maspack.geometry

Class MatrixNdGrid

java.lang.Object

maspack.geometry.InterpolatingGridBase

maspack.geometry.VectorGrid<MatrixNd>

maspack.geometry.MatrixNdGrid

All Implemented Interfaces:

HasRenderProps, IsRenderable, IsSelectable, Renderable, ParameterizedClass, Scannable

public class MatrixNdGrid
extends VectorGrid<MatrixNd>

Implements a regular 3D grid that interpolates MatrixNd values using trilinear interpolation. The class is implemented using VectorGrid<MatrixNd> as a base class, with augmentation to specify the size of the MatrixNd objects to be interpolated. This size must be specified in the constructor, cannot be modified, and must be uniform throughout the grid.

Values at any point within the grid are be obtained by trilinear interpolation of the values at surrounding vertices. Queries can be made for points in either local or world coordinates, using VectorGrid.getLocalValue(maspack.matrix.Point3d) or VectorGrid.getWorldValue(maspack.matrix.Point3d). If the query point is outside the grid, then null is returned.

Values at the grid vertices can be assigned collectively or individually, using VectorGrid.setVertexValues(T[]) or VectorGrid.setVertexValue(int, T). Values at grid vertices can be queried using VectorGrid.getVertexValue(int).

For more details, see the documentation for VectorGrid.

Field Summary

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
MatrixNdGrid() Default constructor.
MatrixNdGrid(int rowSize, int colSize, Vector3d widths, Vector3i resolution) Creates a new grid with specified matrix size, widths, and resolution, centered on the local coordinate system.
MatrixNdGrid(int rowSize, int colSize, Vector3d widths, Vector3i resolution, RigidTransform3d TCL) Creates a new grid with specified matrix size, widths, resolution, and position and orientation of the center given by TCL.
MatrixNdGrid(int rowSize, int colSize, Vector3i resolution) Creates a new grid, axis-aligned and centered on the origin, with the specified resolution and x, y, z widths set to 1.
MatrixNdGrid(MatrixNdGrid grid) Creates a new grid that is a copy of an existing grid.

Method Summary

Modifier and Type	Method and Description
MatrixNd	createTypeInstance()
boolean	epsilonEquals(MatrixNdGrid grid, double tol)
int	getMatrixColSize() Returns the column size of the matrics interpolated by this grid.
int	getMatrixRowSize() Returns the row size of the matrices interpolated by this grid.
boolean	hasParameterizedType() Queries whether this class explicitly utilizes a parameterized type.
void	set(MatrixNdGrid grid)

Methods inherited from class maspack.geometry.VectorGrid

epsilonEquals, getLocalValue, getLocalValue, getParameterType, getRenderVector, getRenderVectorScale, getVertexValue, getVertexValue, getVertexValue, getVertexValues, getWorldValue, getWorldValue, scanValue, set, setRenderVectorScale, setVertexValue, setVertexValue, setVertexValues, writeValue, zeroVertexValues

Methods inherited from class maspack.geometry.InterpolatingGridBase

clearColors, createRenderProps, epsilonEquals, getCellVertex, getCellWidths, getCenter, getCenterAndOrientation, getClosestVertex, getDebug, getDefaultVertexColor, getGridToLocalTransformer, getLocalToWorld, getLocalToWorldTransformer, getLocalVertexCoords, getLocalVertexCoords, getOrientation, getRadius, getRenderHints, getRenderProps, getRenderRanges, getResolution, getSelection, getVertexColor, getWidths, getWidths, getWorldCenter, getWorldOrientation, getWorldVertexCoords, getWorldVertexCoords, hasLocalToWorld, isSelectable, isVertexRenderingEnabled, isWritable, numSelectionQueriesNeeded, numVertices, parseRenderRanges, prerender, prerender, render, render, scaleDistance, scan, set, setCenter, setCenterAndOrientation, setDebug, setDefaultVertexColor, setLocalToWorld, setOrientation, setRenderProps, setRenderRanges, setResolution, setVertexColor, setVertexRenderingEnabled, updateBounds, vertexToXyzIndices, write, xyzIndicesToVertex

Methods inherited from class java.lang.Object

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

Constructor Detail

MatrixNdGrid

public MatrixNdGrid()

Default constructor. Should not be called by applications, unless InterpolatingGridBase.scan(maspack.util.ReaderTokenizer, java.lang.Object) is called immediately after.

MatrixNdGrid

public MatrixNdGrid(int rowSize,
                    int colSize,
                    Vector3d widths,
                    Vector3i resolution)

Creates a new grid with specified matrix size, widths, and resolution, centered on the local coordinate system. The grid values are initialized to zero.

Parameters:

rowSize - row size of the matrices

colSize - column size of the matrices

widths - widths along the x, y, and z axes

resolution - cell resolution along the x, y, and z axes

MatrixNdGrid

public MatrixNdGrid(int rowSize,
                    int colSize,
                    Vector3d widths,
                    Vector3i resolution,
                    RigidTransform3d TCL)

Creates a new grid with specified matrix size, widths, resolution, and position and orientation of the center given by TCL. The grid values are initialized to zero.

Parameters:

rowSize - row size of the matrices

colSize - column size of the matrices

widths - widths along the x, y, and z axes

resolution - cell resolution along the x, y, and z axes

TCL - transformation giving the position and orientation of the grid center

MatrixNdGrid

public MatrixNdGrid(int rowSize,
                    int colSize,
                    Vector3i resolution)

Creates a new grid, axis-aligned and centered on the origin, with the specified resolution and x, y, z widths set to 1. The grid values are initialized to zero.

Parameters:

rowSize - row size of the matrices

colSize - column size of the matrices

resolution - cell resolution along the x, y, and z axes

MatrixNdGrid

public MatrixNdGrid(MatrixNdGrid grid)

Creates a new grid that is a copy of an existing grid.

Parameters:

grid - grid to copy

Method Detail

getMatrixRowSize

public int getMatrixRowSize()

Returns the row size of the matrices interpolated by this grid.

Returns:

matrix row size

getMatrixColSize

public int getMatrixColSize()

Returns the column size of the matrics interpolated by this grid.

Returns:

matrix column size

hasParameterizedType

public boolean hasParameterizedType()

Queries whether this class explicitly utilizes a parameterized type. This methods allows ParameterizedType subclasses to not be explicitly parameterized.

Specified by:

hasParameterizedType in interface ParameterizedClass

Overrides:

hasParameterizedType in class VectorGrid<MatrixNd>

Returns:

true if this class utilizes a parameterized type.

set

public void set(MatrixNdGrid grid)

createTypeInstance

public MatrixNd createTypeInstance()

Overrides:

createTypeInstance in class VectorGrid<MatrixNd>

epsilonEquals

public boolean epsilonEquals(MatrixNdGrid grid,
                             double tol)