Examples with Quat4f org.terasology.math.geom.Quat4f used on opensource projects

Example 11 with Quat4f

use of org.terasology.math.geom.Quat4f in project Terasology by MovingBlocks.

the class Bone method getLocalRotation.

public Quat4f getLocalRotation() {
    Quat4f rot = new Quat4f(rotation);
    if (parent != null) {
        Quat4f inverseParentRot = new Quat4f();
        inverseParentRot.inverse(parent.getObjectRotation());
        rot.mul(inverseParentRot, rot);
    }
    return rot;
}

Example 12 with Quat4f

use of org.terasology.math.geom.Quat4f in project Terasology by MovingBlocks.

the class SkeletalMeshData method toMD5.

/**
 * Outputs the skeletal mesh as md5mesh file
 */
public String toMD5(String shader) {
    StringBuilder sb = new StringBuilder();
    sb.append("MD5Version 10\n" + "commandline \"Exported from Terasology MD5SkeletonLoader\"\n" + "\n");
    sb.append("numJoints ").append(bones.size()).append("\n");
    sb.append("numMeshes 1\n\n");
    sb.append("joints {\n");
    for (Bone bone : bones) {
        sb.append("\t\"").append(bone.getName()).append("\" ").append(bone.getParentIndex()).append(" ( ");
        sb.append(bone.getObjectPosition().x).append(" ");
        sb.append(bone.getObjectPosition().y).append(" ");
        sb.append(bone.getObjectPosition().z).append(" ) ( ");
        Quat4f rot = new Quat4f(bone.getObjectRotation());
        rot.normalize();
        if (rot.w > 0) {
            rot.x = -rot.x;
            rot.y = -rot.y;
            rot.z = -rot.z;
        }
        sb.append(rot.x).append(" ");
        sb.append(rot.y).append(" ");
        sb.append(rot.z).append(" )\n");
    }
    sb.append("}\n\n");
    sb.append("mesh {\n");
    sb.append("\tshader \"" + shader + "\"\n");
    sb.append("\tnumverts ").append(uvs.size()).append("\n");
    for (int i = 0; i < uvs.size(); i++) {
        sb.append("\tvert ").append(i).append(" (").append(uvs.get(i).x).append(" ").append(uvs.get(i).y).append(") ");
        sb.append(vertexStartWeights.get(i)).append(" ").append(vertexWeightCounts.get(i)).append("\n");
    }
    sb.append("\n");
    sb.append("\tnumtris ").append(indices.size() / 3).append("\n");
    for (int i = 0; i < indices.size() / 3; i++) {
        int i1 = indices.get(i * 3);
        int i2 = indices.get(i * 3 + 1);
        int i3 = indices.get(i * 3 + 2);
        sb.append("\ttri ").append(i).append(" ").append(i1).append(" ").append(i2).append(" ").append(i3).append("\n");
    }
    sb.append("\n");
    sb.append("\tnumweights ").append(weights.size()).append("\n");
    int meshId = 0;
    for (BoneWeight weight : weights) {
        sb.append("\tweight ").append(meshId).append(" ").append(weight.getBoneIndex()).append(" ");
        sb.append(weight.getBias()).append(" ( ");
        sb.append(weight.getPosition().x).append(" ").append(weight.getPosition().y).append(" ").append(weight.getPosition().z).append(")\n");
        meshId++;
    }
    sb.append("}\n");
    return sb.toString();
}

Example 13 with Quat4f

use of org.terasology.math.geom.Quat4f in project Terasology by MovingBlocks.

the class SkeletalMeshData method calculateNormals.

