public Vector3f transformVector(final Vector3f in, Vector3f store) {
if (store == null) store = new Vector3f();
// multiply with scale first, then rotate, finally translate (cf.
// Eberly)
return rot.mult(store.set(in).multLocal(scale), store).addLocal(translation);
}
/**
* <code>rotateUpTo</code> is a utility function that alters the local rotation to point the Y
* axis in the direction given by newUp.
*
* @param newUp the up vector to use - assumed to be a unit vector.
*/
public void rotateUpTo(Vector3f newUp) {
TempVars vars = TempVars.get();
Vector3f compVecA = vars.vect1;
Quaternion q = vars.quat1;
// First figure out the current up vector.
Vector3f upY = compVecA.set(Vector3f.UNIT_Y);
Quaternion rot = localTransform.getRotation();
rot.multLocal(upY);
// get angle between vectors
float angle = upY.angleBetween(newUp);
// figure out rotation axis by taking cross product
Vector3f rotAxis = upY.crossLocal(newUp).normalizeLocal();
// Build a rotation quat and apply current local rotation.
q.fromAngleNormalAxis(angle, rotAxis);
q.mult(rot, rot);
vars.release();
setTransformRefresh();
}
public Vector3f reflect(Vector3f point, Vector3f store) {
if (store == null) store = new Vector3f();
float d = pseudoDistance(point);
store.set(normal).negateLocal().multLocal(d * 2f);
store.addLocal(point);
return store;
}
/**
* <code>lookAt</code> is a convenience method for auto-setting the local rotation based on a
* position in world space and an up vector. It computes the rotation to transform the z-axis to
* point onto 'position' and the y-axis to 'up'. Unlike {@link
* Quaternion#lookAt(com.jme3.math.Vector3f, com.jme3.math.Vector3f) } this method takes a world
* position to look at and not a relative direction.
*
* <p>Note : 28/01/2013 this method has been fixed as it was not taking into account the parent
* rotation. This was resulting in improper rotation when the spatial had rotated parent nodes.
* This method is intended to work in world space, so no matter what parent graph the spatial has,
* it will look at the given position in world space.
*
* @param position where to look at in terms of world coordinates
* @param upVector a vector indicating the (local) up direction. (typically {0, 1, 0} in jME.)
*/
public void lookAt(Vector3f position, Vector3f upVector) {
Vector3f worldTranslation = getWorldTranslation();
TempVars vars = TempVars.get();
Vector3f compVecA = vars.vect4;
compVecA.set(position).subtractLocal(worldTranslation);
getLocalRotation().lookAt(compVecA, upVector);
if (getParent() != null) {
Quaternion rot = vars.quat1;
rot = rot.set(parent.getWorldRotation()).inverseLocal().multLocal(getLocalRotation());
rot.normalizeLocal();
setLocalRotation(rot);
}
vars.release();
setTransformRefresh();
}
/** Loads the identity. Equal to translation=0,0,0 scale=1,1,1 rot=0,0,0,1. */
public void loadIdentity() {
translation.set(0, 0, 0);
scale.set(1, 1, 1);
rot.set(0, 0, 0, 1);
}
/**
* Sets this matrix's scale to the given x,y,z values.
*
* @param x This matrix's new x scale.
* @param y This matrix's new y scale.
* @param z This matrix's new z scale.
* @return this
*/
public Transform setScale(float x, float y, float z) {
scale.set(x, y, z);
return this;
}
/**
* Sets this matrix's translation to the given x,y,z values.
*
* @param x This matrix's new x translation.
* @param y This matrix's new y translation.
* @param z This matrix's new z translation.
* @return this
*/
public Transform setTranslation(float x, float y, float z) {
translation.set(x, y, z);
return this;
}
/**
* Stores this scale value into the given vector3f. If scale is null, a new vector3f is created to
* hold the value. The value, once stored, is returned.
*
* @param scale The store location for this matrix's scale.
* @return The value of this matrix's scale.
*/
public Vector3f getScale(Vector3f scale) {
if (scale == null) scale = new Vector3f();
scale.set(this.scale);
return scale;
}
/**
* Stores this translation value into the given vector3f. If trans is null, a new vector3f is
* created to hold the value. The value, once stored, is returned.
*
* @param trans The store location for this matrix's translation.
* @return The value of this matrix's translation.
*/
public Vector3f getTranslation(Vector3f trans) {
if (trans == null) trans = new Vector3f();
trans.set(this.translation);
return trans;
}
/**
* Initialize the Plane using the given 3 points as coplanar.
*
* @param v1 the first point
* @param v2 the second point
* @param v3 the third point
*/
public void setPlanePoints(Vector3f v1, Vector3f v2, Vector3f v3) {
normal.set(v2).subtractLocal(v1);
normal.crossLocal(v3.x - v1.x, v3.y - v1.y, v3.z - v1.z).normalizeLocal();
constant = normal.dot(v1);
}
public Vector3f getClosestPoint(Vector3f point, Vector3f store) {
// float t = constant - normal.dot(point);
// return store.set(normal).multLocal(t).addLocal(point);
float t = (constant - normal.dot(point)) / normal.dot(normal);
return store.set(normal).multLocal(t).addLocal(point);
}