Android Open Source - 4est Mote

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License

The source code is released under:
MIT License
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Java Source Code

package com.wordsaretoys.rise.geometry;
/*from   ww w  .  j a va 2s  .co m*/

/**
 * represents a location plus orientation
 * may be used as a base class for game objects
 */

public class Mote {

  public Vector position;
  public Quaternion rotor;

  public Vector front;
  public Vector up;
  public Vector right;

  public float rotations[];
  public float transpose[];
  public float modelview[];
  
  private Quaternion qx;
  private Quaternion qy;
  private Quaternion qz;
  
  /**
   * constructor, allocate and init fields
   */
  public Mote() {
    position = new Vector();
    rotor = new Quaternion(0, 0, 0, 1);
    
    front = new Vector();
    up = new Vector();
    right = new Vector();
    
    rotations = new float[16];
    transpose = new float[16];
    modelview = new float[16];
    
    qx = new Quaternion();
    qy = new Quaternion();
    qz = new Quaternion();
    
    rotations[0] = rotations[5] = rotations[10] = rotations[15] = 1;
    transpose[0] = transpose[5] = transpose[10] = transpose[15] = 1;
    modelview[0] = modelview[5] = modelview[10] = modelview[15] = 1;
    
    turn(0, 0, 0);
    move(0, 0, 0);
  }
  
  /**
   * turn mote on each axis by specified amounts
   * @param x, y, z angles in radians
   */
  public void turn(float x, float y, float z) {
    // rotate by specified amounts
    qx.setFromAxisAngle(1, 0, 0, x);
    qy.setFromAxisAngle(0, 1, 0, y);
    qz.setFromAxisAngle(0, 0, 1, z);
    rotor.copy(qx.mul(qy).mul(qz).mul(rotor).norm());

    // generate rotation matrix
    rotor.toMatrix(rotations);

    // generate orientation vectors
    // (front vector inverted for LH coordinate system)
    right.set(rotations[0], rotations[4], rotations[8]);
    up.set(rotations[1], rotations[5], rotations[9]);
    front.set(rotations[2], rotations[6], rotations[10]).neg();

    // generate transpose matrix
    transpose[0] = rotations[0];
    transpose[1] = rotations[4];
    transpose[2] = rotations[8];

    transpose[4] = rotations[1];
    transpose[5] = rotations[5];
    transpose[6] = rotations[9];

    transpose[8] = rotations[2];
    transpose[9] = rotations[6];
    transpose[10] = rotations[10];

    // copy to modelview w/ transformed position
    modelview[0] = rotations[0];
    modelview[1] = rotations[1];
    modelview[2] = rotations[2];

    modelview[4] = rotations[4];
    modelview[5] = rotations[5];
    modelview[6] = rotations[6];

    modelview[8] = rotations[8];
    modelview[9] = rotations[9];
    modelview[10] = rotations[10];
    
    updateModelview();
  }
  
  /**
   * translate position by specified vector
   */
  public void move(float x, float y, float z) {
    // translate by specified vector
    position.x += x;
    position.y += y;
    position.z += z;
    updateModelview();
  }
  
  /**
   * updates modelview matrix with transformed position
   */
  private void updateModelview() {
    float px = position.x;
    float py = position.y;
    float pz = position.z;
    modelview[12] = -(modelview[0] * px + modelview[4] * py + modelview[8] * pz);
    modelview[13] = -(modelview[1] * px + modelview[5] * py  + modelview[9] * pz);
    modelview[14] = -(modelview[2] * px + modelview[6] * py + modelview[10] * pz);
  }
}
Java Source Code List
