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

The following examples show how to use javax.vecmath.Matrix3d#rotX() . You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may check out the related API usage on the sidebar.

Example 1

Source File: Model.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

/**
 * 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;
}

Example 2

Source File: DHTool_GoProCamera.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

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);
}

Example 3

Source File: CameraEntity.java From Robot-Overlord-App with GNU General Public License v2.0

6 votes

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;
}

Example 4

Source File: Icosahedron.java From biojava with GNU Lesser General Public License v2.1

6 votes

@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;
}

Example 5

Source File: Tetrahedron.java From biojava with GNU Lesser General Public License v2.1

6 votes

/**
 * Returns the vertices of an n-fold polygon of given radius and center
 * @param n
 * @param radius
 * @param center
 * @return
 */
@Override
public  Point3d[] getVertices() {
	double x = getSideLengthFromCircumscribedRadius(circumscribedRadius)/2;
	double z = x/Math.sqrt(2);
	Point3d[] tetrahedron = new Point3d[4];
	tetrahedron[0] = new Point3d(-x,  0, -z);
	tetrahedron[1] = new Point3d( x,  0, -z);
	tetrahedron[2] = new Point3d( 0, -x,  z);
	tetrahedron[3] = new Point3d( 0,  x,  z);
	Point3d centroid = CalcPoint.centroid(tetrahedron);

	// rotate tetrahedron to align one vertex with the +z axis
	Matrix3d m = new Matrix3d();
	m.rotX(0.5 * TETRAHEDRAL_ANGLE);
	for (Point3d p: tetrahedron) {
		p.sub(centroid);
		m.transform(p);
	}
	return tetrahedron;
}

Example 6

Source File: Prism.java From biojava with GNU Lesser General Public License v2.1

6 votes

@Override
public Matrix3d getViewMatrix(int index) {
	Matrix3d m = new Matrix3d();
	switch (index) {
	case 0:
		m.setIdentity(); // front
		break;
	case 1:
		m.rotX(Math.PI/2); // side edge-centered
		break;
	case 2:
		m.rotY(Math.PI/n); // side face-centered
		Matrix3d m1 = new Matrix3d();
		m1.rotX(Math.PI/2);
		m.mul(m1);
		break;
	case 3:
		m.set(flipX()); // back
		break;
	default:
		throw new IllegalArgumentException("getViewMatrix: index out of range:" + index);
	}
	return m;
}

Example 7

Source File: Octahedron.java From biojava with GNU Lesser General Public License v2.1

6 votes

@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;
}

Example 8

Source File: RectangularPrism.java From biojava with GNU Lesser General Public License v2.1

6 votes

@Override
public Matrix3d getViewMatrix(int index) {
	Matrix3d m = new Matrix3d();
	switch (index) {
	case 0:  m.setIdentity(); // front
	break;
	case 1:  m.rotY(Math.PI/2); // left
	break;
	case 2:  m.rotY(Math.PI); // back
	break;
	case 3:  m.rotY(-Math.PI/2); // right
	break;
	case 4:  m.rotX(Math.PI/2); // top
	break;
	case 5:  m.rotX(-Math.PI/2); // bottom
	break;
	default: throw new IllegalArgumentException("getViewMatrix: index out of range:" + index);
	}
	return m;
}

Example 9

Source File: Tetrahedron.java From biojava with GNU Lesser General Public License v2.1

5 votes

@Override
public Matrix3d getViewMatrix(int index) {
	Matrix3d m = new Matrix3d();
	switch (index) {
	case 0:  m.setIdentity(); // front vertex-centered
	break;
	case 1:  m.rotX(Math.PI); // back face-centered
	break;
	case 2: double angle = Math.PI - 0.5 * TETRAHEDRAL_ANGLE; // Side edge-centered
	m.rotX(angle);
	break;
	default: throw new IllegalArgumentException("getViewMatrix: index out of range:" + index);
	}
	return m;
}

Example 10

Source File: DHTool_Gripper.java From Robot-Overlord-App with GNU General Public License v2.0

4 votes

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;
}