protected void doGroundMovement() {
if (!isOnGround) return;
// ground movement is as follows, the arrow key dictate the target velocity, and accelleration
// is
// added to achieve that. If opposing keys are held the target velocity is set to zero.
// This is the velocity in the normal plane in the player space
Vector3f targetVelocity = new Vector3f();
if (forward) targetVelocity.z += 1;
if (backward) targetVelocity.z -= 1;
if (left) targetVelocity.x -= 1;
if (right) targetVelocity.x += 1;
if (forward != backward || left != right) {
targetVelocity.normalize();
targetVelocity.scale(MAX_SPEED);
}
forward = false;
backward = false;
left = false;
right = false;
Vector3f forward = new Vector3f(0, 0, 1);
QuaternionUtil.quatRotate(owner.getOrientation(), forward, forward);
// right = normal x forward
// forward = right x normal
Vector3f right = new Vector3f();
right.cross(surfaceNormal, forward);
forward.cross(right, surfaceNormal);
right.normalize();
forward.normalize();
Matrix3f transform = new Matrix3f();
transform.setColumn(0, right);
transform.setColumn(1, surfaceNormal);
transform.setColumn(2, forward);
transform.transform(targetVelocity);
Vector3f delta = new Vector3f();
owner.getRigidBody().getLinearVelocity(delta);
delta.sub(targetVelocity, delta);
// feet can't pull and don't need to push for now
// Ds = D - N(N.D)
Vector3f parComp = new Vector3f(surfaceNormal);
parComp.scale(surfaceNormal.dot(delta));
delta.sub(delta, parComp);
owner.getRigidBody().applyCentralForce(scaleForce(delta));
}
public void setTransform(
float x1, float y1, float z1, float x2, float y2, float z2, float x3, float y3, float z3) {
if (matrixRotate != null || !doSetOrientation) return;
matrixRotate = new Matrix3f();
Vector3f v = new Vector3f();
// rows in Sygress/CAChe and Spartan become columns here
v.set(x1, y1, z1);
v.normalize();
matrixRotate.setColumn(0, v);
v.set(x2, y2, z2);
v.normalize();
matrixRotate.setColumn(1, v);
v.set(x3, y3, z3);
v.normalize();
matrixRotate.setColumn(2, v);
atomSetCollection.setAtomSetCollectionAuxiliaryInfo(
"defaultOrientationMatrix", new Matrix3f(matrixRotate));
// first two matrix column vectors define quaternion X and XY plane
Quaternion q = new Quaternion(matrixRotate);
atomSetCollection.setAtomSetCollectionAuxiliaryInfo("defaultOrientationQuaternion", q);
Logger.info("defaultOrientationMatrix = " + matrixRotate);
}