Package javax.vecmath

Examples of javax.vecmath.Matrix3f

360
361
362
363
364
365
366
367
368
369
370
    solverConstraint.appliedImpulse = 0f;
    solverConstraint.appliedPushImpulse = 0f;
    solverConstraint.penetration = 0f;
   
    Vector3f ftorqueAxis1 = Stack.alloc(Vector3f.class);
    Matrix3f tmpMat = Stack.alloc(Matrix3f.class);
   
    {
      ftorqueAxis1.cross(rel_pos1, solverConstraint.contactNormal);
      solverConstraint.relpos1CrossNormal.set(ftorqueAxis1);
      if (body0 != null) {
View Full Code Here
498
499
500
501
502
503
504
505
506
507
508
          Vector3f vel2 = Stack.alloc(Vector3f.class);
          Vector3f frictionDir1 = Stack.alloc(Vector3f.class);
          Vector3f frictionDir2 = Stack.alloc(Vector3f.class);
          Vector3f vec = Stack.alloc(Vector3f.class);

          Matrix3f tmpMat = Stack.alloc(Matrix3f.class);
         
          for (i = 0; i < numManifolds; i++) {
            manifold = manifoldPtr.getQuick(manifold_offset+i);
            colObj0 = (CollisionObject) manifold.getBody0();
            colObj1 = (CollisionObject) manifold.getBody1();
View Full Code Here
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
      int numpoints = manifoldPtr.getNumContacts();

      BulletStats.gTotalContactPoints += numpoints;
     
      Vector3f tmpVec = Stack.alloc(Vector3f.class);
      Matrix3f tmpMat3 = Stack.alloc(Matrix3f.class);

      Vector3f pos1 = Stack.alloc(Vector3f.class);
      Vector3f pos2 = Stack.alloc(Vector3f.class);
      Vector3f rel_pos1 = Stack.alloc(Vector3f.class);
      Vector3f rel_pos2 = Stack.alloc(Vector3f.class);
      Vector3f vel1 = Stack.alloc(Vector3f.class);
      Vector3f vel2 = Stack.alloc(Vector3f.class);
      Vector3f vel = Stack.alloc(Vector3f.class);
      Vector3f totalImpulse = Stack.alloc(Vector3f.class);
      Vector3f torqueAxis0 = Stack.alloc(Vector3f.class);
      Vector3f torqueAxis1 = Stack.alloc(Vector3f.class);
      Vector3f ftorqueAxis0 = Stack.alloc(Vector3f.class);
      Vector3f ftorqueAxis1 = Stack.alloc(Vector3f.class);
     
      for (int i = 0; i < numpoints; i++) {
        ManifoldPoint cp = manifoldPtr.getContactPoint(i);
        if (cp.getDistance() <= 0f) {
          cp.getPositionWorldOnA(pos1);
          cp.getPositionWorldOnB(pos2);

          rel_pos1.sub(pos1, body0.getCenterOfMassPosition(tmpVec));
          rel_pos2.sub(pos2, body1.getCenterOfMassPosition(tmpVec));

          // this jacobian entry is re-used for all iterations
          Matrix3f mat1 = body0.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
          mat1.transpose();

          Matrix3f mat2 = body1.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
          mat2.transpose();

          JacobianEntry jac = jacobiansPool.get();
          jac.init(mat1, mat2,
              rel_pos1, rel_pos2, cp.normalWorldOnB,
              body0.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)), body0.getInvMass(),
View Full Code Here
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
  /**
   * Calcs the euler angles between the two bodies.
   */
  protected void calculateAngleInfo() {
    Matrix3f mat = Stack.alloc(Matrix3f.class);

    Matrix3f relative_frame = Stack.alloc(Matrix3f.class);
    mat.set(calculatedTransformA.basis);
    MatrixUtil.invert(mat);
    relative_frame.mul(mat, calculatedTransformB.basis);

    matrixToEulerXYZ(relative_frame, calculatedAxisAngleDiff);

    // in euler angle mode we do not actually constrain the angular velocity
    // along the axes axis[0] and axis[2] (although we do use axis[1]) :
View Full Code Here
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
    calculateAngleInfo();
  }
 
  protected void buildLinearJacobian(/*JacobianEntry jacLinear*/int jacLinear_index, Vector3f normalWorld, Vector3f pivotAInW, Vector3f pivotBInW) {
    Matrix3f mat1 = rbA.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat1.transpose();

    Matrix3f mat2 = rbB.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat2.transpose();

    Vector3f tmpVec = Stack.alloc(Vector3f.class);
   
    Vector3f tmp1 = Stack.alloc(Vector3f.class);
    tmp1.sub(pivotAInW, rbA.getCenterOfMassPosition(tmpVec));
View Full Code Here
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
        rbB.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)),
        rbB.getInvMass());
  }

  protected void buildAngularJacobian(/*JacobianEntry jacAngular*/int jacAngular_index, Vector3f jointAxisW) {
    Matrix3f mat1 = rbA.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat1.transpose();

