Examples with Quaternion com.jme3.math.Quaternion used on opensource projects

Example 61 with Quaternion

use of com.jme3.math.Quaternion in project jmonkeyengine by jMonkeyEngine.

the class KinematicRagdollControl method kinematicUpdate.

protected void kinematicUpdate(float tpf) {
    //the ragdoll does not have the controll, so the keyframed animation updates the physic position of the physic bonces
    TempVars vars = TempVars.get();
    Quaternion tmpRot1 = vars.quat1;
    Quaternion tmpRot2 = vars.quat2;
    Vector3f position = vars.vect1;
    for (PhysicsBoneLink link : boneLinks.values()) {
        //but to allow smooth transition, we blend this transformation with the saved position of the ragdoll
        if (blendedControl) {
            Vector3f position2 = vars.vect2;
            //initializing tmp vars with the start position/rotation of the ragdoll
            position.set(link.startBlendingPos);
            tmpRot1.set(link.startBlendingRot);
            //interpolating between ragdoll position/rotation and keyframed position/rotation
            tmpRot2.set(tmpRot1).nlerp(link.bone.getModelSpaceRotation(), blendStart / blendTime);
            position2.set(position).interpolateLocal(link.bone.getModelSpacePosition(), blendStart / blendTime);
            tmpRot1.set(tmpRot2);
            position.set(position2);
            //updating bones transforms
            if (boneList.isEmpty()) {
                //we ensure we have the control to update the bone
                link.bone.setUserControl(true);
                link.bone.setUserTransformsInModelSpace(position, tmpRot1);
                //we give control back to the key framed animation.
                link.bone.setUserControl(false);
            } else {
                RagdollUtils.setTransform(link.bone, position, tmpRot1, true, boneList);
            }
        }
        //setting skeleton transforms to the ragdoll
        matchPhysicObjectToBone(link, position, tmpRot1);
        modelPosition.set(targetModel.getLocalTranslation());
    }
    //time control for blending
    if (blendedControl) {
        blendStart += tpf;
        if (blendStart > blendTime) {
            blendedControl = false;
        }
    }
    vars.release();
}

Example 62 with Quaternion

use of com.jme3.math.Quaternion in project jmonkeyengine by jMonkeyEngine.

the class KinematicRagdollControl method write.

/**
     * serialize this control
     *
     * @param ex
     * @throws IOException
     */
@Override
public void write(JmeExporter ex) throws IOException {
    super.write(ex);
    OutputCapsule oc = ex.getCapsule(this);
    oc.write(boneList.toArray(new String[boneList.size()]), "boneList", new String[0]);
    oc.write(boneLinks.values().toArray(new PhysicsBoneLink[boneLinks.size()]), "boneLinks", new PhysicsBoneLink[0]);
    oc.write(modelPosition, "modelPosition", new Vector3f());
    oc.write(modelRotation, "modelRotation", new Quaternion());
    oc.write(targetModel, "targetModel", null);
    oc.write(skeleton, "skeleton", null);
    //        oc.write(preset, "preset", null);//TODO
    oc.write(initScale, "initScale", null);
    oc.write(mode, "mode", null);
    oc.write(blendedControl, "blendedControl", false);
    oc.write(weightThreshold, "weightThreshold", -1.0f);
    oc.write(blendStart, "blendStart", 0.0f);
    oc.write(blendTime, "blendTime", 1.0f);
    oc.write(eventDispatchImpulseThreshold, "eventDispatchImpulseThreshold", 10);
    oc.write(rootMass, "rootMass", 15);
    oc.write(totalMass, "totalMass", 0);
    oc.write(ikRotSpeed, "rotSpeed", 7f);
    oc.write(limbDampening, "limbDampening", 0.6f);
}

Example 63 with Quaternion

use of com.jme3.math.Quaternion in project jmonkeyengine by jMonkeyEngine.

the class KinematicRagdollControl method blendToKinematicMode.

