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

Example 91 with Quaternion

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

the class KinematicRagdollControl method setMode.

/**
     * Enable or disable the ragdoll behaviour. if ragdollEnabled is true, the
     * character motion will only be powerd by physics else, the characted will
     * be animated by the keyframe animation, but will be able to physically
     * interact with its physic environnement
     *
     * @param ragdollEnabled
     */
protected void setMode(Mode mode) {
    this.mode = mode;
    AnimControl animControl = targetModel.getControl(AnimControl.class);
    animControl.setEnabled(mode == Mode.Kinematic);
    baseRigidBody.setKinematic(mode == Mode.Kinematic);
    if (mode != Mode.IK) {
        TempVars vars = TempVars.get();
        for (PhysicsBoneLink link : boneLinks.values()) {
            link.rigidBody.setKinematic(mode == Mode.Kinematic);
            if (mode == Mode.Ragdoll) {
                Quaternion tmpRot1 = vars.quat1;
                Vector3f position = vars.vect1;
                //making sure that the ragdoll is at the correct place.
                matchPhysicObjectToBone(link, position, tmpRot1);
            }
        }
        vars.release();
    }
    if (mode != Mode.IK) {
        for (Bone bone : skeleton.getRoots()) {
            RagdollUtils.setUserControl(bone, mode == Mode.Ragdoll);
        }
    }
}

Example 92 with Quaternion

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

the class KinematicRagdollControl method applyUserControl.

public void applyUserControl() {
    for (Bone bone : skeleton.getRoots()) {
        RagdollUtils.setUserControl(bone, false);
    }
    if (ikTargets.isEmpty()) {
        setKinematicMode();
    } else {
        Iterator iterator = ikTargets.keySet().iterator();
        TempVars vars = TempVars.get();
        while (iterator.hasNext()) {
            Bone bone = (Bone) iterator.next();
            while (bone.getParent() != null) {
                Quaternion tmpRot1 = vars.quat1;
                Vector3f position = vars.vect1;
                matchPhysicObjectToBone(boneLinks.get(bone.getName()), position, tmpRot1);
                bone.setUserControl(true);
                bone = bone.getParent();
            }
        }
        vars.release();
    }
}

Example 93 with Quaternion

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

the class SpatialTrack method setTime.

/**
     * 
     * Modify the spatial which this track modifies.
     * 
     * @param time
     *            the current time of the animation
     */
public void setTime(float time, float weight, AnimControl control, AnimChannel channel, TempVars vars) {
    Spatial spatial = control.getSpatial();
    Vector3f tempV = vars.vect1;
    Vector3f tempS = vars.vect2;
    Quaternion tempQ = vars.quat1;
    Vector3f tempV2 = vars.vect3;
    Vector3f tempS2 = vars.vect4;
    Quaternion tempQ2 = vars.quat2;
    int lastFrame = times.length - 1;
    if (time < 0 || lastFrame == 0) {
        if (rotations != null)
            rotations.get(0, tempQ);
        if (translations != null)
            translations.get(0, tempV);
        if (scales != null) {
            scales.get(0, tempS);
        }
    } else if (time >= times[lastFrame]) {
        if (rotations != null)
            rotations.get(lastFrame, tempQ);
        if (translations != null)
            translations.get(lastFrame, tempV);
        if (scales != null) {
            scales.get(lastFrame, tempS);
        }
    } else {
        int startFrame = 0;
        int endFrame = 1;
        // use lastFrame so we never overflow the array
        for (int i = 0; i < lastFrame && times[i] < time; ++i) {
            startFrame = i;
            endFrame = i + 1;
        }
        float blend = (time - times[startFrame]) / (times[endFrame] - times[startFrame]);
        if (rotations != null)
            rotations.get(startFrame, tempQ);
        if (translations != null)
            translations.get(startFrame, tempV);
        if (scales != null) {
            scales.get(startFrame, tempS);
        }
        if (rotations != null)
            rotations.get(endFrame, tempQ2);
        if (translations != null)
            translations.get(endFrame, tempV2);
        if (scales != null) {
            scales.get(endFrame, tempS2);
        }
        tempQ.nlerp(tempQ2, blend);
        tempV.interpolateLocal(tempV2, blend);
        tempS.interpolateLocal(tempS2, blend);
    }
    if (translations != null)
        spatial.setLocalTranslation(tempV);
    if (rotations != null)
        spatial.setLocalRotation(tempQ);
    if (scales != null) {
        spatial.setLocalScale(tempS);
    }
}

Example 94 with Quaternion

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

the class ChaseCameraAppState method rotateCamera.

/**
     * rotate the camera around the target
     */
protected void rotateCamera() {
    verticalRotation = FastMath.clamp(verticalRotation, minVerticalRotation, maxVerticalRotation);
    TempVars vars = TempVars.get();
    Quaternion rot = vars.quat1;
    Quaternion rot2 = vars.quat2;
    rot.fromAngleNormalAxis(verticalRotation, leftVector);
    rot2.fromAngleNormalAxis(horizontalRotation, upVector);
    rot2.multLocal(rot);
    target.setLocalRotation(rot2);
    vars.release();
}

Example 95 with Quaternion

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

the class RigidBodyMotionState method applyTransform.

/**
     * applies the current transform to the given jme Node if the location has been updated on the physics side
     * @param spatial
     */
public boolean applyTransform(Spatial spatial) {
    Vector3f localLocation = spatial.getLocalTranslation();
    Quaternion localRotationQuat = spatial.getLocalRotation();
    boolean physicsLocationDirty = applyTransform(motionStateId, localLocation, localRotationQuat);
    if (!physicsLocationDirty) {
        return false;
    }
    if (!applyPhysicsLocal && spatial.getParent() != null) {
        localLocation.subtractLocal(spatial.getParent().getWorldTranslation());
        localLocation.divideLocal(spatial.getParent().getWorldScale());
        tmp_inverseWorldRotation.set(spatial.getParent().getWorldRotation()).inverseLocal().multLocal(localLocation);
        //            localRotationQuat.set(worldRotationQuat);
        tmp_inverseWorldRotation.mult(localRotationQuat, localRotationQuat);
        spatial.setLocalTranslation(localLocation);
        spatial.setLocalRotation(localRotationQuat);
    } else {
        spatial.setLocalTranslation(localLocation);
        spatial.setLocalRotation(localRotationQuat);
    //            spatial.setLocalTranslation(worldLocation);
    //            spatial.setLocalRotation(worldRotationQuat);
    }
    if (vehicle != null) {
        vehicle.updateWheels();
    }
    return true;
}