javafx - 如何相对于节点旋转轴而不是场景旋转轴将偏航、俯仰和滚动增量（不是欧拉）应用于节点？
javafx - How to apply yaw, pitch and roll deltas (not euler) to a node in respect to the nodes rotation axes instead of the scene rotation axes?
请耐心等待我的长问题，我会尽量说清楚。 （在另一个问题中找到。）
在下面的示例中，所有旋转按钮都是来自陀螺仪传感器的陀螺仪值的测试替代品。传感器固定在真实世界的躯干上，因此按钮旨在表示相对于躯干坐标系而不是场景坐标系应用于虚拟躯干的旋转增量。
如果从 "zero" 旋转开始，所有按钮都可以正常工作。但是当我按 3 次偏航，然后滚动时，我看到滚动旋转在场景轴上起作用。但我想将其应用于当前的躯干旋转。
我已经从这里尝试了一些相关问题的建议，但没有找到解决方案。
旁注：我不确定偏航、俯仰和滚动这些术语是否通常与欧拉角相关联，所以我想强调一下，根据我的理解，陀螺仪传感器的值不是欧拉角，因为它们表示相对于当前躯干旋转的旋转增量，而不是到躯干起点的累积角度 "absolute"。因此，如果我不恰当地使用了这些术语，请尝试理解我的意思。
（背景信息：我有一个机器人项目 roboshock.de，陀螺仪传感器连接到机器人躯干，我想在屏幕上可视化机器人的旋转。下面示例中的旋转按钮只是来自传感器的陀螺仪值的测试替代品。）
非常感谢任何帮助。
import javafx.application.Application;
import javafx.event.ActionEvent;
import javafx.event.EventHandler;
import javafx.scene.Group;
import javafx.scene.Parent;
import javafx.scene.Scene;
import javafx.scene.control.Button;
import javafx.scene.layout.HBox;
import javafx.scene.layout.StackPane;
import javafx.scene.paint.Color;
import javafx.scene.paint.PhongMaterial;
import javafx.scene.shape.Box;
import javafx.scene.transform.Rotate;
import javafx.stage.Stage;
public class PuppetTestApp extends Application {
int width = 800;
int height = 500;
XGroup torsoGroup;
double torsoX = 50;
double torsoY = 80;
public Parent createRobot() {
Box torso = new Box(torsoX, torsoY, 20);
torso.setMaterial(new PhongMaterial(Color.RED));
Box head = new Box(20, 20, 20);
head.setMaterial(new PhongMaterial(Color.YELLOW.darker()));
head.setTranslateY(-torsoY / 2 -10);
torsoGroup = new XGroup();
torsoGroup.getChildren().addAll(torso, head);
return torsoGroup;
}
public Parent createUI() {
HBox buttonBox = new HBox();
Button b;
buttonBox.getChildren().add(b = new Button("Exit"));
b.setOnAction( (ActionEvent arg0) -> { System.exit(0); } );
buttonBox.getChildren().add(b = new Button("pitch up"));
b.setOnAction(new TurnAction(torsoGroup.rx, -15) );
buttonBox.getChildren().add(b = new Button("pitch down"));
b.setOnAction(new TurnAction(torsoGroup.rx, 15) );
buttonBox.getChildren().add(b = new Button("Yaw left"));
b.setOnAction(new TurnAction(torsoGroup.ry, -15) );
buttonBox.getChildren().add(b = new Button("Yaw right"));
b.setOnAction(new TurnAction(torsoGroup.ry, 15) );
buttonBox.getChildren().add(b = new Button("Roll right"));
b.setOnAction(new TurnAction(torsoGroup.rz, -15) );
buttonBox.getChildren().add(b = new Button("Roll left"));
b.setOnAction(new TurnAction(torsoGroup.rz, 15) );
return buttonBox;
}
class TurnAction implements EventHandler<ActionEvent> {
final Rotate rotate;
double deltaAngle;
public TurnAction(Rotate rotate, double targetAngle) {
this.rotate = rotate;
this.deltaAngle = targetAngle;
}
@Override
public void handle(ActionEvent arg0) {
addRotate(torsoGroup, rotate, deltaAngle);
}
}
private void addRotate(XGroup node, Rotate rotate, double angle) {
