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

Example 81 with Quaternion

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

the class TestBetterCharacter method simpleInitApp.

@Override
public void simpleInitApp() {
    //setup keyboard mapping
    setupKeys();
    // activate physics
    bulletAppState = new BulletAppState();
    stateManager.attach(bulletAppState);
    bulletAppState.setDebugEnabled(true);
    // init a physics test scene
    PhysicsTestHelper.createPhysicsTestWorldSoccer(rootNode, assetManager, bulletAppState.getPhysicsSpace());
    PhysicsTestHelper.createBallShooter(this, rootNode, bulletAppState.getPhysicsSpace());
    setupPlanet();
    // Create a node for the character model
    characterNode = new Node("character node");
    characterNode.setLocalTranslation(new Vector3f(4, 5, 2));
    // Add a character control to the node so we can add other things and
    // control the model rotation
    physicsCharacter = new BetterCharacterControl(0.3f, 2.5f, 8f);
    characterNode.addControl(physicsCharacter);
    getPhysicsSpace().add(physicsCharacter);
    // Load model, attach to character node
    Node model = (Node) assetManager.loadModel("Models/Jaime/Jaime.j3o");
    model.setLocalScale(1.50f);
    characterNode.attachChild(model);
    // Add character node to the rootNode
    rootNode.attachChild(characterNode);
    // Set forward camera node that follows the character, only used when
    // view is "locked"
    camNode = new CameraNode("CamNode", cam);
    camNode.setControlDir(ControlDirection.SpatialToCamera);
    camNode.setLocalTranslation(new Vector3f(0, 2, -6));
    Quaternion quat = new Quaternion();
    // These coordinates are local, the camNode is attached to the character node!
    quat.lookAt(Vector3f.UNIT_Z, Vector3f.UNIT_Y);
    camNode.setLocalRotation(quat);
    characterNode.attachChild(camNode);
    // Disable by default, can be enabled via keyboard shortcut
    camNode.setEnabled(false);
}

Example 82 with Quaternion

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

the class TestHoveringTank method buildPlayer.

private void buildPlayer() {
    spaceCraft = assetManager.loadModel("Models/HoverTank/Tank2.mesh.xml");
    CollisionShape colShape = CollisionShapeFactory.createDynamicMeshShape(spaceCraft);
    spaceCraft.setShadowMode(ShadowMode.CastAndReceive);
    spaceCraft.setLocalTranslation(new Vector3f(-140, 50, -23));
    spaceCraft.setLocalRotation(new Quaternion(new float[] { 0, 0.01f, 0 }));
    hoverControl = new PhysicsHoverControl(colShape, 500);
    spaceCraft.addControl(hoverControl);
    rootNode.attachChild(spaceCraft);
    getPhysicsSpace().add(hoverControl);
    hoverControl.setCollisionGroup(PhysicsCollisionObject.COLLISION_GROUP_02);
    ChaseCamera chaseCam = new ChaseCamera(cam, inputManager);
    spaceCraft.addControl(chaseCam);
    flyCam.setEnabled(false);
}

Example 83 with Quaternion

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

the class SimulationNode method simulateSkeleton.

/**
     * Simulates the bone node.
     */
private void simulateSkeleton() {
    LOGGER.fine("Simulating skeleton.");
    Set<Long> alteredOmas = new HashSet<Long>();
    if (animations != null) {
        TempVars vars = TempVars.get();
        AnimChannel animChannel = animControl.createChannel();
        for (Animation animation : animations) {
            float[] animationTimeBoundaries = this.computeAnimationTimeBoundaries(animation);
            int maxFrame = (int) animationTimeBoundaries[0];
            float maxTime = animationTimeBoundaries[1];
            Map<Integer, VirtualTrack> tracks = new HashMap<Integer, VirtualTrack>();
            for (int frame = 0; frame < maxFrame; ++frame) {
                // this MUST be done here, otherwise setting next frame of animation will
                // lead to possible errors
                this.reset();
                // first set proper time for all bones in all the tracks ...
                for (Track track : animation.getTracks()) {
                    float time = ((BoneTrack) track).getTimes()[frame];
                    track.setTime(time, 1, animControl, animChannel, vars);
                    skeleton.updateWorldVectors();
                }
                // ... and then apply constraints from the root bone to the last child ...
                Set<Long> applied = new HashSet<Long>();
                for (Bone rootBone : skeleton.getRoots()) {
                    // ignore the 0-indexed bone
                    if (skeleton.getBoneIndex(rootBone) > 0) {
                        this.applyConstraints(rootBone, alteredOmas, applied, frame, new Stack<Bone>());
                    }
                }
                // ... add virtual tracks if neccessary, for bones that were altered but had no tracks before ...
                for (Long boneOMA : alteredOmas) {
                    BoneContext boneContext = blenderContext.getBoneContext(boneOMA);
                    int boneIndex = skeleton.getBoneIndex(boneContext.getBone());
                    if (!tracks.containsKey(boneIndex)) {
                        tracks.put(boneIndex, new VirtualTrack(boneContext.getBone().getName(), maxFrame, maxTime));
                    }
                }
                alteredOmas.clear();
                // ... and fill in another frame in the result track
                for (Entry<Integer, VirtualTrack> trackEntry : tracks.entrySet()) {
                    Bone bone = skeleton.getBone(trackEntry.getKey());
                    Transform startTransform = boneStartTransforms.get(bone);
                    // track contains differences between the frame position and bind positions of bones/spatials
                    Vector3f bonePositionDifference = bone.getLocalPosition().subtract(startTransform.getTranslation());
                    Quaternion boneRotationDifference = startTransform.getRotation().inverse().mult(bone.getLocalRotation()).normalizeLocal();
                    Vector3f boneScaleDifference = bone.getLocalScale().divide(startTransform.getScale());
                    trackEntry.getValue().setTransform(frame, new Transform(bonePositionDifference, boneRotationDifference, boneScaleDifference));
                }
            }
            for (Entry<Integer, VirtualTrack> trackEntry : tracks.entrySet()) {
                Track newTrack = trackEntry.getValue().getAsBoneTrack(trackEntry.getKey());
                if (newTrack != null) {
                    boolean trackReplaced = false;
                    for (Track track : animation.getTracks()) {
                        if (((BoneTrack) track).getTargetBoneIndex() == trackEntry.getKey().intValue()) {
                            animation.removeTrack(track);
                            animation.addTrack(newTrack);
                            trackReplaced = true;
                            break;
                        }
                    }
                    if (!trackReplaced) {
                        animation.addTrack(newTrack);
                    }
                }
            }
        }
        vars.release();
        animControl.clearChannels();
        this.reset();
    }
}

