Examples of DVector3C

Examples of org.ode4j.math.DVector3C

74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
   
    while (iter.hasNext()) {
      Node<BodyPart> node = iter.next();
      BodyPart bp = node.getContent();
     
      DVector3C prePos;
      if (node.getPredecessor() != null) {
        prePos = node.getPredecessor().getContent().getBody().getPosition();
      }
      else {
        prePos = new DVector3(0, 0, 10);
      }
      DVector3 relPos = bp.getPosition();
      DVector3 size = bp.getSize();
      DVector3 newPos;
      if (node.getPredecessor() == null) {
        newPos = new DVector3(
            prePos.get0(),
            prePos.get1(),
            prePos.get2());
      }
      else {
        newPos = new DVector3(
            prePos.get0() + relPos.get0()*size.get0()/2,
            prePos.get1() + relPos.get1()*size.get1()/2,
            prePos.get2() + relPos.get2()*size.get2()/2);
      }
      DBody b = OdeHelper.createBody(env.getWorld());
      bp.setBody(b);
      DGeom g = OdeHelper.createBox(
          env.getSpace(),
View Full Code Here

Examples of org.ode4j.math.DVector3C

94
95
96
97
98
99
100
101
102
103
104
105
106
    double y = 0;
    double z = 0;
    int size = bodies.size();
    Iterator<DBody> iter = bodies.iterator();
    while (iter.hasNext()) {
      DVector3C pos = iter.next().getPosition();
      x += pos.get0();
      y += pos.get1();
      z += pos.get2();
    }
    DVector3 vec = new DVector3(x/size, y/size, z/size);
    return vec;
  }
View Full Code Here

Examples of org.ode4j.math.DVector3C

2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
2025
2026
2027
2028
   *
   * @param g
   *            Geometry to be drawn.
   */
  public static void drawGeom(DGeom g) {
    DVector3C pos = g.getPosition();
    DMatrix3C R = g.getRotation();

    if (g instanceof DBox) {
      DVector3C sides = ((DBox) g).getLengths();
      dsDrawBox(pos, R, sides);
    } else if (g instanceof DCylinder) {
      double r = ((DCylinder) g).getRadius();
      double l = ((DCylinder) g).getLength();
      dsDrawCylinder(pos, R, (float) l, (float) r);
View Full Code Here

Examples of org.ode4j.math.DVector3C

2312
2313
2314
2315
2316
2317
2318
2319
2320
2321
2322
2323
    FloatBuffer pos = BufferUtils.createFloatBuffer(bodymatrix.length
        * bodymatrix.length * 3);

    for (int i = 0; i < bodymatrix.length; i++) {
      for (int j = 0; j < bodymatrix.length; j++) {
        DVector3C vec0 = bodymatrix[i][j].getPosition();
        float[] f0 = vec0.toFloatArray();
        pos.put(f0);
      }
    }
    pos.rewind();

View Full Code Here

Examples of org.ode4j.math.DVector3C

2356
2357
2358
2359
2360
2361
2362
2363
2364
2365
2366
2367
    FloatBuffer pos = BufferUtils.createFloatBuffer(bodymatrix.length
        * bodymatrix.length * 3);

    for (int i = 0; i < bodymatrix.length; i++) {
      for (int j = 0; j < bodymatrix.length; j++) {
        DVector3C vec0 = bodymatrix[i][j].getPosition();
        float[] f0 = vec0.toFloatArray();
        pos.put(f0);
      }
    }
    pos.rewind();

View Full Code Here

Examples of org.ode4j.math.DVector3C

2396
2397
2398
2399
2400
2401
2402
2403
2404
2405
2406
2407
2408
2409
2410
2411
2412
2413
2414
2415
2416
2417
2418
2419
2420
2421
2422
2423
2424
2425
2426
2427
2428
2429
2430
2431
2432
2433
2434
2435
2436
2437
2438
2439
2440
2441
2442
2443
2444
2445
2446
2447
2448
2449
2450
2451
2452
2453
2454
2455
2456
2457
2458
2459
2460
2461
2462
2463
2464
2465
2466
2467
2468
2469
2470
2471
2472
2473
2474
2475
2476
2477
2478
2479
2480
2481
2482
2483
2484
2485
2486
2487
2488
2489
2490
2491
2492
2493
2494
2495
2496
2497
2498
2499
    GL11.glEnable(GL11.GL_NORMALIZE);
    GL11.glBegin(GL11.GL_TRIANGLES);
    for (int i = 0; i < bodies.length - 1; ++i) {
      for (int j = 0; j < bodies[i].length - 1; ++j) {

        DVector3C vec0 = bodies[i][j].getPosition();
        DVector3C vec1 = bodies[i + 1][j].getPosition();
        DVector3C vec2 = bodies[i][j + 1].getPosition();
        DVector3C vec3 = bodies[i + 1][j + 1].getPosition();

        DVector3C temp1 = new DVector3(vec1.get0() - vec0.get0(),
            vec1.get1() - vec0.get1(), vec1.get2() - vec0.get2());
        DVector3C temp2 = new DVector3(vec2.get0() - vec0.get0(),
            vec2.get1() - vec0.get1(), vec2.get2() - vec0.get2());