// HERE I DO SOMETHING WRONG
// not working 1:
//Transform newRotate = new Rotate(angle, rotate.getAxis());
//node.getTransforms().add(newRotate);
// not working 2:
double x = rotate.getAngle();
rotate.setAngle(x + angle);
}
public class XGroup extends Group {
public Rotate rx = new Rotate(0, Rotate.X_AXIS);
public Rotate ry = new Rotate(0, Rotate.Y_AXIS);
public Rotate rz = new Rotate(0, Rotate.Z_AXIS);
public XGroup() {
super();
getTransforms().addAll(rz, ry, rx);
}
public void setRotate(double x, double y, double z) {
rx.setAngle(x);
ry.setAngle(y);
rz.setAngle(z);
}
public void setRotateX(double x) { rx.setAngle(x); }
public void setRotateY(double y) { ry.setAngle(y); }
public void setRotateZ(double z) { rz.setAngle(z); }
}
@Override
public void start(Stage stage) throws Exception {
Parent robot = createRobot();
Parent ui = createUI();
StackPane combined = new StackPane();
combined.getChildren().addAll(ui, robot);
combined.setStyle("-fx-background-color: linear-gradient(to bottom, cornsilk, midnightblue);");
Scene scene = new Scene(combined, width, height);
stage.setScene(scene);
stage.show();
}
public static void main(String[] args) {
launch(args);
}
}
对于初学者，对于 JavaFX 3D 应用程序，您应该考虑以下几点：
- 深度缓冲和抗锯齿
- 子场景
- 相机
而你没有这些。
您需要启用深度缓冲，因为您可以看到黄色的小框似乎在大框的顶部（根本不应该看到浅黄色的脸）：
根据 Scene 的 JavaDoc：
A scene containing 3D shapes or 2D shapes with 3D transforms may use depth buffer support for proper depth sorted rendering
变化：
Scene scene = new Scene(combined, width, height);
至：
Scene scene = new Scene(combined, width, height, true, SceneAntialiasing.BALANCED);
完成后，您会发现当框转到 z > 0 时不再可见，顶部的按钮也不再可点击。
在同一个场景中混合 2D 和 3D 不是个好主意。为此，您需要一个 SubScene，您可以在其中布置 3D 内容，并将 2D 留在场景本身中。此外，您可以将深度缓冲区和抗锯齿选项移动到子场景：
Parent robot = createRobot();
// add subScene
SubScene subScene = new SubScene(robot, width, height, true, SceneAntialiasing.BALANCED);
Parent ui = createUI();
StackPane combined = new StackPane();
combined.getChildren().addAll(ui, subScene);
Scene scene = new Scene(combined, width, height);
现在的问题是布局，方框会出现在左上角，而不是中间。
您可以将翻译添加到您的群组：
public XGroup() {
super();
getTransforms().addAll(new Translate(width/2, height/2, 0), rz, ry, rx);
}
现在您可以看到正确的深度排序渲染，并且可以访问 ui 按钮。
另一种选择是添加摄像头。您可以删除平移转换，也可以 "zoom" 使您的框变大：
Parent robot = createRobot();
SubScene subScene = new SubScene(robot, width, height, true, SceneAntialiasing.BALANCED);
PerspectiveCamera camera = new PerspectiveCamera(true);
camera.setNearClip(0.01);
camera.setFarClip(100000);
camera.setTranslateZ(-400);
subScene.setCamera(camera);
旋转
现在，就旋转而言，如果你想在框的当前状态上应用给定的旋转，并且与 "scene" 轴无关（我认为你的意思是三个正交的非旋转轴), 你必须在应用新的旋转之前考虑到以前的状态。
在这个blog post about the Rubik's cube, each face (composed of 9 small "cubies") can be rotated again and again and the affected cubies carry on a number of previous rotations. The project can be found here.
