float qz = q.getZ32(); float qs = q.getS32(); switch (random.nextInt(4))
public static Transform j3dTransform3DToJMETransform(RigidBodyTransform transform3D) { Quaternion32 quat = new Quaternion32(); us.ihmc.euclid.tuple3D.Vector3D32 vector = new us.ihmc.euclid.tuple3D.Vector3D32(); transform3D.get(quat, vector); Vector3f jmeVector = new Vector3f(vector.getX32(), vector.getY32(), vector.getZ32()); Quaternion jmeQuat = new Quaternion(quat.getX32(), quat.getY32(), quat.getZ32(), quat.getS32()); Transform ret = new Transform(jmeVector, jmeQuat, new Vector3f(1.0f, 1.0f, 1.0f)); return ret; }
private static Transform j3dTransform3DToJMETransform(RigidBodyTransform transform3D) { us.ihmc.euclid.tuple4D.Quaternion32 quat = new us.ihmc.euclid.tuple4D.Quaternion32(); us.ihmc.euclid.tuple3D.Vector3D32 vector = new us.ihmc.euclid.tuple3D.Vector3D32(); transform3D.get(quat, vector); Vector3f jmeVector = new Vector3f(vector.getX32(), vector.getY32(), vector.getZ32()); Quaternion jmeQuat = new Quaternion(quat.getX32(), quat.getY32(), quat.getZ32(), quat.getS32()); Transform ret = new Transform(jmeVector, jmeQuat, new Vector3f(1.0f, 1.0f, 1.0f)); return ret; }