Example 84 with Quaternion

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

the class Ipo method calculateTrack.

/**
     * This method calculates the value of the curves as a bone track between
     * the specified frames.
     * 
     * @param targetIndex
     *            the index of the target for which the method calculates the
     *            tracks IMPORTANT! Aet to -1 (or any negative number) if you
     *            want to load spatial animation.
     * @param localTranslation
     *            the local translation of the object/bone that will be animated by
     *            the track
     * @param localRotation
     *            the local rotation of the object/bone that will be animated by
     *            the track
     * @param localScale
     *            the local scale of the object/bone that will be animated by
     *            the track
     * @param startFrame
     *            the first frame of tracks (inclusive)
     * @param stopFrame
     *            the last frame of the tracks (inclusive)
     * @param fps
     *            frame rate (frames per second)
     * @param spatialTrack
     *            this flag indicates if the track belongs to a spatial or to a
     *            bone; the difference is important because it appears that bones
     *            in blender have the same type of coordinate system (Y as UP)
     *            as jme while other features have different one (Z is UP)
     * @return bone track for the specified bone
     */
public Track calculateTrack(int targetIndex, BoneContext boneContext, Vector3f localTranslation, Quaternion localRotation, Vector3f localScale, int startFrame, int stopFrame, int fps, boolean spatialTrack) {
    if (calculatedTrack == null) {
        // preparing data for track
        int framesAmount = stopFrame - startFrame;
        float timeBetweenFrames = 1.0f / fps;
        float[] times = new float[framesAmount + 1];
        Vector3f[] translations = new Vector3f[framesAmount + 1];
        float[] translation = new float[3];
        Quaternion[] rotations = new Quaternion[framesAmount + 1];
        float[] quaternionRotation = new float[] { localRotation.getX(), localRotation.getY(), localRotation.getZ(), localRotation.getW() };
        float[] eulerRotation = localRotation.toAngles(null);
        Vector3f[] scales = new Vector3f[framesAmount + 1];
        float[] scale = new float[] { localScale.x, localScale.y, localScale.z };
        float degreeToRadiansFactor = 1;
        if (blenderVersion < 250) {
            // in blender earlier than 2.50 the values are stored in degrees
            // the values in blender are divided by 10, so we need to mult it here
            degreeToRadiansFactor *= FastMath.DEG_TO_RAD * 10;
        }
        int yIndex = 1, zIndex = 2;
        boolean swapAxes = spatialTrack && fixUpAxis;
        if (swapAxes) {
            yIndex = 2;
            zIndex = 1;
        }
        boolean eulerRotationUsed = false, queternionRotationUsed = false;
        // calculating track data
        for (int frame = startFrame; frame <= stopFrame; ++frame) {
            boolean translationSet = false;
            translation[0] = translation[1] = translation[2] = 0;
            int index = frame - startFrame;
            // start + (frame - 1) * timeBetweenFrames;
            times[index] = index * timeBetweenFrames;
            for (int j = 0; j < bezierCurves.length; ++j) {
                double value = bezierCurves[j].evaluate(frame, BezierCurve.Y_VALUE);
                switch(bezierCurves[j].getType()) {
                    // LOCATION
                    case AC_LOC_X:
                        translation[0] = (float) value;
                        translationSet = true;
                        break;
                    case AC_LOC_Y:
                        if (swapAxes && value != 0) {
                            value = -value;
                        }
                        translation[yIndex] = (float) value;
                        translationSet = true;
                        break;
                    case AC_LOC_Z:
                        translation[zIndex] = (float) value;
                        translationSet = true;
                        break;
                    // EULER ROTATION
                    case OB_ROT_X:
                        eulerRotationUsed = true;
                        eulerRotation[0] = (float) value * degreeToRadiansFactor;
                        break;
                    case OB_ROT_Y:
                        eulerRotationUsed = true;
                        if (swapAxes && value != 0) {
                            value = -value;
                        }
                        eulerRotation[yIndex] = (float) value * degreeToRadiansFactor;
                        break;
                    case OB_ROT_Z:
                        eulerRotationUsed = true;
                        eulerRotation[zIndex] = (float) value * degreeToRadiansFactor;
                        break;
                    // SIZE
                    case AC_SIZE_X:
                        scale[0] = (float) value;
                        break;
                    case AC_SIZE_Y:
                        scale[yIndex] = (float) value;
                        break;
                    case AC_SIZE_Z:
                        scale[zIndex] = (float) value;
                        break;
                    // QUATERNION ROTATION (used with bone animation)
                    case AC_QUAT_W:
                        queternionRotationUsed = true;
                        quaternionRotation[3] = (float) value;
                        break;
                    case AC_QUAT_X:
                        queternionRotationUsed = true;
                        quaternionRotation[0] = (float) value;
                        break;
                    case AC_QUAT_Y:
                        queternionRotationUsed = true;
                        if (swapAxes && value != 0) {
                            value = -value;
                        }
                        quaternionRotation[yIndex] = (float) value;
                        break;
                    case AC_QUAT_Z:
                        quaternionRotation[zIndex] = (float) value;
                        break;
                    default:
                        LOGGER.log(Level.WARNING, "Unknown ipo curve type: {0}.", bezierCurves[j].getType());
                }
            }
            if (translationSet) {
                translations[index] = localRotation.multLocal(new Vector3f(translation[0], translation[1], translation[2]));
            } else {
                translations[index] = new Vector3f();
            }
            if (boneContext != null) {
                if (boneContext.getBone().getParent() == null && boneContext.is(BoneContext.NO_LOCAL_LOCATION)) {
                    float temp = translations[index].z;
                    translations[index].z = -translations[index].y;
                    translations[index].y = temp;
                }
            }
            if (queternionRotationUsed) {
                rotations[index] = new Quaternion(quaternionRotation[0], quaternionRotation[1], quaternionRotation[2], quaternionRotation[3]);
            } else {
                rotations[index] = new Quaternion().fromAngles(eulerRotation);
            }
            scales[index] = new Vector3f(scale[0], scale[1], scale[2]);
        }
        if (spatialTrack) {
            calculatedTrack = new SpatialTrack(times, translations, rotations, scales);
        } else {
            calculatedTrack = new BoneTrack(targetIndex, times, translations, rotations, scales);
        }
        if (queternionRotationUsed && eulerRotationUsed) {
            LOGGER.warning("Animation uses both euler and quaternion tracks for rotations. Quaternion rotation is applied. Make sure that this is what you wanted!");
        }
    }
    return calculatedTrack;
}

