Example usage for org.apache.commons.math3.geometry.euclidean.threed RotationOrder XZY

Introduction

In this page you can find the example usage for org.apache.commons.math3.geometry.euclidean.threed RotationOrder XZY.

Prototype

RotationOrder XZY

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Document

Set of Cardan angles.

Usage

From source file:IK.AbstractBone.java

public AbstractBone(AbstractBone par, //parent bone
        double xAngle, //how much the bone should be pitched relative to its parent bone
        double yAngle, //how much the bone should be rolled relative to its parent bone
        double zAngle, //how much the bone should be yawed relative to its parent bone
        String inputTag, //some user specified name for the bone, if desired
        double inputBoneHeight //bone length 
) throws NullParentForBoneException {

    if (par != null) {
        if (this.tag == null || this.tag == "") {
            this.tag = Integer.toString(System.identityHashCode(this));
        } else//from  www .  ja  v a2s  . c  om
            this.tag = inputTag;
        this.boneHeight = inputBoneHeight;

        AbstractAxes tempAxes = par.localAxes().getAbsoluteCopy();
        Rotation toRot = new Rotation(RotationOrder.XZY, xAngle, yAngle, zAngle);
        Rot newRot = new Rot();
        newRot.rotation = toRot;
        tempAxes.rotateTo(newRot);

        this.parent = par;
        this.parentArmature = this.parent.parentArmature;
        parentArmature.addToBoneList(this);

        generateAxes(parent.getTip(), tempAxes.x().heading(), tempAxes.y().heading(), tempAxes.z().heading());
        this.localAxes.orthogonalize();
        localAxes.setParent(parent.localAxes);
        previousOrientation = localAxes.attachedCopy(true);

        majorRotationAxes = parent.localAxes().getAbsoluteCopy();
        majorRotationAxes.translateTo(parent.getTip());
        majorRotationAxes.setParent(parent.localAxes);

        this.parent.addFreeChild(this);
        this.parent.addChild(this);

        this.updateSegmentedArmature();
    } else {
        throw new NullParentForBoneException();
    }

}

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From source file:IK.AbstractBone.java

/** 
 * @return an array where each element indicated how much this bone is rotated on the X,Y,Z (in that order)
 * axes relative to its parent bone. If the bone has no parent, this method 
 * throws an exception.//from   www .jav  a2  s  .  c  o  m
 * @throws NullParentForBoneException
 */
public double[] getXZYAngle() throws NullParentForBoneException {
    if (this.parent != null) {
        Rot boneOffset = new Rot(this.majorRotationAxes.x().heading(), this.majorRotationAxes.y().heading(),
                this.localAxes().x().heading(), this.localAxes().y().heading());
        return boneOffset.rotation.getAngles(RotationOrder.XZY);
    } else {
        return null;
    }
}

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