        DVector3C temp3 = new DVector3(vec1.get0() - vec2.get0(),
            vec1.get1() - vec2.get1(), vec1.get2() - vec2.get2());
        DVector3C temp4 = new DVector3(vec3.get0() - vec2.get0(),
            vec3.get1() - vec2.get1(), vec3.get2() - vec2.get2());

        DVector3C normal = new DVector3(temp1.get1() * temp2.get2()
            - temp1.get2() * temp2.get1(), temp1.get2()
            * temp2.get0() - temp1.get0() * temp2.get2(),
            temp1.get0() * temp2.get1() - temp1.get1()
                * temp2.get0());
        DVector3C normal2 = new DVector3(temp3.get1() * temp4.get2()
            - temp3.get2() * temp4.get1(), temp3.get2()
            * temp4.get0() - temp3.get0() * temp4.get2(),
            temp3.get0() * temp4.get1() - temp3.get1()
                * temp4.get0());

        DVector3C norm0 = normal.clone();
        DVector3C norm1 = normal.clone();
        DVector3C norm2 = normal.clone();
        DVector3C norm3 = normal.clone();

        norm1 = new DVector3(norm1.get0() + normal2.get0(),
            norm1.get1() + normal2.get1(), norm1.get2()
                + normal2.get2());
        norm2 = new DVector3(norm2.get0() + normal2.get0(),
            norm2.get1() + normal2.get1(), norm2.get2()
                + normal2.get2());
        norm3 = new DVector3(norm3.get0() + normal2.get0(),
            norm3.get1() + normal2.get1(), norm3.get2()
                + normal2.get2());

        GL11.glNormal3d(norm0.get0(), norm0.get1(), norm0.get2());
        GL11.glVertex3d(vec0.get0(), vec0.get1(), vec0.get2());
        GL11.glNormal3d(norm1.get0(), norm1.get1(), norm1.get2());
        GL11.glVertex3d(vec1.get0(), vec1.get1(), vec1.get2());
        GL11.glNormal3d(norm2.get0(), norm2.get1(), norm2.get2());
        GL11.glVertex3d(vec2.get0(), vec2.get1(), vec2.get2());

        GL11.glNormal3d(norm2.get0(), norm2.get1(), norm2.get2());
        GL11.glVertex3d(vec2.get0(), vec2.get1(), vec2.get2());
        GL11.glNormal3d(norm1.get0(), norm1.get1(), norm1.get2());
        GL11.glVertex3d(vec1.get0(), vec1.get1(), vec1.get2());
        GL11.glNormal3d(norm3.get0(), norm3.get1(), norm3.get2());
        GL11.glVertex3d(vec3.get0(), vec3.get1(), vec3.get2());
      }
    }
    GL11.glEnd();
    GL11.glDisable(GL11.GL_NORMALIZE);

    GL11.glDisable(GL11.GL_LIGHTING);
    // GL11.glEnable(GL11.GL_CULL_FACE);
    GL11.glLightModeli(GL11.GL_LIGHT_MODEL_TWO_SIDE, GL11.GL_FALSE);

    // / GRID
    GL11.glDisable(GL11.GL_LIGHTING);
    GL11.glLineWidth(2);
    GL11.glEnable(GL11.GL_LINE_STIPPLE);
    // GL11.glShadeModel(GL11.GL_FLAT);
    GL11.glColor3f(.085f, .085f, .085f);
    GL11.glBegin(GL11.GL_LINES);

    for (int i = 0; i < bodies.length - 1; ++i) {
      for (int j = 0; j < bodies[i].length - 1; ++j) {
        DVector3C vec0 = bodies[i][j].getPosition();
        DVector3C vec1 = bodies[i][j + 1].getPosition();
        DVector3C vec2 = bodies[i + 1][j].getPosition();
        GL11.glVertex3d(vec0.get0(), vec0.get1(), vec0.get2());
        GL11.glVertex3d(vec1.get0(), vec1.get1(), vec1.get2());

        GL11.glVertex3d(vec0.get0(), vec0.get1(), vec0.get2());
        GL11.glVertex3d(vec2.get0(), vec2.get1(), vec2.get2());
      }
    }
    for (int i = 0; i < bodies.length - 1; i++) {
      DVector3C vec0 = bodies[i][bodies[i].length - 1].getPosition();
      DVector3C vec1 = bodies[i + 1][bodies[i + 1].length - 1]
          .getPosition();
      GL11.glVertex3d(vec0.get0(), vec0.get1(), vec0.get2());
      GL11.glVertex3d(vec1.get0(), vec1.get1(), vec1.get2());
    }
    for (int i = 0; i < bodies.length - 1; i++) {
      DVector3C vec0 = bodies[bodies[i].length - 1][i].getPosition();
      DVector3C vec1 = bodies[bodies[i + 1].length - 1][i + 1]
          .getPosition();
      GL11.glVertex3d(vec0.get0(), vec0.get1(), vec0.get2());
      GL11.glVertex3d(vec1.get0(), vec1.get1(), vec1.get2());
    }
    GL11.glEnd();
  }
View Full Code Here
TOP
Copyright © 2018 www.massapi.com. All rights reserved.
All source code are property of their respective owners. Java is a trademark of Sun Microsystems, Inc and owned by ORACLE Inc. Contact coftware#gmail.com.