Example 85 with Quaternion

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

the class ConstraintDefinitionRotLike method bake.

@Override
public void bake(Space ownerSpace, Space targetSpace, Transform targetTransform, float influence) {
    if (influence == 0 || targetTransform == null || !trackToBeChanged) {
        // no need to do anything
        return;
    }
    Transform ownerTransform = this.getOwnerTransform(ownerSpace);
    Quaternion ownerRotation = ownerTransform.getRotation();
    ownerAngles = ownerRotation.toAngles(ownerAngles);
    targetAngles = targetTransform.getRotation().toAngles(targetAngles);
    Quaternion startRotation = ownerRotation.clone();
    Quaternion offset = Quaternion.IDENTITY;
    if ((flag & ROTLIKE_OFFSET) != 0) {
        // we add the original rotation to
        // the copied rotation
        offset = startRotation;
    }
    if ((flag & ROTLIKE_X) != 0) {
        ownerAngles[0] = targetAngles[0];
        if ((flag & ROTLIKE_X_INVERT) != 0) {
            ownerAngles[0] = -ownerAngles[0];
        }
    }
    if ((flag & ROTLIKE_Y) != 0) {
        ownerAngles[1] = targetAngles[1];
        if ((flag & ROTLIKE_Y_INVERT) != 0) {
            ownerAngles[1] = -ownerAngles[1];
        }
    }
    if ((flag & ROTLIKE_Z) != 0) {
        ownerAngles[2] = targetAngles[2];
        if ((flag & ROTLIKE_Z_INVERT) != 0) {
            ownerAngles[2] = -ownerAngles[2];
        }
    }
    ownerRotation.fromAngles(ownerAngles).multLocal(offset);
    if (influence < 1.0f) {
    // startLocation.subtractLocal(ownerLocation).normalizeLocal().mult(influence);
    // ownerLocation.addLocal(startLocation);
    // TODO
    }
    this.applyOwnerTransform(ownerTransform, ownerSpace);
}