Java Transform3D.setIdentity方法代码示例

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Permet de déplacer de manière à centrer sur le point P(x y z )
 * @param x
 * @param y
 * @param z
 * @param direction
 *        Il s'agit de la direction dans laquelle est regardée le
 *        point. La caméra se trouvera à la translation vecteur appliqué à P
 *        La norme du vecteur indique la distance entre la caméra et le
 *        point
 */
public void zoomOn(double x, double y, double z, Vecteur direction) {
  Transform3D viewTrans = new Transform3D();
  if (direction == null) {
    return;
  }
  if (direction.norme() == 0) {
    return;
  }
  // point the view at the center of the object
  Point3d center = new Point3d(x + this.translate.x, y + this.translate.y, z + this.translate.z);
  Point3d eyePos = new Point3d(x + this.translate.x + direction.getX(), y + this.translate.y
      + direction.getY(), z + this.translate.z + direction.getZ());
  viewTrans.setIdentity();
  viewTrans.lookAt(eyePos, center, new Vector3d(0, 0, 1));
  // set the view transform
  viewTrans.invert();
  InterfaceMap3D.tgvu.setTransform(viewTrans);
}
 

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
/**
 * 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
/**
 * @param newPos
 * @param newHeading
 * @param dX
 * @param dY
 * @param radius 
 * @param t Transformationsmatrix (wird veraendert)
 * @return erzeugte Bounds
 */
private Bounds createBounds(Point3d newPos, double newHeading, double dX, double dY, double radius, Transform3D t) {
	final double dZ = - CtBotSimTcp.BOT_HEIGHT / 2;
	
	/* Vektor fuer die Verschiebung erstellen */
	Vector3d v = new Vector3d(dX, dY, dZ);

	/* Transformations-Matrix fuer die Rotation erstellen */
	Transform3D r = new Transform3D();
	r.rotZ(newHeading);
	
	/* Transformation um Verschiebung ergaenzen */
	r.transform(v);
	v.add(newPos);
	t.setIdentity();
	t.setTranslation(v);
	
	/* Bounds erstellen */
	Bounds bounds = new BoundingSphere(new Point3d(0, 0, 0), radius);
	
	/* Bounds transformieren */
	bounds.transform(t);
	
	return bounds;
}
 

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
/**
 * 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
/**
 * 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 Projection() {
    K = new Matrix3d();
    R = new Matrix3d();
    T = new Vector3d();
    P = new Transform3D();

    K.setIdentity();
    R.setIdentity();
    T.set(0, 0, 0);
    P.setIdentity();
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Permet d'initialiser un point de vue (1) Vue depuis l'axe des XMax de la
 * scene (2) Vue depuis l'axe des XMin de la scene (3) Vue depuis l'axe des
 * YMax de la scene (4) Vue depuis l'axe des YMin de la scene (5) Vue depuis
 * l'axe des ZMax de la scene (6) Vue depuis l'axe des ZMin de la scene
 * @param axis
 *        Un entier correspondant à l'axe
 * @return la distance entre la caméra et l'objet
 */
public double initViewpoint(int axis) {
  Transform3D viewTrans = new Transform3D();
  BoundingSphere sceneBounds = new BoundingSphere(this.Bgeneral.getBounds());
  // point the view at the center of the object
  Point3d center = new Point3d();
  sceneBounds.getCenter(center);
  double radius = sceneBounds.getRadius();
  // On effectue cette Opération afin d'avoir toujours quelque chose à
  // l'écran
  radius = Math.min(radius, ConstantRepresentation.backClip * 2);
  Point3d eyePos = new Point3d(center);
  Vector3d up = new Vector3d();
  // pull the eye back far enough to see the whole object
  double eyeDist = radius;
  switch (axis) {
    case 1:
      eyePos.x += eyeDist;
      up.z = 1;
      break;
    case 2:
      eyePos.x -= eyeDist;
      up.z = 1;
      break;
    case 3:
      eyePos.y += eyeDist;
      up.z = 1;
      break;
    case 4:
      eyePos.y -= eyeDist;
      up.z = 1;
      break;
    case 5:
      eyePos.z += eyeDist;
      up.y = 1;
      break;
    case 6:
      eyePos.z -= eyeDist;
      up.y = 1;
      break;
  }
  viewTrans.setIdentity();
  viewTrans.lookAt(eyePos, center, up);
  viewTrans.invert();
  // set the view transform
  InterfaceMap3D.tgvu.setTransform(viewTrans);
  return eyeDist;
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/** Create the object geometry. */
void create3D(boolean allowTransformReadWrite) {
	// STRUCTURE Branch group->Translation Transform Group -> Rotation
	// Transform Group->Group

