Java Code Examples for com.jme3.math.Quaternion#mult()

/**
 * Convert a transform from the mesh coordinate system to the local
 * coordinate system of the specified bone.
 *
 * @param parentBone (not null)
 * @param transform the transform to convert (not null, modified)
 */
static void meshToLocal(Joint parentBone, Transform transform) {
    Vector3f location = transform.getTranslation();
    Quaternion orientation = transform.getRotation();
    Vector3f scale = transform.getScale();

    Transform pmx = parentBone.getModelTransform();
    Vector3f pmTranslate = pmx.getTranslation();
    Quaternion pmRotInv = pmx.getRotation().inverse();
    Vector3f pmScale = pmx.getScale();

    location.subtractLocal(pmTranslate);
    location.divideLocal(pmScale);
    pmRotInv.mult(location, location);
    scale.divideLocal(pmScale);
    pmRotInv.mult(orientation, orientation);
}
 

/**
 * Position the GUI to the given location.
 * @param pos the position of the GUI.
 * @param dir the rotation of the GUI.
 * @param tpf the time per frame.
 */
private void positionTo(Vector3f pos, Quaternion dir, float tpf) {

	if (environment != null){
		Vector3f guiPos = guiQuadNode.getLocalTranslation();
		guiPos.set(0f, 0f, guiDistance);
		dir.mult(guiPos, guiPos);
		guiPos.x += pos.x;
		guiPos.y += pos.y + environment.getVRHeightAdjustment();
		guiPos.z += pos.z;        
		if( guiPositioningElastic > 0f && posMode != VRGUIPositioningMode.MANUAL ) {
			// mix pos & dir with current pos & dir            
			guiPos.interpolateLocal(EoldPos, guiPos, Float.min(1f, tpf * guiPositioningElastic));
			EoldPos.set(guiPos);
		}
	} else {
		throw new IllegalStateException("VR GUI manager is not attached to any environment.");
	}
}
 

/**
 * Calculate the local bone transform to match the physics transform of the
 * rigid body.
 *
 * @param storeResult storage for the result (modified if not null)
 * @return the calculated bone transform (in local coordinates, either
 * storeResult or a new transform, not null)
 */
private Transform localBoneTransform(Transform storeResult) {
    Transform result
            = (storeResult == null) ? new Transform() : storeResult;
    Vector3f location = result.getTranslation();
    Quaternion orientation = result.getRotation();
    Vector3f scale = result.getScale();
    /*
     * Start with the rigid body's transform in physics/world coordinates.
     */
    PhysicsRigidBody body = getRigidBody();
    body.getPhysicsLocation(result.getTranslation());
    body.getPhysicsRotation(result.getRotation());
    result.setScale(body.getCollisionShape().getScale());
    /*
     * Convert to mesh coordinates.
     */
    Transform worldToMesh = getControl().meshTransform(null).invert();
    result.combineWithParent(worldToMesh);
    /*
     * Subtract the body's local offset, rotated and scaled.
     */
    Vector3f meshOffset = localOffset(null);
    meshOffset.multLocal(scale);
    orientation.mult(meshOffset, meshOffset);
    location.subtractLocal(meshOffset);

    return result;
}
 

/**
 * Calculate the local bone transform to match the physics transform of the
 * rigid body.
 *
 * @param storeResult storage for the result (modified if not null)
 * @return the calculated bone transform (in local coordinates, either
 * storeResult or a new transform, not null)
 */
private Transform localBoneTransform(Transform storeResult) {
    Transform result
            = (storeResult == null) ? new Transform() : storeResult;
    Vector3f location = result.getTranslation();
    Quaternion orientation = result.getRotation();
    Vector3f scale = result.getScale();
    /*
     * Start with the rigid body's transform in physics/world coordinates.
     */
    PhysicsRigidBody body = getRigidBody();
    body.getPhysicsLocation(result.getTranslation());
    body.getPhysicsRotation(result.getRotation());
    result.setScale(body.getCollisionShape().getScale());
    /*
     * Convert to mesh coordinates.
     */
    Transform worldToMesh = getControl().meshTransform(null).invert();
    result.combineWithParent(worldToMesh);
    /*
     * Convert to the bone's local coordinate system by factoring out the
     * parent bone's transform.
     */
    Joint parentBone = getBone().getParent();
    RagUtils.meshToLocal(parentBone, result);
    /*
     * Subtract the body's local offset, rotated and scaled.
     */
    Vector3f parentOffset = localOffset(null);
    parentOffset.multLocal(scale);
    orientation.mult(parentOffset, parentOffset);
    location.subtractLocal(parentOffset);

    return result;
}
 

private Point3D getBoneWorldPos(ModelActor actor, Point3D actorPos, double actorYaw, String boneName) {
	Spatial s = actor.getViewElements().spatial;
	Vector3f modelSpacePos = s.getControl(AnimControl.class).getSkeleton().getBone(boneName).getModelSpacePosition();
	Quaternion q = actor.getViewElements().spatial.getLocalRotation();
	modelSpacePos = q.mult(modelSpacePos);
	modelSpacePos.multLocal(s.getLocalScale());
	modelSpacePos = modelSpacePos.add(s.getLocalTranslation());
	// float scale
	// Point2D p2D = Translator.toPoint2D(modelSpacePos);
	// p2D = p2D.getRotation(actorYaw+Angle.RIGHT);
	// Point3D p3D = new Point3D(p2D.getMult(DEFAULT_SCALE), modelSpacePos.z*DEFAULT_SCALE, 1);
	// p3D = p3D.getAddition(actorPos);
	// return p3D;
	return TranslateUtil.toPoint3D(modelSpacePos);
}