Package javax.vecmath

Examples of javax.vecmath.Matrix3f.transpose()


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

      for (int i = 0; i < 3; i++) {
        mat1.transpose(centerOfMassA.basis);
        mat2.transpose(centerOfMassB.basis);

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

        jac[i].init(
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    Vector3f hingeAxisWorld = Stack.alloc(Vector3f.class);
    rbAFrame.basis.getColumn(2, hingeAxisWorld);
    centerOfMassA.basis.transform(hingeAxisWorld);

    mat1.transpose(centerOfMassA.basis);
    mat2.transpose(centerOfMassB.basis);
    jacAng[0].init(jointAxis0,
        mat1,
        mat2,
        rbA.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)),
        rbB.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)));
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  public void updateInertiaTensor() {
    Matrix3f mat1 = Stack.alloc(Matrix3f.class);
    MatrixUtil.scale(mat1, worldTransform.basis, invInertiaLocal);

    Matrix3f mat2 = Stack.alloc(worldTransform.basis);
    mat2.transpose();

    invInertiaTensorWorld.mul(mat1, mat2);
  }
 
  public Vector3f getCenterOfMassPosition(Vector3f out) {
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