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* Copyright (c) 2009-2015 jMonkeyEngine
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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package com.jme3.scene.plugins.fbx.node;
import com.jme3.math.FastMath;
import com.jme3.math.Quaternion;
public class FbxNodeUtil {
public static Quaternion quatFromBoneAngles(float xAngle, float yAngle, float zAngle) {
float angle;
float sinY, sinZ, sinX, cosY, cosZ, cosX;
angle = zAngle * 0.5f;
sinZ = FastMath.sin(angle);
cosZ = FastMath.cos(angle);
angle = yAngle * 0.5f;
sinY = FastMath.sin(angle);
cosY = FastMath.cos(angle);
angle = xAngle * 0.5f;
sinX = FastMath.sin(angle);
cosX = FastMath.cos(angle);
float cosYXcosZ = cosY * cosZ;
float sinYXsinZ = sinY * sinZ;
float cosYXsinZ = cosY * sinZ;
float sinYXcosZ = sinY * cosZ;
// For some reason bone space is differ, this is modified formulas
float w = (cosYXcosZ * cosX + sinYXsinZ * sinX);
float x = (cosYXcosZ * sinX - sinYXsinZ * cosX);
float y = (sinYXcosZ * cosX + cosYXsinZ * sinX);
float z = (cosYXsinZ * cosX - sinYXcosZ * sinX);
return new Quaternion(x, y, z, w).normalizeLocal();
}
}