Java Transform3D.rotY方法代码示例

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Updates <code>viewPlatformTransform</code> transform from camera angles and location.
 */
private void updateViewPlatformTransform(Transform3D transform, float cameraX, float cameraY, float cameraZ,
		float cameraYaw, float cameraPitch)
{
	Transform3D yawRotation = new Transform3D();
	yawRotation.rotY(-cameraYaw + Math.PI);
	
	Transform3D pitchRotation = new Transform3D();
	pitchRotation.rotX(-cameraPitch);
	yawRotation.mul(pitchRotation);
	
	transform.setIdentity();
	transform.setTranslation(new Vector3f(cameraX, cameraZ, cameraY));
	transform.mul(yawRotation);
	
	this.camera = new Camera(cameraX, cameraY, cameraZ, cameraYaw, cameraPitch, 0);
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Updates the given view platform transformation from yaw angle, pitch angle and scale. 
 */
private void updateViewPlatformTransform(TransformGroup viewPlatformTransform, float viewYaw, float viewPitch,
		float viewScale)
{
	// Default distance used to view a 2 unit wide scene
	double nominalDistanceToCenter = 1.4 / Math.tan(Math.PI / 8);
	// We don't use a TransformGroup in scene tree to be able to share the same scene 
	// in the different views displayed by OrientationPreviewComponent class 
	Transform3D translation = new Transform3D();
	translation.setTranslation(new Vector3d(0, 0, nominalDistanceToCenter));
	Transform3D pitchRotation = new Transform3D();
	pitchRotation.rotX(viewPitch);
	Transform3D yawRotation = new Transform3D();
	yawRotation.rotY(viewYaw);
	Transform3D scale = new Transform3D();
	scale.setScale(viewScale);
	
