hmi.elckerlyc.animationengine.transitions
Class SlerpTransitionStaticMU

java.lang.Object
  hmi.elckerlyc.animationengine.motionunit.AbstractMotionUnit
      hmi.elckerlyc.animationengine.transitions.TransitionMU
          hmi.elckerlyc.animationengine.transitions.SlerpTransitionStaticMU

All Implemented Interfaces:

KeyPositionManager, MotionUnit

public class SlerpTransitionStaticMU
extends TransitionMU

Slerp transition from current pose to predefined end pose, typically for use in an animationplanplayer without using the animationplayer

Author:

welberge

Field Summary

private float[]	endPose
private float[]	qResult
private List<VJoint>	startJoints
private float[]	startPose

Fields inherited from class hmi.elckerlyc.animationengine.transitions.TransitionMU

joints

Constructor Summary

SlerpTransitionStaticMU()

SlerpTransitionStaticMU(List<VJoint> j, List<VJoint> startPoseJoints, float[] ep)
Constructor

Method Summary

TransitionMU	copy(AnimationPlayer player) Create a copy of this motion unit and link it to the animationplayer
void	play(double t) Executes the motion unit, typically by rotating some VJoints
void	setEndPose(double endTime, double duration)
void	setStartPose() Set the current pose of the associated set of joints
void	setStartPose(float[] sp) Set the start pose

Methods inherited from class hmi.elckerlyc.animationengine.transitions.TransitionMU

createTMU, filterJoints, getParameterValue, getPredictor, getPreferedDuration, getReplacementGroup, setParameterValue, setParameterValue

Methods inherited from class hmi.elckerlyc.animationengine.motionunit.AbstractMotionUnit

addKeyPosition, getKeyPosition, getKeyPositions, removeKeyPosition, setKeyPositions

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

startJoints

private List<VJoint> startJoints

endPose

private float[] endPose

startPose

private float[] startPose

qResult

private float[] qResult

Constructor Detail

SlerpTransitionStaticMU

public SlerpTransitionStaticMU()

SlerpTransitionStaticMU

public SlerpTransitionStaticMU(List<VJoint> j,
                               List<VJoint> startPoseJoints,
                               float[] ep)

Constructor

Parameters:

j - joints to slerp (usually taken from animationPlayer.getVNext()

startPoseJoints - joints to take start pose from (usually taken from the final VJoint human on which animation and physics are combined)

ep - end pose, contains quaternion joint rotations for each joint

Method Detail

copy

public TransitionMU copy(AnimationPlayer player)

Description copied from interface: MotionUnit

Create a copy of this motion unit and link it to the animationplayer

Specified by:

copy in interface MotionUnit

Specified by:

copy in class TransitionMU

setStartPose

public void setStartPose(float[] sp)

Set the start pose

Parameters:

sp - the new start pose

setStartPose

public void setStartPose()

Set the current pose of the associated set of joints

Specified by:

setStartPose in class TransitionMU

play

public void play(double t)

Description copied from interface: MotionUnit

Executes the motion unit, typically by rotating some VJoints

Specified by:

play in interface MotionUnit

Specified by:

play in class TransitionMU

Parameters:

t - execution time, 0 < t < 1

setEndPose

public void setEndPose(double endTime,
                       double duration)

Specified by:

setEndPose in class TransitionMU