artisynth.core.mechmodels

Class PlanarProjection

java.lang.Object

artisynth.core.mechmodels.PlanarProjection

public class PlanarProjection
extends java.lang.Object

Utility methods for transforming between matrices from world to planar coordinates.

Constructor Summary

Constructors

Constructor and Description
PlanarProjection()

Method Summary

Modifier and Type	Method and Description
static void	leftProject(Matrix2d MR, RotationMatrix3d R, Matrix3x2 M1) Left projects the matrix M1 onto the planar coordinate system and stores the result in MR.
static void	leftProject(Matrix2x3 MR, RotationMatrix3d R, Matrix3d M1) Left projects the matrix M1 onto the planar coordinate system and stores the result in MR.
static void	rightProject(Matrix2d MR, RotationMatrix3d R, Matrix2x3 M1) Right projects the matrix M1 onto the planar coordinate system and stores the result in MR.
static void	rightProject(Matrix3x2 MR, RotationMatrix3d R, Matrix3d M1) Right projects the matrix M1 onto the planar coordinate system and stores the result in MR.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PlanarProjection

public PlanarProjection()

Method Detail

leftProject

public static void leftProject(Matrix2d MR,
                               RotationMatrix3d R,
                               Matrix3x2 M1)

Left projects the matrix M1 onto the planar coordinate system and stores the result in MR. Specifically, this method computes

          T
    MR = R  M1
 

where R is the 3 x 2 orthogonal matrix formed from the first two columns of the rotation from plane to world coordinates.

Parameters:

MR - projected matrix

R - rotation from plane to world coordinates

M1 - matrix to be projected

leftProject

public static void leftProject(Matrix2x3 MR,
                               RotationMatrix3d R,
                               Matrix3d M1)

Left projects the matrix M1 onto the planar coordinate system and stores the result in MR. Specifically, this method computes

          T
    MR = R  M1
 

where R is the 3 x 2 orthogonal matrix formed from the first two columns of the rotation from plane to world coordinates.

Parameters:

MR - projected matrix

R - rotation from plane to world coordinates

M1 - matrix to be projected

rightProject

public static void rightProject(Matrix2d MR,
                                RotationMatrix3d R,
                                Matrix2x3 M1)

Right projects the matrix M1 onto the planar coordinate system and stores the result in MR. Specifically, this method computes

    MR = M1 R
 

where R is the 3 x 2 orthogonal matrix formed from the first two columns of the rotation from plane to world coordinates.

Parameters:

MR - projected matrix

R - rotation from plane to world coordinates

M1 - matrix to be projected

rightProject

public static void rightProject(Matrix3x2 MR,
                                RotationMatrix3d R,
                                Matrix3d M1)

Right projects the matrix M1 onto the planar coordinate system and stores the result in MR. Specifically, this method computes

    MR = M1 R
 

where R is the 3 x 2 orthogonal matrix formed from the first two columns of the rotation from plane to world coordinates.

Parameters:

MR - projected matrix

R - rotation from plane to world coordinates

M1 - matrix to be projected