Examples with Quaterniondc org.joml.Quaterniondc used on opensource projects

Example 1 with Quaterniondc

use of org.joml.Quaterniondc in project Valkyrien-Warfare-Revamped by ValkyrienWarfare.

the class PhysicsCalculations method calculateForcesDeconstruction.

private void calculateForcesDeconstruction(double physTickTimeDelta) {
    applyAirDrag();
    Quaterniondc inverseCurrentRotation = parent.getShipTransformationManager().getCurrentPhysicsTransform().rotationQuaternion(TransformType.GLOBAL_TO_SUBSPACE);
    AxisAngle4d idealAxisAngle = new AxisAngle4d(inverseCurrentRotation);
    if (idealAxisAngle.angle < EPSILON) {
        // We already have the perfect orientation, nothing left to do.
        return;
    }
    // Normalizes the axis, not the angle.
    idealAxisAngle.normalize();
    double angleBetweenIdealAndActual = idealAxisAngle.angle;
    // optimal to rotate in the opposite direction instead.
    if (angleBetweenIdealAndActual > Math.PI) {
        angleBetweenIdealAndActual = 2 * Math.PI - angleBetweenIdealAndActual;
    }
    // Number of seconds we'd expect this angular velocity to convert us onto the grid orientation.
    double timeStep = 1D;
    double idealAngularVelocityMultiple = angleBetweenIdealAndActual / timeStep;
    Vector3d idealAngularVelocity = new Vector3d(idealAxisAngle.x, idealAxisAngle.y, idealAxisAngle.z);
    idealAngularVelocity.mul(idealAngularVelocityMultiple);
    Vector3d angularVelocityDif = idealAngularVelocity.sub(getAngularVelocity(), new Vector3d());
    // Larger values converge faster, but sacrifice collision accuracy
    angularVelocityDif.mul(physTickTimeDelta);
    getAngularVelocity().add(angularVelocityDif);
}

Example 2 with Quaterniondc

use of org.joml.Quaterniondc in project Valkyrien-Warfare-Revamped by ValkyrienWarfare.

the class PhysicsCalculations method integrateAngularVelocity.

/**
 * Implementation is based on https://gafferongames.com/post/physics_in_3d/
 */
private void integrateAngularVelocity() {
    // The body angular velocity vector, in World coordinates
    if (angularVelocity.lengthSquared() < .001) {
        // Angular velocity is zero, so the rotation hasn't changed.
        return;
    }
    // If a ship is rotating too fast, then clamp its max rotational speed
    if (angularVelocity.lengthSquared() > VSConfig.shipMaxAngularSpeed * VSConfig.shipMaxAngularSpeed) {
        angularVelocity.normalize().mul(VSConfig.shipMaxAngularSpeed);
    }
    Vector3dc angularVelInBody = new Vector3d(angularVelocity);
    AxisAngle4d axisAngle4d = new AxisAngle4d(angularVelInBody.length() * getPhysicsTimeDeltaPerPhysTick(), angularVelInBody.x(), angularVelInBody.y(), angularVelInBody.z());
    axisAngle4d.normalize();
    // Take the product of the current rotation with the change in rotation that results from
    // the angular velocity. Then change our pitch/yaw/roll based on the result.
    Quaterniondc rotationQuat = new Quaterniond(axisAngle4d);
    physRotation = physRotation.premul(rotationQuat, new Quaterniond()).normalize();
}

Example 3 with Quaterniondc

use of org.joml.Quaterniondc in project Valkyrien-Warfare-Revamped by ValkyrienWarfare.

the class ShipTransformationManager method updateRenderTransform.

public void updateRenderTransform(double partialTick) {
    if (partialTick == 0) {
        renderTransform = prevTickTransform;
        return;
    } else if (partialTick == 1) {
        renderTransform = currentTickTransform;
        return;
    }
    ShipTransform prev = prevTickTransform;
    ShipTransform cur = currentTickTransform;
    Vector3dc shipCenter = parent.getCenterCoord();
    Vector3d prevPos = new Vector3d(shipCenter);
    Vector3d curPos = new Vector3d(shipCenter);
    prev.transformPosition(prevPos, TransformType.SUBSPACE_TO_GLOBAL);
    cur.transformPosition(curPos, TransformType.SUBSPACE_TO_GLOBAL);
    Vector3d deltaPos = curPos.sub(prevPos, new Vector3d());
    deltaPos.mul(partialTick);
    Vector3d partialPos = new Vector3d(prevPos);
    // Now partialPos is complete
    partialPos.add(deltaPos);
    Quaterniondc prevRot = prev.rotationQuaternion(TransformType.SUBSPACE_TO_GLOBAL);
    Quaterniondc curRot = cur.rotationQuaternion(TransformType.SUBSPACE_TO_GLOBAL);
    Quaterniondc partialRot = prevRot.slerp(curRot, partialTick, new Quaterniond()).normalize();
    // Put it all together to get the render transform.
    renderTransform = new ShipTransform(partialPos.x, partialPos.y, partialPos.z, partialRot, parent.getCenterCoord());
}