private Matrix4d reorientHelix(int index) {
Matrix4d matrix = new Matrix4d();
matrix.setIdentity();
matrix.setRotation(new AxisAngle4d(1, 0, 0, Math.PI / 2 * (index + 1)));
matrix.mul(transformationMatrix);
return matrix;
}
public static void main(String[] args) {
double[] vertexCoords = {
1.0, 0.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0
};
int[][] faceIndices = {{0, 3, 2, 1}, {4, 0, 1}, {4, 1, 2}, {4, 2, 3}, {4, 3, 0}};
ConvexPolyhedron poly = new ConvexPolyhedron(vertexCoords, faceIndices);
PolyTree pyramid = new PolyTree("pyramid", poly);
PolyTree hourglass = new PolyTree("hourglass");
Matrix4d X = new Matrix4d();
X.setIdentity();
X.setTranslation(new Vector3d(0, 0, -1));
hourglass.addComponent("bottom", pyramid, X);
X.setTranslation(new Vector3d(0, 0, 1));
X.setRotation(new AxisAngle4d(1, 0, 0, Math.PI));
hourglass.addComponent("top", pyramid, X);
hourglass.buildBoundingHull(PolyTree.OBB_HULL);
}