private void calculateNormals() {
    // TODO: Better algorithm (take into account triangle size and angles
    List<Vector3f> vertices = getBindPoseVertexPositions();
    List<Vector3f> normals = Lists.newArrayListWithCapacity(vertices.size());
    for (int i = 0; i < vertices.size(); ++i) {
        normals.add(new Vector3f());
    }
    Vector3f v1 = new Vector3f();
    Vector3f v2 = new Vector3f();
    Vector3f norm = new Vector3f();
    for (int i = 0; i < indices.size() / 3; ++i) {
        Vector3f baseVert = vertices.get(indices.get(i * 3));
        v1.sub(vertices.get(indices.get(i * 3 + 1)), baseVert);
        v2.sub(vertices.get(indices.get(i * 3 + 2)), baseVert);
        v1.normalize();
        v2.normalize();
        norm.cross(v1, v2);
        normals.get(indices.get(i * 3)).add(norm);
        normals.get(indices.get(i * 3 + 1)).add(norm);
        normals.get(indices.get(i * 3 + 2)).add(norm);
    }
    normals.forEach(Vector3f::normalize);
    Quat4f inverseRot = new Quat4f();
    for (int vertIndex = 0; vertIndex < vertices.size(); ++vertIndex) {
        Vector3f normal = normals.get(vertIndex);
        for (int weightIndex = 0; weightIndex < vertexWeightCounts.get(vertIndex); ++weightIndex) {
            BoneWeight weight = weights.get(weightIndex + vertexStartWeights.get(vertIndex));
            inverseRot.inverse(bones.get(weight.getBoneIndex()).getObjectRotation());
            inverseRot.rotate(normal, norm);
            weight.setNormal(norm);
        }
    }
}

Example 14 with Quat4f

use of org.terasology.math.geom.Quat4f in project Terasology by MovingBlocks.

the class ColladaLoader method quad4fArrayFromFloat16ArrayData.

private Quat4f[] quad4fArrayFromFloat16ArrayData(float[] inverseBindMatrixArray) {
    Quat4f[] rotationArray = new Quat4f[inverseBindMatrixArray.length / 16];
    for (int i = 0; i < inverseBindMatrixArray.length / 16; ++i) {
        int offset = i * 16;
        Matrix4f matrix4f = new Matrix4f(Arrays.copyOfRange(inverseBindMatrixArray, offset, offset + 16));
        Quat4f rotation = new Quat4f();
        rotation.set(matrix4f);
        rotationArray[i] = rotation;
    }
    return rotationArray;
}

Example 15 with Quat4f

use of org.terasology.math.geom.Quat4f in project Terasology by MovingBlocks.

the class ColladaLoader method createMD5Joint.

private MD5Joint createMD5Joint(Element jointNodeElement) throws ColladaParseException {
    MD5Joint md5Joint = new MD5Joint();
    ElementSet matrixSet = jointNodeElement.find("matrix");
    if (1 == matrixSet.size()) {
        Element matrix = matrixSet.first();
        String floatStringArray = matrix.text();
        String[] floatStrings = getItemsInString(floatStringArray);
        if (floatStrings.length != 16) {
            throw new ColladaParseException("Found float list of " + floatStrings.length + " instead of 16 for joint matrix sets for element " + jointNodeElement.id());
        }
        float[] matrixDataArray = new float[16];
        for (int i = 0; i < floatStrings.length; i++) {
            String floatString = floatStrings[i];
            matrixDataArray[i] = Float.parseFloat(floatString);
        }
        Quat4f[] jointMatrix = quad4fArrayFromFloat16ArrayData(matrixDataArray);
        Vector3f[] positionVectorArray = positionFromFloat16ArrayData(matrixDataArray);
        md5Joint.position = positionVectorArray[0];
        md5Joint.orientation = jointMatrix[0];
    } else if (1 < matrixSet.size()) {
        throw new ColladaParseException("Found " + matrixSet.size() + " joint matrix sets for element " + jointNodeElement.id());
    // } else {
    // TODO: Might be translation, rotation pairs instead of a matrix
    // Or might be an unused joint node
    // throw new ColladaParseException("Found " + matrixSet.size() + " joint matrix sets for element " + jointNodeElement.id());
    }
    // boolean isJointNode;
    // String jointType = jointNodeElement.attr("type");
    // if ("JOINT".equals(jointType)) {
    // isJointNode = true;
    // } else if ("NODE".equals(jointType)) {
    // isJointNode = false;
    // } else {
    // throw new ColladaParseException("Found unknown node type of " + jointType + " for joint matrix sets" + errorLocation);
    // }
    md5Joint.element = jointNodeElement;
    md5Joint.name = jointNodeElement.id();
    md5Joint.childList = new ArrayList<>();
    return md5Joint;
}