	pitchRotation.mul(translation);
	yawRotation.mul(pitchRotation);
	scale.mul(yawRotation);
	viewPlatformTransform.setTransform(scale);
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Constructs a RangeSensorBelt. The sensor type can be either
 * TYPE_BUMPER,TYPE_SONAR,TYPE_IR or TYPE_LASER. Ranges are measured from
 * the belt perimeter (not from the belt center).
 * 
 * @param radius
 *            - the radius of the belt.
 * @param minRange
 *            - the minimal range of each sensor ray. Not used for
 *            TYPE_BUMPER.
 * @param maxRange
 *            - the maximal range of each sensor ray. Not used for
 *            TYPE_BUMPER.
 * @param nbsensors
 *            - the number of sensors in the belt (typically 4,6,12,24 or
 *            36).
 * @param type
 *            - to specify the sensor behavior
 */
public RangeSensorBelt(float radius, float minRange, float maxRange, int nbsensors, int type, int flags) {
	// compute angles ,positions , directions
	positions = new Vector3d[nbsensors];
	directions = new Vector3d[nbsensors];
	Vector3d frontPos = new Vector3d(radius, 0, 0);
	Vector3d frontDir = new Vector3d(maxRange, 0, 0);
	angles = new double[nbsensors];
	Transform3D transform = new Transform3D();
	for (int i = 0; i < nbsensors; i++) {
		angles[i] = i * 2 * Math.PI / nbsensors;
		transform.setIdentity();
		transform.rotY(angles[i]);
		Vector3d pos = new Vector3d(frontPos);
		transform.transform(pos);
		positions[i] = pos;
		Vector3d dir = new Vector3d(frontDir);
		transform.transform(dir);
		directions[i] = dir;
	}
	initialize(radius, maxRange, nbsensors, type, flags);
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Constructs a RangeSensorBelt. The sensor type can be either
 * TYPE_BUMPER,TYPE_SONAR,TYPE_IR or TYPE_LASER. Ranges are measured from the
 * belt perimeter (not from the belt center).
 * 
 * @param radius
 *          - the radius of the belt.
 * @param minRange
 *          - the minimal range of each sensor ray. Not used for TYPE_BUMPER.
 * @param maxRange
 *          - the maximal range of each sensor ray. Not used for TYPE_BUMPER.
 * @param nbsensors
 *          - the number of sensors in the belt (typically 4,6,12,24 or 36).
 * @param type
 *          - to specify the sensor behavior
 * @param flags additional flags
 */
public RangeSensorBelt(float radius, float minRange, float maxRange, int nbsensors, int type, int flags) {
  // compute angles ,positions , directions
  positions = new Vector3d[nbsensors];
  directions = new Vector3d[nbsensors];
  Vector3d frontPos = new Vector3d(radius, 0, 0);
  Vector3d frontDir = new Vector3d(maxRange, 0, 0);
  angles = new double[nbsensors];
  Transform3D transform = new Transform3D();
  for (int i = 0; i < nbsensors; i++) {
    angles[i] = i * 2 * Math.PI / nbsensors;
    transform.setIdentity();
    transform.rotY(angles[i]);
    Vector3d pos = new Vector3d(frontPos);
    transform.transform(pos);
    positions[i] = pos;
    Vector3d dir = new Vector3d(frontDir);
    transform.transform(dir);
    directions[i] = dir;
  }
  initialize(radius, maxRange, nbsensors, type, flags);
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Returns a transformation able to place in the scene the normalized model 
 * of the given <code>piece</code>.
 */
Transform3D getPieceOFFurnitureNormalizedModelTransformation(HomePieceOfFurniture piece)
{
	// Set piece size
	Transform3D scale = new Transform3D();
	float pieceWidth = piece.getWidth();
	// If piece model is mirrored, inverse its width
	if (piece.isModelMirrored())
	{
		pieceWidth *= -1;
	}
	scale.setScale(new Vector3d(pieceWidth, piece.getHeight(), piece.getDepth()));
	// Change its angle around y axis
	Transform3D orientation = new Transform3D();
	orientation.rotY(-piece.getAngle());
	orientation.mul(scale);
	// Translate it to its location
	Transform3D pieceTransform = new Transform3D();
	float z = piece.getElevation() + piece.getHeight() / 2;
	if (piece.getLevel() != null)
	{
		z += piece.getLevel().getElevation();
	}
	pieceTransform.setTranslation(new Vector3f(piece.getX(), z, piece.getY()));
	pieceTransform.mul(orientation);
	return pieceTransform;
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Adds a prebuild light sensor on the left of the agent .
 * 
 * @param agent
 * @return the sensor object
 */
static public LightSensor addLightSensorLeft(Agent agent) {
	Vector3d front = new Vector3d(agent.getRadius() + 0.5, 0, 0);
	Transform3D t3d = new Transform3D();
	t3d.rotY(Math.PI / 4);
	Vector3d left = new Vector3d(front);
	t3d.transform(left);
	return RobotFactory.addLightSensor(agent, left, (float) Math.PI / 4, "left");
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Adds a prebuild light sensor on the right of the agent .
 * 
 * @param agent
 * @return the sensor object
 */
static public LightSensor addLightSensorRight(Agent agent) {
	Vector3d front = new Vector3d(agent.getRadius() + 0.5, 0, 0);
	Transform3D t3d = new Transform3D();
	t3d.rotY(-Math.PI / 4);
	Vector3d right = new Vector3d(front);
	t3d.transform(right);
	return RobotFactory.addLightSensor(agent, right, (float) -Math.PI / 4, "left");
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Update the agent's position with instantTranslation and instantRotation
 */
protected void updatePosition() {
	Transform3D t3d = t3d1;

	if (!collisionDetected) {
		// clip vertical deplacement to avoid traversing the floor
		translation.get(v1);
		double dist = v1.y - height / 2;
		if (instantTranslation.y < (-dist)) {
			instantTranslation.y = -dist;
		}
		double delta;
		// perform translation
		t3d.setIdentity();
		t3d.setTranslation(instantTranslation);
		translation.mul(t3d);
		translationGroup.setTransform(translation);

		// perform rotation
		t3d.setIdentity();
		t3d.rotY(instantRotation.y);
		rotation.mul(t3d1);
		rotationGroup.setTransform(rotation);

		// add tranlation delta to odometer
		delta = instantTranslation.length();
		odometer += delta;
		positionChanged = (delta != 0);

