Commit: e32e3638635ea65be4c4dca7e5d0cfabbde4e226 - MikuMikuStudio (git)

Main repository of MikuMikuStudio

Commit MetaInfo

• Revisión: e32e3638635ea65be4c4dca7e5d0cfabbde4e226 (tree)
• Tiempo: 2003-12-04 01:25:40
• Autor: mojomonkey <mojomonkey@75d0...>
• Commiter: mojomonkey

Log Message

Fix rotational issues.

git-svn-id: http://jmonkeyengine.googlecode.com/svn/trunk@161 75d07b2b-3a1a-0410-a2c5-0572b91ccdca

Cambiar Resumen

• modified: src/com/jme/math/Quaternion.java
• add: src/com/jme/test/math/TestQuaternion.java
• modified: src/com/jme/test/util/TestTimer.java

Diferencia incremental

--- a/src/com/jme/math/Quaternion.java
+++ b/src/com/jme/math/Quaternion.java
@@ -41,7 +41,7 @@ package com.jme.math;
  * {x y z w}.
  * 
  * @author Mark Powell
- * @version $Id: Quaternion.java,v 1.2 2003-12-02 20:08:09 mojomonkey Exp $
+ * @version $Id: Quaternion.java,v 1.3 2003-12-03 16:25:40 mojomonkey Exp $
  */
 public class Quaternion {
     public float x, y, z, w;
@@ -225,21 +225,33 @@ public class Quaternion {
      * @return the rotation matrix representation of this quaternion.
      */
     public Matrix3f toRotationMatrix( ) {
-        
+        float[][] kRot = new float[3][3];
+        float fTx  = 2.0f*x;
+        float fTy  = 2.0f*y;
+        float fTz  = 2.0f*z;
+        float fTwx = fTx*w;
+        float fTwy = fTy*w;
+        float fTwz = fTz*w;
+        float fTxx = fTx*x;
+        float fTxy = fTy*x;
+        float fTxz = fTz*x;
+        float fTyy = fTy*y;
+        float fTyz = fTz*y;
+        float fTzz = fTz*z;
+    
         Matrix3f matrix = new Matrix3f();
-        matrix.set(0, 0, (1.0f - 2.0f * (y * y + z * z)));
-        matrix.set(0, 1, (2.0f * (x * y - w * z)));
-        matrix.set(0, 2, (2.0f * (x * z + w * y)));
+    
+        kRot[0][0] = 1.0f-(fTyy+fTzz);
+        kRot[0][1] = fTxy-fTwz;
+        kRot[0][2] = fTxz+fTwy;
+        kRot[1][0] = fTxy+fTwz;
+        kRot[1][1] = 1.0f-(fTxx+fTzz);
+        kRot[1][2] = fTyz-fTwx;
+        kRot[2][0] = fTxz-fTwy;
+        kRot[2][1] = fTyz+fTwx;
+        kRot[2][2] = 1.0f-(fTxx+fTyy);
         
-        // Second row
-        matrix.set(1, 0, (2.0f * (x * y + w * z)));
-        matrix.set(1, 1, (1.0f - 2.0f * (x * x + z * z)));
-        matrix.set(1, 2, (2.0f * (y * z - w * x)));
-       
-        // Third row
-        matrix.set(2, 0, (2.0f * (x * z - w * y)));
-        matrix.set(2, 1, (2.0f * (y * z + w * x)));
-        matrix.set(2, 2, (1.0f - 2.0f * (x * x + y * y)));
+        matrix.set(kRot);
         
         return matrix;
             
@@ -248,16 +260,17 @@ public class Quaternion {
     /**
      * <code>fromAngleAxis</code> sets this quaternion to the values
      * specified by an angle and an axis of rotation.
-     * @param angle the angle to rotate.
+     * @param angle the angle to rotate (in radians).
      * @param axis the axis of rotation.
      */
     public void fromAngleAxis(float angle, Vector3f axis) {
+        Vector3f normAxis = axis.normalize();
         float halfAngle = 0.5f * angle;
         float sin = (float) Math.sin(halfAngle);
         w = (float) Math.cos(halfAngle);
-        x = sin * axis.x;
-        y = sin * axis.y;
-        z = sin * axis.z;
+        x = sin * normAxis.x;
+        y = sin * normAxis.y;
+        z = sin * normAxis.z;
     }
 
