Examples with Quat4f spacegraph.util.math.Quat4f used on opensource projects

Example 6 with Quat4f

use of spacegraph.util.math.Quat4f in project narchy by automenta.

the class SpaceWidget method render.

static void render(GL2 gl, SimpleSpatial src, float twist, Iterable<? extends EDraw> ee) {
    Quat4f tmpQ = new Quat4f();
    ee.forEach(e -> {
        float width = e.width;
        float thresh = 0.1f;
        if (width <= thresh) {
            float aa = e.a * (width / thresh);
            if (aa < 1 / 256f)
                return;
            gl.glColor4f(e.r, e.g, e.b, aa);
            Draw.renderLineEdge(gl, src, e.tgt(), width);
        } else {
            Draw.renderHalfTriEdge(gl, src, e, width, twist, tmpQ);
        }
    });
}

Example 7 with Quat4f

use of spacegraph.util.math.Quat4f in project narchy by automenta.

the class Collisions method convexSweepTest.

/**
 * convexTest performs a swept convex cast on all objects in the {@link Collisions}, and calls the resultCallback
 * This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
 */
public void convexSweepTest(ConvexShape castShape, Transform convexFromWorld, Transform convexToWorld, ConvexResultCallback resultCallback) {
    Transform convexFromTrans = new Transform();
    Transform convexToTrans = new Transform();
    convexFromTrans.set(convexFromWorld);
    convexToTrans.set(convexToWorld);
    v3 castShapeAabbMin = new v3();
    v3 castShapeAabbMax = new v3();
    // Compute AABB that encompasses angular movement
    v3 linVel = new v3();
    v3 angVel = new v3();
    TransformUtil.calculateVelocity(convexFromTrans, convexToTrans, 1f, linVel, angVel);
    {
        Transform R = new Transform();
        R.setIdentity();
        R.setRotation(convexFromTrans.getRotation(new Quat4f()));
        castShape.calculateTemporalAabb(R, linVel, angVel, 1f, castShapeAabbMin, castShapeAabbMax);
    }
    // Transform R = new Transform();
    v3 collisionObjectAabbMin = new v3();
    v3 collisionObjectAabbMax = new v3();
    float[] hitLambda = new float[1];
    // go over all objects, and if the ray intersects their aabb + cast shape aabb,
    // do a ray-shape query using convexCaster (CCD)
    v3 hitNormal = new v3();
    List<Collidable> collidables = collidables();
    for (int i = 0, collidablesSize = collidables.size(); i < collidablesSize; i++) {
        Collidable collidable = collidables.get(i);
        // only perform raycast if filterMask matches
        if (resultCallback.needsCollision(collidable.broadphase)) {
            // RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
            Transform S = collidable.transform;
            CollisionShape shape = collidable.shape();
            shape.getAabb(S, collisionObjectAabbMin, collisionObjectAabbMax);
            AabbUtil2.aabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
            // could use resultCallback.closestHitFraction, but needs testing
            hitLambda[0] = 1f;
            // may not be necessary
            hitNormal.zero();
            if (AabbUtil2.rayAabb(convexFromWorld, convexToWorld, collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal)) {
                objectQuerySingle(castShape, convexFromTrans, convexToTrans, collidable, shape, S, resultCallback, dispatchInfo.allowedCcdPenetration);
            }
        }
    }
}