Java Matrix4.getTranslation方法代码示例

import org.rajawali3d.math.Matrix4; //导入方法依赖的package包/类
/**
 * Converts a transform in Matrix4 format to TangoPoseData.
 */
public static TangoPoseData matrixToTangoPose(Matrix4 transform) {
    // Get translation and rotation components from the transformation matrix.
    Vector3 p = transform.getTranslation();
    Quaternion q = new Quaternion();
    q.fromMatrix(transform);

    TangoPoseData tangoPose = new TangoPoseData();
    double[] t = tangoPose.translation = new double[3];
    t[0] = p.x;
    t[1] = p.y;
    t[2] = p.z;
    double[] r = tangoPose.rotation = new double[4];
    r[0] = q.x;
    r[1] = q.y;
    r[2] = q.z;
    r[3] = q.w;

    return tangoPose;
}
 

import org.rajawali3d.math.Matrix4; //导入方法依赖的package包/类
/**
 * Helper method to extract a Pose object from a transformation matrix taking into account
 * Rajawali conventions.
 */
public static Pose matrixToPose(Matrix4 m) {
    // Get translation and rotation components from the transformation matrix.
    Vector3 p = m.getTranslation();
    Quaternion q = new Quaternion();
    q.fromMatrix(m);

    // NOTE: Rajawali quaternions use a left-hand rotation around the axis convention.
    q.conjugate();

    return new Pose(p, q);
}
 

import org.rajawali3d.math.Matrix4; //导入方法依赖的package包/类
private void buildSkeleton(BlockHeader blockHeader, long skelAddr) throws ParsingException
{
	SkeletonJoint[] joints = lookupSkeleton(blockHeader, skelAddr);

	SkeletalAnimationSequence[] skelAnims =
		new SkeletalAnimationSequence[mAnimSet.length];

	for(int i = 0; i < mAnimSet.length; i++)
		skelAnims[i] = (SkeletalAnimationSequence)mAnimSet[i];

	Matrix4 scratch1 = new Matrix4();
	Matrix4 scratch2 = new Matrix4();

	for(SkeletalAnimationSequence skelSeq : skelAnims)
	{
		for(SkeletalAnimationFrame frame : skelSeq.getFrames())
		{
			SkeletonJoint[] poses = frame.getSkeleton().getJoints();

			// apply parent transforms
			for(int i = 0; i < poses.length; i++)
			{
				// matrix and index already set, need parent & other attribs
				poses[i].setParentIndex(joints[i].getParentIndex());

				if(poses[i].getParentIndex() >= 0) // has parent joint
		        {
		            SkeletonJoint parentPose = poses[poses[i].getParentIndex()];

					scratch1.setAll(parentPose.getMatrix())
						.multiply(scratch2.setAll(poses[i].getMatrix()));

					poses[i].setMatrix(scratch1.getDoubleValues());
		        }
				else
					scratch1.setAll(poses[i].getMatrix());

				// assign pos + rot from final matrix
				scratch1.getTranslation(poses[i].getPosition());
				poses[i].getOrientation().fromMatrix(scratch1);
				poses[i].getOrientation().computeW();
			}
		}
	}

	for(int i = 0; i < mTargets.length; i++)
	{
		SkeletalAnimationObject3D obj =
			(SkeletalAnimationObject3D)mTargets[i];

		// assigns INVBP, builds BP, sets joints
		obj.setJointsWithInverseBindPoseMatrices(joints);

		for(int j = 0; j < obj.getNumChildren(); j++)
		{
			SkeletalAnimationChildObject3D child =
				(SkeletalAnimationChildObject3D)obj.getChildAt(j);

			SkeletalAnimationMaterialPlugin
				plugin = new SkeletalAnimationMaterialPlugin
					(child.getNumJoints(), child.getMaxBoneWeightsPerVertex());

			child.getMaterial().addPlugin(plugin);
		}

		obj.setAnimationSequences(skelAnims);
		obj.setAnimationSequence(mActive);

		if(mAutoPlay)
			obj.play(true);
	}
}
 

import org.rajawali3d.math.Matrix4; //导入方法依赖的package包/类
/**
 * Read in 3D matrix. Passed array must be of size 16 Positions 3, 7, 11, and 15 are
 * constants and not read.
 *
 * @param matrix
 * @throws ParsingException
 * @throws IOException
 */
public void readMatrix3D(Matrix4 matrix, boolean usePrecision, boolean convert) throws ParsingException, IOException {
    final double[] m = matrix.getDoubleValues();

    if (m == null || m.length != 16)
        throw new ParsingException("Matrix array must be of size 16");

    if (convert) {
        m[Matrix4.M00] = readPrecisionNumber(usePrecision);
        m[Matrix4.M01] = readPrecisionNumber(usePrecision);
        m[Matrix4.M02] = readPrecisionNumber(usePrecision);
        m[Matrix4.M10] = readPrecisionNumber(usePrecision);
        m[Matrix4.M11] = readPrecisionNumber(usePrecision);
        m[Matrix4.M12] = readPrecisionNumber(usePrecision);
        m[Matrix4.M20] = readPrecisionNumber(usePrecision);
        m[Matrix4.M21] = readPrecisionNumber(usePrecision);
        m[Matrix4.M22] = readPrecisionNumber(usePrecision);
        m[Matrix4.M03] = readPrecisionNumber(usePrecision);
        m[Matrix4.M13] = readPrecisionNumber(usePrecision);
        m[Matrix4.M23] = -readPrecisionNumber(usePrecision);
        m[Matrix4.M30] = 0;
        m[Matrix4.M31] = 0;
        m[Matrix4.M32] = 0;
        m[Matrix4.M33] = 1;

        matrix.getTranslation(mTempVector3);
        mTempQuaternion.fromMatrix(matrix);
        mTempQuaternion.computeW();
        mTempQuaternion.z = -mTempQuaternion.z;
        mTempQuaternion.w = -mTempQuaternion.w;
        matrix.setAll(mTempQuaternion);
        matrix.setTranslation(mTempVector3);
    } else {
        m[0] = readPrecisionNumber(usePrecision);
        m[1] = readPrecisionNumber(usePrecision);
        m[2] = readPrecisionNumber(usePrecision);
        m[3] = 0;
        m[4] = readPrecisionNumber(usePrecision);
        m[5] = readPrecisionNumber(usePrecision);
        m[6] = readPrecisionNumber(usePrecision);
        m[7] = 0;
        m[8] = readPrecisionNumber(usePrecision);
        m[9] = readPrecisionNumber(usePrecision);
        m[10] = readPrecisionNumber(usePrecision);
        m[11] = 0;
        m[12] = readPrecisionNumber(usePrecision);
        m[13] = readPrecisionNumber(usePrecision);
        m[14] = readPrecisionNumber(usePrecision);
        m[Matrix4.M33] = 1;
    }
}