	}
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/** Rotates (relative to current rotation) the object about Y axis. */
public void rotateY(double angle) {
	Transform3D t3d = new Transform3D();
	t3d.rotY(angle);
	rotation.mul(t3d);
	rotationGroup.setTransform(rotation);
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
private void rotate(float x, float y, float z)
{
   Transform3D tr = new Transform3D();
   if (x != 0) tr.rotX(x);
   if (y != 0) tr.rotY(y);
   if (z != 0) tr.rotZ(z);
   tg.getTransform(tgr);
   tgr.mul(tr);
   tg.setTransform(tgr);
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Calculate the angles and call them back to the app
 * @param inFunction function to call (either pov or svg)
 */
private void callbackRender(Export3dFunction inFunction)
{
	Transform3D trans3d = new Transform3D();
	_orbit.getViewingPlatform().getViewPlatformTransform().getTransform(trans3d);
	Matrix3d matrix = new Matrix3d();
	trans3d.get(matrix);
	Point3d point = new Point3d(0.0, 0.0, 1.0);
	matrix.transform(point);
	// Set up initial rotations
	Transform3D firstTran = new Transform3D();
	firstTran.rotY(Math.toRadians(-INITIAL_Y_ROTATION));
	Transform3D secondTran = new Transform3D();
	secondTran.rotX(Math.toRadians(-INITIAL_X_ROTATION));
	// Apply inverse rotations in reverse order to the test point
	Point3d result = new Point3d();
	secondTran.transform(point, result);
	firstTran.transform(result);

	// Give the settings to the rendering function
	inFunction.setCameraCoordinates(result.x, result.y, result.z);
	inFunction.setAltitudeExaggeration(_altFactor);
	inFunction.setTerrainDefinition(_terrainDefinition); // ignored by svg, used by pov
	inFunction.setImageDefinition(_imageDefinition);     // ignored by svg, used by pov

	inFunction.begin();
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Adds a prebuild light sensor on the left of the agent .
 * @param agent a
 * 
 * @return the sensor object
 */
static public LightSensor addLightSensorLeft(Agent agent) {
  Vector3d front = new Vector3d(agent.getRadius() + 0.5, 0, 0);
  Transform3D t3d = new Transform3D();
  t3d.rotY(Math.PI / 4);
  Vector3d left = new Vector3d(front);
  t3d.transform(left);
  return RobotFactory.addLightSensor(agent, left, (float) Math.PI / 4, "left");
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Adds a prebuild light sensor on the right of the agent .
 * @param agent a
 * 
 * @return the sensor object
 */
static public LightSensor addLightSensorRight(Agent agent) {
  Vector3d front = new Vector3d(agent.getRadius() + 0.5, 0, 0);
  Transform3D t3d = new Transform3D();
  t3d.rotY(-Math.PI / 4);
  Vector3d right = new Vector3d(front);
  t3d.transform(right);
  return RobotFactory.addLightSensor(agent, right, (float) -Math.PI / 4, "left");
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Update the agent's position with instantTranslation and instantRotation
 */
protected void updatePosition() {
  Transform3D t3d = t3d1;

  if (!collisionDetected) {
    // clip vertical deplacement to avoid traversing the floor
    translation.get(v1);
    double dist = v1.y - height / 2;
    if (instantTranslation.y < (-dist)) {
      instantTranslation.y = -dist;
    }
    double delta;
    // perform translation
    t3d.setIdentity();
    t3d.setTranslation(instantTranslation);
    translation.mul(t3d);
    translationGroup.setTransform(translation);

    // perform rotation
    t3d.setIdentity();
    t3d.rotY(instantRotation.y);
    rotation.mul(t3d1);
    rotationGroup.setTransform(rotation);

    // add tranlation delta to odometer
    delta = instantTranslation.length();
    odometer += delta;
    positionChanged = (delta != 0);

  }
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
public BranchGroup createSceneGraph() {
    BranchGroup bg = new BranchGroup();

    // �L���[�u���X����
    Transform3D rotate = new Transform3D();
    Transform3D tempRotate = new Transform3D();

    rotate.rotX(Math.PI / 4.0);
    tempRotate.rotY(Math.PI / 4.0);
    rotate.mul(tempRotate);

    TransformGroup rotateTG = new TransformGroup(rotate);

    // �L���[�u����]����
    TransformGroup spinTG = new TransformGroup();
    spinTG.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    // �J���[�L���[�u���쐬����spinTG�ɒlj�
    ColorCube cube = new ColorCube(0.4);
    spinTG.addChild(cube);

    // ��]�^��
    Alpha rotationAlpha = new Alpha(-1, 4000);
    RotationInterpolator rotator = new RotationInterpolator(rotationAlpha, spinTG);
    // �͈͂��w��
    BoundingSphere bounds = new BoundingSphere();
    rotator.setSchedulingBounds(bounds);
    spinTG.addChild(rotator);

    rotateTG.addChild(spinTG);
    bg.addChild(rotateTG);

    return bg;
}