Java AxisAngle4f类代码示例

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
@Override
protected void outputEllipsoid(Point3f center, Point3f[] points, short colix) {
  if (debug) {
    debugPrint("outputEllipsoid: colix="
        + String.format("%04x", new Short(colix)));
    debugPrint("  center=" + center);
    debugPrint("  points[0]=" + points[0]);
    debugPrint("  points[1]=" + points[1]);
    debugPrint("  points[2]=" + points[2]);
  }
  if (surfacesOnly) {
    debugPrint("  Not done owing to surfacesOnly");
    return;
  }

  AxisAngle4f a = Quaternion.getQuaternionFrame(center, points[1], points[3])
      .toAxisAngle4f();
  float sx = points[1].distance(center);
  float sy = points[3].distance(center);
  float sz = points[5].distance(center);
  outputEllipsoid1(center, sx, sy, sz, a, colix);
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * Local implementation of outputEllipsoid.
 * 
 * @param center
 * @param rx
 * @param ry
 * @param rz
 * @param a
 * @param colix
 */
private void outputEllipsoid1(Point3f center, float rx, float ry, float rz,
                              AxisAngle4f a, short colix) {
  MeshSurface data = MeshData.getSphereData();
  addTexture(colix, null);
  String name;
  if (center instanceof Atom) {
    Atom atom = (Atom) center;
    name = atom.getAtomName().replaceAll("\\s", "") + "_Atom";
  } else if (rx == ry && rx == rz) {
    // Is a sphere
    name = "Sphere" + sphereNum++;
  } else {
    name = "Ellipsoid" + ellipsoidNum++;
  }
  setSphereMatrix(center, rx, ry, rz, a, sphereMatrix);
  addMesh(name, data, sphereMatrix, sphereMatrix, colix, null, null);
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
protected void outputQuaternionFrame(Point3f ptCenter, Point3f ptX,
                                     Point3f ptY, Point3f ptZ, float yScale,
                                     String pre, String post) {

  //Hey, hey -- quaternions to the rescue!
  // Just send three points to Quaternion to define a plane and return
  // the AxisAngle required to rotate to that position. That's all there is to it.

  tempQ1.set(ptX);
  tempQ2.set(ptY);
  AxisAngle4f a = Quaternion.getQuaternionFrame(ptCenter, tempQ1, tempQ2)
      .toAxisAngle4f();
  if (!Float.isNaN(a.x)) {
    output(" rotation");
    output(pre);
    output(a.x + " " + a.y + " " + a.z + " " + a.angle);
    output(post);
  }
  float sx = ptX.distance(ptCenter);
  float sy = ptY.distance(ptCenter) * yScale;
  float sz = ptZ.distance(ptCenter);
  output(" scale");
  output(pre);
  output(sx + " " + sy + " " + sz);
  output(post);
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
protected void setSphereMatrix(Point3f center, float rx, float ry, float rz,
                               AxisAngle4f a, Matrix4f sphereMatrix) {
  if (a != null) {
    Matrix3f mq = new Matrix3f();
    Matrix3f m = new Matrix3f();
    m.m00 = rx;
    m.m11 = ry;
    m.m22 = rz;
    mq.set(a);
    mq.mul(m);
    sphereMatrix.set(mq);
  } else {
    sphereMatrix.setIdentity();
    sphereMatrix.m00 = rx;
    sphereMatrix.m11 = ry;
    sphereMatrix.m22 = rz;
  }
  sphereMatrix.m03 = center.x;
  sphereMatrix.m13 = center.y;
  sphereMatrix.m23 = center.z;
  sphereMatrix.m33 = 1;
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
public static TRSRTransformation getMatrix(FzOrientation fzo) {
    Quaternion fzq = Quaternion.fromOrientation(fzo.getSwapped());
    javax.vecmath.Matrix4f trans = newMat();
    javax.vecmath.Matrix4f rot = newMat();
    javax.vecmath.Matrix4f r90 = newMat();

    r90.setRotation(new AxisAngle4f(0, 1, 0, (float) Math.PI / 2));

    trans.setTranslation(new javax.vecmath.Vector3f(0.5F, 0.5F, 0.5F));
    javax.vecmath.Matrix4f iTrans = new javax.vecmath.Matrix4f(trans);
    iTrans.invert();
    rot.setRotation(fzq.toJavax());
    rot.mul(r90);

    trans.mul(rot);
    trans.mul(iTrans);

    return new TRSRTransformation(trans);
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * {@link jp.ac.fit.asura.nao.misc.MatrixUtils#transform(javax.vecmath.Vector3f, javax.vecmath.AxisAngle4f, float, javax.vecmath.Vector3f)}
 * のためのテスト・メソッド。
 */
public void testTransform() throws Exception {
	Vector3f v = new Vector3f();
	RobotFrame fr = new RobotFrame(null);
	fr.getTranslation().set(new Vector3f());
	fr.getAxis().set(new AxisAngle4f());
	FrameState fs = new FrameState(fr);
	fs.setAngle(0);
	MatrixUtils.transform(v, fs);
	assertTrue(new Vector3f().epsilonEquals(v, 0.0001f));

	FrameState fs2 = new FrameState(RobotTest.createRobot().get(
			Frames.HeadYaw));
	fs2.setAngle(1.0f);
	v = new Vector3f();
	MatrixUtils.transform(v, fs2);
	assertTrue(new Vector3f(0, 160, -20).epsilonEquals(v, 0.0001f));
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
public void testRot2omega() throws Exception {
	Vector3f pyr = new Vector3f(MathUtils.toRadians(0), MathUtils
			.toRadians(20), MathUtils.toRadians(20));
	Matrix3f rot = new Matrix3f();
	MatrixUtils.pyr2rot(pyr, rot);
	System.out.println(rot);