/**
     * Smoothly blend from Ragdoll mode to Kinematic mode This is useful to
     * blend ragdoll actual position to a keyframe animation for example
     *
     * @param blendTime the blending time between ragdoll to anim.
     */
public void blendToKinematicMode(float blendTime) {
    if (mode == Mode.Kinematic) {
        return;
    }
    blendedControl = true;
    this.blendTime = blendTime;
    mode = Mode.Kinematic;
    AnimControl animControl = targetModel.getControl(AnimControl.class);
    animControl.setEnabled(true);
    TempVars vars = TempVars.get();
    for (PhysicsBoneLink link : boneLinks.values()) {
        Vector3f p = link.rigidBody.getMotionState().getWorldLocation();
        Vector3f position = vars.vect1;
        targetModel.getWorldTransform().transformInverseVector(p, position);
        Quaternion q = link.rigidBody.getMotionState().getWorldRotationQuat();
        Quaternion q2 = vars.quat1;
        Quaternion q3 = vars.quat2;
        q2.set(q).multLocal(link.initalWorldRotation).normalizeLocal();
        q3.set(targetModel.getWorldRotation()).inverseLocal().mult(q2, q2);
        q2.normalizeLocal();
        link.startBlendingPos.set(position);
        link.startBlendingRot.set(q2);
        link.rigidBody.setKinematic(true);
    }
    vars.release();
    for (Bone bone : skeleton.getRoots()) {
        RagdollUtils.setUserControl(bone, false);
    }
    blendStart = 0;
}

Example 64 with Quaternion

use of com.jme3.math.Quaternion in project jmonkeyengine by jMonkeyEngine.

the class KinematicRagdollControl method read.

/**
     * de-serialize this control
     *
     * @param im
     * @throws IOException
     */
@Override
public void read(JmeImporter im) throws IOException {
    super.read(im);
    InputCapsule ic = im.getCapsule(this);
    String[] loadedBoneList = ic.readStringArray("boneList", new String[0]);
    boneList.addAll(Arrays.asList(loadedBoneList));
    PhysicsBoneLink[] loadedBoneLinks = (PhysicsBoneLink[]) ic.readSavableArray("boneList", new PhysicsBoneLink[0]);
    for (PhysicsBoneLink physicsBoneLink : loadedBoneLinks) {
        boneLinks.put(physicsBoneLink.bone.getName(), physicsBoneLink);
    }
    modelPosition.set((Vector3f) ic.readSavable("modelPosition", new Vector3f()));
    modelRotation.set((Quaternion) ic.readSavable("modelRotation", new Quaternion()));
    targetModel = (Spatial) ic.readSavable("targetModel", null);
    skeleton = (Skeleton) ic.readSavable("skeleton", null);
    //        preset //TODO
    initScale = (Vector3f) ic.readSavable("initScale", null);
    mode = ic.readEnum("mode", Mode.class, Mode.Kinematic);
    blendedControl = ic.readBoolean("blendedControl", false);
    weightThreshold = ic.readFloat("weightThreshold", -1.0f);
    blendStart = ic.readFloat("blendStart", 0.0f);
    blendTime = ic.readFloat("blendTime", 1.0f);
    eventDispatchImpulseThreshold = ic.readFloat("eventDispatchImpulseThreshold", 10);
    rootMass = ic.readFloat("rootMass", 15);
    totalMass = ic.readFloat("totalMass", 0);
}

Example 65 with Quaternion

use of com.jme3.math.Quaternion in project jmonkeyengine by jMonkeyEngine.

the class AbstractPhysicsDebugControl method applyPhysicsTransform.

protected void applyPhysicsTransform(Vector3f worldLocation, Quaternion worldRotation, Spatial spatial) {
    if (spatial != null) {
        Vector3f localLocation = spatial.getLocalTranslation();
        Quaternion localRotationQuat = spatial.getLocalRotation();
        if (spatial.getParent() != null) {
            localLocation.set(worldLocation).subtractLocal(spatial.getParent().getWorldTranslation());
            localLocation.divideLocal(spatial.getParent().getWorldScale());
            tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().multLocal(localLocation);
            localRotationQuat.set(worldRotation);
            tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().mult(localRotationQuat, localRotationQuat);
            spatial.setLocalTranslation(localLocation);
            spatial.setLocalRotation(localRotationQuat);
        } else {
            spatial.setLocalTranslation(worldLocation);
            spatial.setLocalRotation(worldRotation);
        }
    }
}