     /**
@@ -443,4 +456,8 @@ public class Quaternion {
         z *= -1;
         w *= -1;
     }
+    
+    public String toString() {
+        return "com.jme.math.Quaternion: [x=" +x+" y="+y+" z="+z+" w="+w+"]";
+    }
 }

--- /dev/null
+++ b/src/com/jme/test/math/TestQuaternion.java
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2003, jMonkeyEngine - Mojo Monkey Coding
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this 
+ * list of conditions and the following disclaimer. 
+ * 
+ * Redistributions in binary form must reproduce the above copyright notice, 
+ * this list of conditions and the following disclaimer in the documentation 
+ * and/or other materials provided with the distribution. 
+ * 
+ * Neither the name of the Mojo Monkey Coding, jME, jMonkey Engine, nor the 
+ * names of its contributors may be used to endorse or promote products derived 
+ * from this software without specific prior written permission. 
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+package com.jme.test.math;
+
+import javax.vecmath.AxisAngle4f;
+import javax.vecmath.Quat4f;
+
+import com.jme.math.Quaternion;
+import com.jme.math.Vector3f;
+
+/**
+ * <code>TestQuaternion</code>
+ * @author Mark Powell
+ * @version 
+ */
+public class TestQuaternion {
+
+    public static void main(String[] args) {
+        Quaternion quat = new Quaternion();
+        Quat4f vquat = new Quat4f();
+        System.out.println("FIRST JME, SECOND VECMATH");
+        System.out.println("Initial:" + quat);
+        System.out.println(vquat);
+        
+        quat.fromAngleAxis(1,new Vector3f(1,1,1));
+        System.out.println("AXIS ANGLE: " + quat);
+        AxisAngle4f aa = new AxisAngle4f(new javax.vecmath.Vector3f(1,1,1),1);
+        vquat.set(aa);
+        System.out.println(vquat);
+    }
+
+}

--- a/src/com/jme/test/util/TestTimer.java
+++ b/src/com/jme/test/util/TestTimer.java
@@ -60,7 +60,7 @@ import com.jme.util.Timer;
 /**
  * <code>TestLightState</code>
  * @author Mark Powell
- * @version $Id: TestTimer.java,v 1.4 2003-12-02 20:08:09 mojomonkey Exp $
+ * @version $Id: TestTimer.java,v 1.5 2003-12-03 16:25:40 mojomonkey Exp $
  */
 public class TestTimer extends AbstractGame {
     private TriMesh t;
@@ -103,10 +103,12 @@ public class TestTimer extends AbstractGame {
                 angle = 0;
             }
         }
+        
         rotQuat.fromAngleAxis(angle, axis);
         timer.update();
         input.update(timer.getTimePerFrame());
         text.print("Frame Rate: " + timer.getFrameRate());
+        
         scene.setLocalRotation(rotQuat);
         scene.updateGeometricState(0.0f, true);
         
@@ -193,8 +195,8 @@ public class TestTimer extends AbstractGame {
         scene = new Node();
         scene.attachChild(text);
         
-        Vector3f max = new Vector3f(10,10,10);
-        Vector3f min = new Vector3f(0,0,0);
+        Vector3f max = new Vector3f(5,5,5);
+        Vector3f min = new Vector3f(-5,-5,-5);
         
         
         
@@ -202,7 +204,7 @@ public class TestTimer extends AbstractGame {
         t.setModelBound(new BoundingSphere());
         t.updateModelBound();
         
-        t.setLocalTranslation(new Vector3f(0,0,-10));
+        t.setLocalTranslation(new Vector3f(0,0,0));
         
         scene = new Node();
         scene.attachChild(t);