Java Matrix3d.rotX方法代码示例

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
public static PointD addRotAroundAxis(double x, double y, double z, double axis) {

        // May be faster to rewrite with your own to reduce the number of calculations

        Matrix3d rotationMatrix = new Matrix3d();
        rotationMatrix.rotZ(z); // Add z rotation
        Matrix3d yRot = new Matrix3d();
        yRot.rotY(y);
        Matrix3d xRot = new Matrix3d();
        xRot.rotX(x);

        Matrix3d axisRot = new Matrix3d();
        axisRot.rotY(axis);

        rotationMatrix.mul(yRot);
        rotationMatrix.mul(xRot);
        rotationMatrix.mul(axisRot);

        return new PointD(Math.atan2(rotationMatrix.m21, rotationMatrix.m22),
                Math.atan2(-rotationMatrix.m20,Math.sqrt(rotationMatrix.m21 * rotationMatrix.m21 + rotationMatrix.m22 * rotationMatrix.m22)),
                Math.atan2(rotationMatrix.m10, rotationMatrix.m00));
    }
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
/**
 * Creates a new instance of Translation.
 * 
 * @param center
 * @param xAngle
 * @param yAngle
 * @param zAngle
 */
public Rotation(Point3d center, double xAngle, double yAngle, double zAngle) {
	super();
	centerOfRotation = center;
	double x = Math.toRadians(xAngle);
	double y = Math.toRadians(yAngle);
	double z = Math.toRadians(zAngle);
	Matrix3d xrot = new Matrix3d();
	xrot.rotX(x);
	Matrix3d yrot = new Matrix3d();
	yrot.rotY(y);
	Matrix3d zrot = new Matrix3d();
	zrot.rotZ(z);
	yrot.mul(zrot);
	xrot.mul(yrot);
	rotation = xrot;
	toOrigin = new Translation(-centerOfRotation.x, -centerOfRotation.y,
			-centerOfRotation.z);
	toCenter = new Translation(centerOfRotation.x, centerOfRotation.y,
			centerOfRotation.z);
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
@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;
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
/**
 * 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;
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
@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;
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
@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;
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
@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;
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
public static AffineTransform3D createRotationOx(double theta) {
    Matrix3d matrix3d = new Matrix3d();
    matrix3d.rotX(theta);
    Matrix4d matrix4d = new Matrix4d();
    matrix4d.set(matrix3d);
    return new AffineTransform3D(matrix4d);
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
public void panTilt(double pan, double tilt) {
    if (pan > -Math.PI && pan < Math.PI && tilt > -Math.PI / 2 && tilt < Math.PI / 2) {
        Matrix3d ry = new Matrix3d();
        ry.rotY(-pan + Math.PI / 2);
        Matrix3d rx = new Matrix3d();
        rx.rotX(tilt);

        Matrix3d rot = new Matrix3d();
        rot.rotX(-Math.PI / 2);
        rot.mul(ry);
        rot.mul(rx);
        this.setRotation(rot);
    }
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
@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;
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
/**
 * Initialize with input scale factor.
 * 
 * @param    scale    Scale factor for the model.  A scale of
 *                    1.0 means the distance from the model origin, to the
 *                    furthest point on the model, will be one unit long.
 */
public SparkySpacecraftMat(double scale) {
    // allow the state of the model to be changed after compilation
  setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
  setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    // add the visual representation to the TransformGroup
  try {
      // first try the sparkymatmesh.obj model
    Scene modelScene = null;
    ObjectFile of = new ObjectFile();
    of.setFlags(ObjectFile.RESIZE     |
               ObjectFile.TRIANGULATE |
               ObjectFile.STRIPIFY);   
      // load the mesh defined below
    URL sparkyURL = SparkySpacecraftMat.class.getResource("sparkymatmesh.obj");
    if (sparkyURL == null) {
      throw new java.io.FileNotFoundException("Can't find sparkymesh.obj" +
                                                                       this);
    }
    modelScene = of.load(sparkyURL);
      // rotate model axis to align with simulation axis.  Also, offset
      // it along the x-axis so the cg and origin coincide.
    Vector3d trans = new Vector3d();  // offset along x-axis
    trans.x = XOFF*scale;
    Matrix3d m1 = new Matrix3d();
    m1.rotX(Math.PI/2.0);          // nose down into plane
    Matrix3d m2 = new Matrix3d();
    m2.rotZ(Math.PI/2.0);          // nose yaw into X
    m2.mul(m1);                    // combine
    Transform3D t3d = new Transform3D(m2, trans, scale);
    TransformGroup tg = new TransformGroup(t3d);
    BranchGroup modelBG = modelScene.getSceneGroup();
      //
    tg.addChild(modelBG);
    addChild(tg);
  } catch(java.io.FileNotFoundException ex) {
      // if the above didn't work, load a sphere
    addChild(new Sphere(1.0f));
  }
}
 

import javax.vecmath.Matrix3d; //导入方法依赖的package包/类
/**
 * Initialize with input scale factor.  The model BranchGroup is retained
 * allowing for the getMassDyadic function to retrieve vertex info.
 * 
 * @param    scale    Scale factor for the model.  A scale of
 */
public TestSpacecraft(double scale) {
  sf = (float) scale;
    // allow the state of the model to be changed after compilation
  setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
  setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    // add the visual representation to the TransformGroup
  try {
      // first try the sparkymatmesh.obj model
    Scene modelScene = null;
    ObjectFile of = new ObjectFile();
    of.setFlags(ObjectFile.RESIZE     |
               ObjectFile.TRIANGULATE |
               ObjectFile.STRIPIFY);   
      // load the mesh defined below
    URL sparkyURL = TestSpacecraft.class.getResource("sparkymatmesh.obj");
    if (sparkyURL == null) {
      System.out.println("Can't find sphere.obj");
      throw new java.io.FileNotFoundException("Can't find sparkymesh.obj" +
                                                                       this);
    }
    
    modelScene = of.load(sparkyURL);
    
      // rotate model axis to align with simulation axis.  Also, offset
      // it along the x-axis so the cg and origin coincide.
    Vector3d trans = new Vector3d();  // offset along x-axis
    trans.x = XOFF*scale;
    Matrix3d m1 = new Matrix3d();
    m1.rotX(Math.PI/2.0);          // nose down into plane
    Matrix3d m2 = new Matrix3d();
    m2.rotZ(Math.PI/2.0);          // nose yaw into X
    m2.mul(m1);                    // combine
    Transform3D t3d = new Transform3D(m2, trans, scale);
    TransformGroup tg = new TransformGroup(t3d);
    modelBG = modelScene.getSceneGroup();
    
    tg.addChild(modelBG);
    addChild(tg);
  } catch(java.io.FileNotFoundException ex) {
      // if the above didn't work, load a sphere
    addChild(new Sphere(1.0f));
  }
}