    Matrix3f mat2 = rbB.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat2.transpose();

    jacAng[jacAngular_index].init(jointAxisW,
        mat1,
        mat2,
        rbA.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)),
View Full Code Here
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
    body2.getVelocityInLocalPoint(rel_pos2, vel2);

    Vector3f vel = Stack.alloc(Vector3f.class);
    vel.sub(vel1, vel2);

    Matrix3f mat1 = body1.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat1.transpose();

    Matrix3f mat2 = body2.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
    mat2.transpose();

    JacobianEntry jac = jacobiansPool.get();
    jac.init(mat1, mat2,
        rel_pos1, rel_pos2, normal,
        body1.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)), body1.getInvMass(),
        body2.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)), body2.getInvMass());

    float jacDiagAB = jac.getDiagonal();
    float jacDiagABInv = 1f / jacDiagAB;

    Vector3f tmp1 = body1.getAngularVelocity(Stack.alloc(Vector3f.class));
    mat1.transform(tmp1);

    Vector3f tmp2 = body2.getAngularVelocity(Stack.alloc(Vector3f.class));
    mat2.transform(tmp2);

    float rel_vel = jac.getRelativeVelocity(
        body1.getLinearVelocity(Stack.alloc(Vector3f.class)),
        tmp1,
        body2.getLinearVelocity(Stack.alloc(Vector3f.class)),
View Full Code Here
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
        RigidBody groundObject = (RigidBody) wheel_info.raycastInfo.groundObject;

        if (groundObject != null) {
          getWheelTransformWS(i, wheelTrans);

          Matrix3f wheelBasis0 = Stack.alloc(wheelTrans.basis);
          axle.getQuick(i).set(
              wheelBasis0.getElement(0, indexRightAxis),
              wheelBasis0.getElement(1, indexRightAxis),
              wheelBasis0.getElement(2, indexRightAxis));

          Vector3f surfNormalWS = wheel_info.raycastInfo.contactNormalWS;
          float proj = axle.getQuick(i).dot(surfNormalWS);
          tmp.scale(proj, surfNormalWS);
          axle.getQuick(i).sub(tmp);
View Full Code Here
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
      }

      TransformUtil.planeSpace1(normal[0], normal[1], normal[2]);

      for (int i = 0; i < 3; i++) {
        Matrix3f mat1 = rbA.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
        mat1.transpose();

        Matrix3f mat2 = rbB.getCenterOfMassTransform(Stack.alloc(Transform.class)).basis;
        mat2.transpose();

        tmp1.sub(pivotAInW, rbA.getCenterOfMassPosition(tmp));
        tmp2.sub(pivotBInW, rbB.getCenterOfMassPosition(tmp));

        jac[i].init(
View Full Code Here
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
    // rotate around steering over de wheelAxleWS
    float steering = wheel.steering;

    Quat4f steeringOrn = Stack.alloc(Quat4f.class);
    QuaternionUtil.setRotation(steeringOrn, up, steering); //wheel.m_steering);
    Matrix3f steeringMat = Stack.alloc(Matrix3f.class);
    MatrixUtil.setRotation(steeringMat, steeringOrn);

    Quat4f rotatingOrn = Stack.alloc(Quat4f.class);
    QuaternionUtil.setRotation(rotatingOrn, right, -wheel.rotation);
    Matrix3f rotatingMat = Stack.alloc(Matrix3f.class);
    MatrixUtil.setRotation(rotatingMat, rotatingOrn);

    Matrix3f basis2 = Stack.alloc(Matrix3f.class);
    basis2.setRow(0, right.x, fwd.x, up.x);
    basis2.setRow(1, right.y, fwd.y, up.y);
    basis2.setRow(2, right.z, fwd.z, up.z);

    Matrix3f wheelBasis = wheel.worldTransform.basis;
    wheelBasis.mul(steeringMat, rotatingMat);
    wheelBasis.mul(basis2);

    wheel.worldTransform.origin.scaleAdd(wheel.raycastInfo.suspensionLength, wheel.raycastInfo.wheelDirectionWS, wheel.raycastInfo.hardPointWS);
  }
View Full Code Here
TOP

Related Classes of javax.vecmath.Matrix3f

  • ch.blackspirit.graphics.util.Transform
  • com.bulletphysics.collision.dispatch.CollisionWorld
  • com.bulletphysics.collision.narrowphase.GjkEpaSolver$GJK
  • com.bulletphysics.collision.shapes.CapsuleShape
  • com.bulletphysics.collision.shapes.CompoundShape
  • com.bulletphysics.collision.shapes.ScaledBvhTriangleMeshShape
  • com.bulletphysics.collision.shapes.TriangleMeshShape
  • com.bulletphysics.demos.opengl.DemoApplication
  • com.bulletphysics.dom.HeightfieldTerrainShape
  • com.bulletphysics.dynamics.constraintsolver.ConeTwistConstraint
    • Copyright © 2018 www.massapicom. 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.