	Vector3f omega = new Vector3f();
	MatrixUtils.rot2omega(rot, omega);
	Matrix3f a = new Matrix3f();
	a.set(new AxisAngle4f(omega, omega.length()));
	System.out.println(pyr);
	System.out.println(omega);
	System.out.println(a);

	MatrixUtils.rot2pyr(rot, pyr);
	System.out.println(pyr);
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
private void init() {
    j3dChildCount = 0;
    j3dChildMap = new HashMap();
    j3dLinkMap = new HashMap();
    sensorList = new ArrayList();
    allParentPaths = new ObjectArray();

    hasChanged = new boolean[LAST_TRANSFORM_INDEX + 1];

    implGroup = new TransformGroup();

    matrix = new Matrix4f();
    tempVec = new Vector3f();
    tempAxis = new AxisAngle4f();
    tempMtx1 = new Matrix4f();
    tempMtx2 = new Matrix4f();

    transform = new Transform3D();
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * Private, internal, common initialisation.
 */
private void init() {
    allParentPaths = new ObjectArray();

    transform = new TransformGroup();

    BranchGroup bg = new BranchGroup();
    bg.addChild(transform);

    j3dImplNode = bg;

    axis = new AxisAngle4f();
    trans = new Vector3f();
    implTrans = new Transform3D();
    implTrans.setIdentity();
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * Construct a default instance of this node. The defaults are set by the
 * VRML specification.
 */
public J3DTransform() {
    super("Transform");

    hasChanged = new boolean[LAST_TRANSFORM_INDEX + 1];

    implTG = new TransformGroup();
    implGroup = implTG;

    vfCenter = new float[] {0, 0, 0};
    vfRotation = new float[] {0, 0, 1, 0};
    vfScale = new float[] {1, 1, 1};
    vfScaleOrientation = new float[] {0, 0, 1, 0};
    vfTranslation = new float[] {0, 0, 0};

    matrix = new Matrix4f();
    tempVec = new Vector3f();
    tempAxis = new AxisAngle4f();
    tempMtx1 = new Matrix4f();
    tempMtx2 = new Matrix4f();

    transform = new Transform3D();
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * Common initialisation functionality.
 */
private void init() {
    j3dImplNode = new Transform3D();
    listenerList = new ArrayList(1);

    v1 = new Vector3d();
    v2 = new Vector3d();
    v3 = new Vector3d();
    T = new Transform3D();
    C = new Transform3D();
    R = new Transform3D();
    S = new Transform3D();
    al = new AxisAngle4f();

    changedTransform = new Transform3D[1];
    changedTransform[0] = j3dImplNode;
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * Common internal initialisation.
 */
private void init() {
    listenerList = new ArrayList(1);
    oglMatrix = new Matrix4f();

    changedTransforms = new Matrix4f[1];
    changedTransforms[0] = oglMatrix;

    v1 = new Vector3f();
    v2 = new Vector3f();
    v3 = new Vector3f();
    T = new Matrix4f();
    C = new Matrix4f();
    R = new Matrix4f();
    S = new Matrix4f();
    al = new AxisAngle4f();
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * Construct a new manager for visiblity sensors.
 */
VisibilityManager() {

    picker = new PickRequest();
    picker.pickType = PickRequest.FIND_VISIBLES;
    picker.pickGeometryType = PickRequest.PICK_FRUSTUM;
    picker.pickSortType = PickRequest.SORT_ALL;
    picker.generateVWorldMatrix = true;
    picker.origin = new float[24];

    viewFrustum = new double[6];

    endPoint = new Point3f();
    viewAngle = new AxisAngle4f();
    localTx = new Matrix4f();
    prjMatrix = new Matrix4f();

    activeVisSensors = new HashSet();
    newVisSensors = new HashSet();

    matrixUtils = new MatrixUtils();
    invWorldScale = 1;

    list = new OGLVisibilityListener[LIST_START_SIZE];
    lastListener = 0;
}
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
   * Construct a default instance of this node. The defaults are set by the
   * VRML specification.
   */
  public BaseGeoTransform() {
      super("GeoTransform");

      hasChanged = new boolean[NUM_FIELDS];

      vfGeoCenter = new double[3];
      vfRotation = new float[] {0, 0, 1, 0};
      vfScale = new float[] {1, 1, 1};
      vfScaleOrientation = new float[] {0, 0, 1, 0};
      vfTranslation = new float[] {0, 0, 0};
      vfGeoSystem = new String[] {"GD","WE"};

      localCenter = new double[3];
locMtx = new Matrix4f();

      tmatrix = new Matrix4f();

      tempVec = new Vector3f();
      tempVec3d = new Vector3d();
      tempAxis = new AxisAngle4f();
      tempMtx1 = new Matrix4f();
      tempMtx2 = new Matrix4f();
origQuat = new Quat4d();
rotQuat = new Quat4d();
  }
 

import javax.vecmath.AxisAngle4f; //导入依赖的package包/类
/**
 * Construct a default instance of this node. The defaults are set by the
 * VRML specification.
 */
public BaseTransform() {
    super("Transform");

    hasChanged = new boolean[LAST_TRANSFORM_INDEX + 1];

    vfCenter = new float[] {0, 0, 0};
    vfRotation = new float[] {0, 0, 1, 0};
    vfScale = new float[] {1, 1, 1};
    vfScaleOrientation = new float[] {0, 0, 1, 0};
    vfTranslation = new float[] {0, 0, 0};

    tmatrix = new Matrix4f();

    tempVec = new Vector3f();
    //tempAxis = new Vector4f();
    tempAxis = new AxisAngle4f();
    tempMtx1 = new Matrix4f();
    tempMtx2 = new Matrix4f();
}