	branchGroup = new BranchGroup();
	branchGroup.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
	branchGroup.setCapability(BranchGroup.ALLOW_DETACH);

	translation = new Transform3D();
	translation.setIdentity();
	translationGroup = new TransformGroup();
	translationGroup.setTransform(translation);
	branchGroup.addChild(translationGroup);
	if (allowTransformReadWrite) {
		translationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
		translationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
		translationGroup.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
		translationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_WRITE);
		translationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_READ);
		translationGroup.setCapabilityIsFrequent(Node.ALLOW_LOCAL_TO_VWORLD_READ);
	}
	// rotation transform
	rotation = new Transform3D();
	rotation.setIdentity();
	rotationGroup = new TransformGroup();
	rotationGroup.setTransform(rotation);
	translationGroup.addChild(rotationGroup);
	if (allowTransformReadWrite) {
		rotationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
		rotationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
		rotationGroup.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
		rotationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_READ);
		rotationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_WRITE);
		rotationGroup.setCapabilityIsFrequent(Node.ALLOW_LOCAL_TO_VWORLD_READ);
	}
	// Create group to attach all gemotries
	group = new Group();
	group.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
	// we want to setup the bounds manually
	group.setBoundsAutoCompute(false);
	// group.setCapability(Group.ALLOW_BOUNDS_READ); // No more needed, use
	// localBounds
	rotationGroup.addChild(group);

}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Change the user view Point . Note that we modify the ViewBranch transform
 * not the scene transform.
 * 
 * @param type
 *            can be VIEW_FROM_TOP,VIEW_FROM_EAST,VIEW_BEHIND_AGENT
 * @param agent
 *            : specify the agent if VIEW_BEHIND_AGENT
 * 
 *            The VIEW_BEHIND_AGENT case has to be called regularly because
 *            of the agent displacement.
 */

public void changeViewPoint(int type, SimpleAgent agent) {
	Point3d p1 = new Point3d();
	Point3d p2 = new Point3d();

	Transform3D t1 = new Transform3D();
	Transform3D t2 = new Transform3D();
	t1.setIdentity();
	t2.setIdentity();
	mouseOrbiter.resetView();
	switch (type) {
	case VIEW_FROM_TOP:
		t1.lookAt(new Point3d(0, worldSize * 1.2, 0), new Point3d(0, 0, 0), new Vector3d(0, 0, -1));
		t1.invert();
		viewTransformGroup.setTransform(t1);
		break;
	case VIEW_FROM_EAST:
		t1.lookAt(new Point3d(worldSize, worldSize, 0), new Point3d(0, 0, 0), new Vector3d(-1, 0, 0));
		t1.invert();
		viewTransformGroup.setTransform(t1);
		break;
	case VIEW_BEHIND_AGENT:
		t1.setTranslation(new Vector3d(-agent.getRadius() * 2, 0, 0));
		agent.getGroup().getLocalToVworld(t2);
		t1.mul(t2);
		viewTransformGroup.setTransform(t1);
		break;
	case VIEW_ABOVE_AGENT:
		agent.getRotationTransformGroup().getLocalToVworld(t1);
		t1.transform(p1);
		t1.transform(p2);
		p2.y = worldSize * .8;
		t1.lookAt(p2, p1, new Vector3d(0, 0, -1));
		t1.invert();
		viewTransformGroup.setTransform(t1);
		break;

	case VIEW_ABOVE_AGENT_NEAR:
		agent.getRotationTransformGroup().getLocalToVworld(t1);
		t1.transform(p1);
		t1.transform(p2);
		p2.y = agent.getHeight() * worldSize * 0.5;
		// avoid front clipping
		if (p2.y < 0.2)
			p2.y = 0.2;
		t1.lookAt(p2, p1, new Vector3d(0, 0, -1));
		t1.invert();
		viewTransformGroup.setTransform(t1);

		break;
	case VIEW_AGENT_SIDE:

		agent.getRotationTransformGroup().getLocalToVworld(t1);
		t1.transform(p1);
		t1.transform(p2);
		agent.rotation.transform(p2);
		t2.setTranslation(new Vector3d(0, agent.getHeight() * 2, agent.getRadius() * 10));
		t2.transform(p2);
		t1.lookAt(p2, p1, new Vector3d(0, 1, 0));
		t1.invert();
		viewTransformGroup.setTransform(t1);

