public Vector3 getSize(ReferenceFrame asSeenBy, HowMuch howMuch, boolean ignoreHidden) {
Box box = getBoundingBox(asSeenBy, howMuch, ignoreHidden);
if (box != null) {
return new Vector3(box.getWidth(), box.getHeight(), box.getDepth());
} else {
return new Vector3(0, 0, 0);
}
}
public double getSizeAlongDimension(
Dimension dimension, ReferenceFrame asSeenBy, HowMuch howMuch, boolean ignoreHidden) {
Box box = getBoundingBox(asSeenBy, howMuch, ignoreHidden);
if (box != null) {
if (dimension == Dimension.LEFT_TO_RIGHT) {
return box.getWidth();
} else if (dimension == Dimension.TOP_TO_BOTTOM) {
return box.getHeight();
} else if (dimension == Dimension.FRONT_TO_BACK) {
return box.getDepth();
} else {
throw new IllegalArgumentException(
dimension + " is expected to be in [LEFT_TO_RIGHT, TOP_TO_BOTTOM, FRONT_TO_BACK].");
}
} else {
// todo: Double.NaN?
return 0;
}
}
protected javax.vecmath.Vector3d getPositionEnd() {
if (m_subjectBoundingBox == null) {
m_subjectBoundingBox = subject.getBoundingBox();
if (m_subjectBoundingBox.getMaximum() == null) {
m_subjectBoundingBox =
new edu.cmu.cs.stage3.math.Box(
subject.getPosition(subject), subject.getPosition(subject));
}
}
if (m_asSeenByBoundingBox == null) {
m_asSeenByBoundingBox = m_asSeenBy.getBoundingBox();
if (m_asSeenByBoundingBox.getMaximum() == null) {
m_asSeenByBoundingBox =
new edu.cmu.cs.stage3.math.Box(
m_asSeenBy.getPosition(m_asSeenBy), m_asSeenBy.getPosition(m_asSeenBy));
}
}
edu.cmu.cs.stage3.alice.core.SpatialRelation sv = spatialRelation.getSpatialRelationValue();
javax.vecmath.Vector3d v =
sv.getPlaceVector(amount.doubleValue(), m_subjectBoundingBox, m_asSeenByBoundingBox);
return v;
}
public void setFinalOrientations() {
// blah blah blah.
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
if (KneelAnimation.this.oneKnee.booleanValue()) {
double lengthSupportLeg = 0.0;
if ((rightLower == null)) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(0.25 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightUpperFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.25 * java.lang.Math.PI);
}
if ((rightUpper != null) && (rightLower != null)) {
Vector3 posLower = rightLower.getPosition(rightUpper);
edu.cmu.cs.stage3.math.Box boxLower = rightLower.getBoundingBox(rightLower);
lengthSupportLeg =
java.lang.Math.abs(posLower.y) + java.lang.Math.abs(boxLower.getMinimum().z);
double lengthLowerLeg = 0.0;
if (leftFoot != null)
lengthLowerLeg =
java.lang.Math.abs(leftFoot.getPosition(leftLower).y)
+ java.lang.Math.abs(leftFoot.getBoundingBox(leftFoot).getMinimum().z);
else
lengthLowerLeg = java.lang.Math.abs(leftLower.getBoundingBox(leftLower).getMinimum().y);
double diff = lengthSupportLeg - lengthLowerLeg;
double angle =
java.lang.Math.asin(java.lang.Math.abs(diff) / java.lang.Math.abs(posLower.y));
if (lengthSupportLeg * 2.0 < lengthLowerLeg) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.25 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightLowerFinalOrient.rotateX(-0.25 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.25 * java.lang.Math.PI);
} else if (diff < 0) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(-0.5 * java.lang.Math.PI - angle);
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI + angle);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
} else {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(-0.5 * java.lang.Math.PI + angle);
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI - angle);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
}
}
} else {
if ((rightLower == null)) {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftUpperFinalOrient.rotateX(0.5 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
rightUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightUpperFinalOrient.rotateX(0.5 * java.lang.Math.PI);
rightFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
rightFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
} else {
leftUpperFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftLowerFinalOrient.rotateX(0.5 * java.lang.Math.PI);
leftFootFinalOrient = new edu.cmu.cs.stage3.math.Matrix33();
leftFootFinalOrient.rotateX(0.5 * java.lang.Math.PI);
}
}
}