private static Matrix4d combineTransformation(
Matrix4d matrix, Vector3d translation, Vector3d rotation) {
Matrix4d gM = new Matrix4d(matrix);
Matrix4d m = new Matrix4d();
m.setIdentity();
m.setTranslation(translation);
gM.mul(m);
m.setIdentity();
m.rotZ(rotation.z);
gM.mul(m);
m.setIdentity();
m.rotY(rotation.y);
gM.mul(m);
m.setIdentity();
m.rotX(rotation.x);
gM.mul(m);
return gM;
}
/**
* Computes the new transform for this interpolator for a given alpha value.
*
* @param alphaValue alpha value between 0.0 and 1.0
* @param transform object that receives the computed transform for the specified alpha value
* @since Java 3D 1.3
*/
public void computeTransform(float alphaValue, Transform3D transform) {
// compute the current value of u from alpha and the
// determine lower and upper knot points
computePathInterpolation(alphaValue);
// Determine the segment within which we will be interpolating
currentSegmentIndex = this.lowerKnot - 1;
// if we are at the start of the curve
if (currentSegmentIndex == 0 && currentU == 0f) {
iHeading = keyFrames[1].heading;
iPitch = keyFrames[1].pitch;
iBank = keyFrames[1].bank;
iPos.set(keyFrames[1].position);
iScale.set(keyFrames[1].scale);
// if we are at the end of the curve
} else if (currentSegmentIndex == (numSegments - 1) && currentU == 1.0) {
iHeading = keyFrames[upperKnot].heading;
iPitch = keyFrames[upperKnot].pitch;
iBank = keyFrames[upperKnot].bank;
iPos.set(keyFrames[upperKnot].position);
iScale.set(keyFrames[upperKnot].scale);
// if we are somewhere in between the curve
} else {
// Get a reference to the current spline segment i.e. the
// one bounded by lowerKnot and upperKnot
currentSegment = cubicSplineCurve.getSegment(currentSegmentIndex);
// interpolate quaternions
iHeading = currentSegment.getInterpolatedHeading(currentU);
iPitch = currentSegment.getInterpolatedPitch(currentU);
iBank = currentSegment.getInterpolatedBank(currentU);
// interpolate position
currentSegment.getInterpolatedPositionVector(currentU, iPos);
// interpolate position
currentSegment.getInterpolatedScale(currentU, iScale);
// System.out.println("Pos :" + iPos);
}
// Modification by ReubenDB
if (colorRampingInterpolate == true) {
float[] curPos = new float[3];
iPos.get(curPos);
myColorRamp.getColor(curPos[1], histColor);
// System.out.println("SETING COLOR:" + histColor + " CurPos: " + curPos[0] + ", " + curPos[1]
// + ", " + curPos[2]);
objectCA.setColor(histColor);
// System.out.println("CurrentAlpha = " + myAlpha.value());
}
if (timeDisplayInterpolate == true) {
myTimeDisplay.updateDisplayFromAlpha(myAlpha.value());
// System.out.println(myAlpha.value());
}
// Generate a transformation matrix in tMat using interpolated
// heading, pitch and bank
pitchMat.setIdentity();
pitchMat.rotX(-iPitch);
bankMat.setIdentity();
bankMat.rotZ(iBank);
tMat.setIdentity();
tMat.rotY(-iHeading);
tMat.mul(pitchMat);
tMat.mul(bankMat);
// TODO: Vijay - Handle Non-Uniform scale
// Currently this interpolator does not handle non uniform scale
// We cheat by just taking the x scale component
// Scale the transformation matrix
sMat.set((double) iScale.x);
tMat.mul(sMat);
// Set the translation components.
tMat.m03 = iPos.x;
tMat.m13 = iPos.y;
tMat.m23 = iPos.z;
rotation.set(tMat);
// construct a Transform3D from: axis * rotation * axisInverse
transform.mul(axis, rotation);
transform.mul(transform, axisInverse);
}