		break;
	}
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Creates the universe to attach the scenegraph. Used only in the creation
 * phase.
 * 
 * @param ed
 *            the environment description.
 */
private void createUniverse(EnvironmentDescription ed) {
	System.out.println("create Universe");
	// show infos
	Map map = VirtualUniverse.getProperties();
	System.out.println("----------------------------------------");
	System.out.println("j3d.version = " + map.get("j3d.version"));
	System.out.println("j3d.vendor = " + map.get("j3d.vendor"));
	System.out.println("j3d.specification.version = " + map.get("j3d.specification.version"));
	System.out.println("j3d.specification.vendor = " + map.get("j3d.specification.vendor"));
	System.out.println("j3d.renderer = " + map.get("j3d.renderer"));
	System.out.println("J3DThreadPriority = " + VirtualUniverse.getJ3DThreadPriority());
	System.out.println("----------------------------------------");

	createCanvas3D();
	createSceneBranch(ed);

	universe = new VirtualUniverse();

	Locale locale = new Locale(universe);

	// Create and add VIEW branch
	// locale->viewBranch->viewTransformGroup->viewPlatform
	viewBranch = new BranchGroup();
	viewTransformGroup = new TransformGroup();
	viewTransformGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
	viewTransformGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
	Transform3D t3d = new Transform3D();
	t3d.setIdentity();
	viewTransformGroup.setTransform(t3d);
	viewBranch.addChild(viewTransformGroup);

	// Creates View and viewplatform
	viewPlatform = new ViewPlatform();
	viewPlatform.setViewAttachPolicy(View.NOMINAL_HEAD);
	viewPlatform.setActivationRadius(100);
	view = new View();
	view.setProjectionPolicy(View.PERSPECTIVE_PROJECTION);

	view.setViewPolicy(View.SCREEN_VIEW);
	view.setVisibilityPolicy(View.VISIBILITY_DRAW_ALL);

	view.setFrontClipDistance(0.02);

	GraphicsConfigTemplate3D template = new GraphicsConfigTemplate3D();
	template.setSceneAntialiasing(GraphicsConfigTemplate.REQUIRED);
	template.setDoubleBuffer(GraphicsConfigTemplate.PREFERRED);
	/*
	 * GraphicsConfiguration config = GraphicsEnvironment
	 * .getLocalGraphicsEnvironment().getDefaultScreenDevice()
	 * .getBestConfiguration(template);
	 */
	// request antialiasing
	view.setSceneAntialiasingEnable(true);

	view.addCanvas3D(canvas3d);
	PhysicalBody phyBody = new PhysicalBody();
	PhysicalEnvironment phyEnv = new PhysicalEnvironment();
	view.setPhysicalBody(phyBody);
	view.setPhysicalEnvironment(phyEnv);
	view.attachViewPlatform(viewPlatform);
	viewTransformGroup.addChild(viewPlatform);

	// Add both branch to the unique locale
	locale.addBranchGraph(viewBranch);
	locale.addBranchGraph(sceneBranch);

	// Add mouse control in the canvas3d
	mouseOrbiter = new MouseOrbiter(canvas3d, viewTransformGroup);

	// sets initial viewpoint
	changeViewPoint(ed.worldViewPoint, null);
}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
@Override
public void run(String arg) {

	    // Open an image
	    String path = "/home/bene/PhD/brains/template.tif";
	    ImagePlus imp = IJ.openImage(path);
	    new StackConverter(imp).convertToGray8();

	    // Create a universe and show it
	    Image3DUniverse univ = new Image3DUniverse();
	    univ.show();

	    // Add the image as an isosurface
	    Content c = univ.addVoltex(imp);
	    sleep(5);

	    // Create a new Transform3D object
	    Transform3D t3d = new Transform3D();

	    // Make it a 45 degree rotation around the local y-axis
	    t3d.rotY(45 * Math.PI / 180);

	    // Apply the transformation to the Content. This concatenates
	    // the previous present transformation with the specified one
	    c.applyTransform(t3d);
	    sleep(5);

	    // Apply it again: this gives a 90 degree rotation in
	    // summary.
	    c.applyTransform(t3d);
	    sleep(5);

	    // setTransform() does not concatenate, but sets the specified
	    // transformation:
	    c.setTransform(t3d);
	    sleep(5);

	    // reset the transformation to the identity
	    t3d.setIdentity();
	    c.setTransform(t3d);
	    sleep(5);

