예제 #1
0
  public void updateNodeRotation() {
    if (mPrev != null && mSimulate) {
      Quaternion qRot = mRotation.getQuaternion();
      mTempQuat.set(
          mPrev.mWorldRotation.getQ0(),
          -mPrev.mWorldRotation.getQ1(),
          -mPrev.mWorldRotation.getQ2(),
          -mPrev.mWorldRotation.getQ3());
      qRot.set(mWorldRotation);
      qRot.multiply(mTempQuat);
      qRot.nor();

      /* After pointing, the rotation will have an arbitrary "roll" around
       * the "to" z-axis.  We must find the new position of the "up" vector
       * after rotation.
       */
      // Vec3 dir = qRot.applyTo(BONE_DIR);
      // Vec3 rolledUp = qRot.applyTo(BONE_ORTH);
      MathUtil.setVectorToProductOf(mTempVec1, qRot, BONE_DIR);
      MathUtil.setVectorToProductOf(mTempVec2, qRot, BONE_ORTH);

      /* We now project this vector and the original "up" vector onto a plane
       * perpendicular to the "to" vector so that we can find the extra
       * rotation needed to rotate the rolled "up" vector onto the given
       * "up" vector. Note that these vectors won't have unit length.
       */
      // Vec3 upProjected = mOrthogonalTarget.subtract(Vec3.dotProduct(mTempVec1,
      // mOrthogonalTarget), mTempVec1);
      float dot = Vec3.dotProduct(mTempVec1, mOrthogonalTarget);
      mTempVec3.set(dot * mTempVec1.x, dot * mTempVec1.y, dot * mTempVec1.z);
      MathUtil.setVectorToDifferenceOf(mTempVec4, mOrthogonalTarget, mTempVec3);

      /* Calculate the rotation bring rolledUpProjected onto upProjected.
       * Note that this rotation will be around the "to" vector (because both
       * vectors are parallel to the "to" vector after projection).
       */
      // Rotation rollRotation = Rotation.fromTo(mTempVec2, upProjected);
      // qRot.multiply(rollRotation.getQuaternion());
      MathUtil.setQuaternionFromTo(mTempQuat, mTempVec2, mTempVec4);
      qRot.multiply(mTempQuat);

      mTempRot.getQuaternion().set(qRot);
      mTempRot.getQuaternion().multiply(mPhysics.mFold);
      mActorNode.setRotation(mTempRot);
    }
  }
예제 #2
0
 public void setRotation(Quaternion r) {
   mOriginalRotation.set(r);
   mRotation.getQuaternion().set(r);
   mWorldRotation.set(r);
   mActorNode.setRotation(mRotation);
 }