180,90);
	

	Matrix3d r = new Matrix3d();
	r.setIdentity();
	r.rotX(Math.toRadians(180));
	Matrix3d r2 = new Matrix3d();
	r2.setIdentity();
	r2.rotZ(Math.toRadians(90));
	r.mul(r2);
	this.setRotation(r);
	
	// 4 bars
	addChild(subComponents[0]=new DHLink());
	addChild(subComponents[1]=new DHLink());
	addChild(subComponents[2]=new DHLink());
	addChild(subComponents[3]=new DHLink());
	subComponents[0].setModelFilename("/Sixi2/beerGripper/linkage.stl");
	subComponents[0].setModelScale(0.1f);
	subComponents[1].set(subComponents[0]);
	subComponents[2].set(subComponents[0]);
	subComponents[3].set(subComponents[0]);
	subComponents[0].setPosition(new Vector3d(2.7/2, 0, 4.1));
	subComponents[1].setPosition(new Vector3d(1.1/2, 0, 5.9575));
	subComponents[2].setPosition(new Vector3d(-2.7/2, 0, 4.1));
	subComponents[3].setPosition(new Vector3d(-1.1/2, 0, 5.9575));
	
	// 2 finger tips
	addChild(subComponents[4]=new DHLink());
	subComponents[4].setModelFilename("/Sixi2/beerGripper/finger.stl");
	subComponents[4].setModelScale(0.1f);
	addChild(subComponents[5]=new DHLink());
	subComponents[5].set(subComponents[4]);
	
	wasGripping=false;
}