	    // remove all contents and close the universe
	    univ.removeAllContents();
	    univ.close();
  }
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/** Create the object geometry. */
void create3D(boolean allowTransformReadWrite) {
  // STRUCTURE Branch group->Translation Transform Group -> Rotation
  // Transform Group->Group

  branchGroup = new BranchGroup();
  branchGroup.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
  branchGroup.setCapability(BranchGroup.ALLOW_DETACH);

  translation = new Transform3D();
  translation.setIdentity();
  translationGroup = new TransformGroup();
  translationGroup.setTransform(translation);
  branchGroup.addChild(translationGroup);
  if (allowTransformReadWrite) {
    translationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    translationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
    translationGroup.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
    translationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_WRITE);
    translationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_READ);
    translationGroup.setCapabilityIsFrequent(Node.ALLOW_LOCAL_TO_VWORLD_READ);
  }
  // rotation transform
  rotation = new Transform3D();
  rotation.setIdentity();
  rotationGroup = new TransformGroup();
  rotationGroup.setTransform(rotation);
  translationGroup.addChild(rotationGroup);
  if (allowTransformReadWrite) {
    rotationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_READ);
    rotationGroup.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);
    rotationGroup.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
    rotationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_READ);
    rotationGroup.setCapabilityIsFrequent(TransformGroup.ALLOW_TRANSFORM_WRITE);
    rotationGroup.setCapabilityIsFrequent(Node.ALLOW_LOCAL_TO_VWORLD_READ);
  }
  // Create group to attach all gemotries
  group = new Group();
  group.setCapability(Node.ALLOW_LOCAL_TO_VWORLD_READ);
  // we want to setup the bounds manually
  group.setBoundsAutoCompute(false);
  // group.setCapability(Group.ALLOW_BOUNDS_READ); // No more needed, use
  // localBounds
  rotationGroup.addChild(group);

}
 

import javax.media.j3d.Transform3D; //导入方法依赖的package包/类
/**
 * Change the user view Point . Note that we modify the ViewBranch transform
 * not the scene transform.
 * 
 * @param type
 *          can be VIEW_FROM_TOP,VIEW_FROM_EAST,VIEW_BEHIND_AGENT
 * @param agent
 *          : specify the agent if VIEW_BEHIND_AGENT
 * 
 *          The VIEW_BEHIND_AGENT case has to be called regularly because of
 *          the agent displacement.
 */

public void changeViewPoint(int type, SimpleAgent agent) {
  Point3d p1 = new Point3d();
  Point3d p2 = new Point3d();

  Transform3D t1 = new Transform3D();
  Transform3D t2 = new Transform3D();
  t1.setIdentity();
  t2.setIdentity();
  mouseOrbiter.resetView();
  switch (type) {
    case VIEW_FROM_TOP:
      t1.lookAt(new Point3d(0, worldSize * 1.2, 0), new Point3d(0, 0, 0), new Vector3d(0, 0, -1));
      t1.invert();
      viewTransformGroup.setTransform(t1);
      break;
    case VIEW_FROM_EAST:
      t1.lookAt(new Point3d(worldSize, worldSize, 0), new Point3d(0, 0, 0), new Vector3d(-1, 0, 0));
      t1.invert();
      viewTransformGroup.setTransform(t1);
      break;
    case VIEW_BEHIND_AGENT:
      t1.setTranslation(new Vector3d(-agent.getRadius() * 2, 0, 0));
      agent.getGroup().getLocalToVworld(t2);
      t1.mul(t2);
      viewTransformGroup.setTransform(t1);
      break;
    case VIEW_ABOVE_AGENT:
      agent.getRotationTransformGroup().getLocalToVworld(t1);
      t1.transform(p1);
      t1.transform(p2);
      p2.y = worldSize * .8;
      t1.lookAt(p2, p1, new Vector3d(0, 0, -1));
      t1.invert();
      viewTransformGroup.setTransform(t1);
      break;

    case VIEW_ABOVE_AGENT_NEAR:
      agent.getRotationTransformGroup().getLocalToVworld(t1);
      t1.transform(p1);
      t1.transform(p2);
      p2.y = agent.getHeight() * worldSize * 0.5;
      // avoid front clipping
      if (p2.y < 0.2)
        p2.y = 0.2;
      t1.lookAt(p2, p1, new Vector3d(0, 0, -1));
      t1.invert();
      viewTransformGroup.setTransform(t1);

      break;
    case VIEW_AGENT_SIDE:

      agent.getRotationTransformGroup().getLocalToVworld(t1);
      t1.transform(p1);
      t1.transform(p2);
      agent.rotation.transform(p2);
      t2.setTranslation(new Vector3d(0, agent.getHeight() * 2, agent.getRadius() * 10));
      t2.transform(p2);
      t1.lookAt(p2, p1, new Vector3d(0, 1, 0));
      t1.invert();
      viewTransformGroup.setTransform(t1);

      break;
  }
}