在这种情况下，使用变换和仿射 prepend 是始终更新 3D 体上局部正交轴的关键。
我建议这样做：
private void addRotate(XGroup node, Rotate rotate, double angle) {
Transform newRotate = new Rotate(angle, rotate.getAxis());
Affine affine = node.getTransforms().isEmpty() ? new Affine() : new Affine(node.getTransforms().get(0));
affine.prepend(newRotate);
node.getTransforms().setAll(affine);
}
尽管如此，您的新旋转都是在场景正交轴上定义的。
如果您想要局部坐标轴，您可以从仿射矩阵中获取它们。如果你随时打印 affine，你可以从第 1、2 和 3 列得到 x'、y'、z' 轴：
Affine [
0.70710678, 0.50000000, 0.50000000, 0.0
0.00000000, 0.70710678, -0.70710678, 0.0
-0.70710678, 0.50000000, 0.50000000, 0.0]
即 x' 轴（蓝色）为 {0.7071, 0.0, -0.7071}。
所以最后你可以将局部轴上的旋转定义为：
private void addRotate(XGroup node, Rotate rotate, double angle) {
Affine affine = node.getTransforms().isEmpty() ? new Affine() : new Affine(node.getTransforms().get(0));
double A11 = affine.getMxx(), A12 = affine.getMxy(), A13 = affine.getMxz();
double A21 = affine.getMyx(), A22 = affine.getMyy(), A23 = affine.getMyz();
double A31 = affine.getMzx(), A32 = affine.getMzy(), A33 = affine.getMzz();
// rotations over local axis
Rotate newRotateX = new Rotate(angle, new Point3D(A11, A21, A31));
Rotate newRotateY = new Rotate(angle, new Point3D(A12, A22, A32));
Rotate newRotateZ = new Rotate(angle, new Point3D(A13, A23, A33));
// apply rotation
affine.prepend(rotate.getAxis() == Rotate.X_AXIS ? newRotateX :
rotate.getAxis() == Rotate.Y_AXIS ? newRotateY : newRotateZ);
node.getTransforms().setAll(affine);
}
我相信这会给你想要的东西。
这是修改后的全部代码：
private final int width = 800;
private final int height = 500;
private XGroup torsoGroup;
private final double torsoX = 50;
private final double torsoY = 80;
public Parent createRobot() {
Box torso = new Box(torsoX, torsoY, 20);
torso.setMaterial(new PhongMaterial(Color.RED));
Box head = new Box(20, 20, 20);
head.setMaterial(new PhongMaterial(Color.YELLOW.darker()));
head.setTranslateY(-torsoY / 2 -10);
Box x = new Box(200, 2, 2);
x.setMaterial(new PhongMaterial(Color.BLUE));
Box y = new Box(2, 200, 2);
y.setMaterial(new PhongMaterial(Color.BLUEVIOLET));
Box z = new Box(2, 2, 200);
z.setMaterial(new PhongMaterial(Color.BURLYWOOD));
torsoGroup = new XGroup();
torsoGroup.getChildren().addAll(torso, head, x, y, z);
return torsoGroup;
}
public Parent createUI() {
HBox buttonBox = new HBox();
Button b;
buttonBox.getChildren().add(b = new Button("Exit"));
b.setOnAction( (ActionEvent arg0) -> { Platform.exit(); } );
buttonBox.getChildren().add(b = new Button("pitch up"));
b.setOnAction(new TurnAction(torsoGroup.rx, -15) );
buttonBox.getChildren().add(b = new Button("pitch down"));
b.setOnAction(new TurnAction(torsoGroup.rx, 15) );
buttonBox.getChildren().add(b = new Button("Yaw left"));
b.setOnAction(new TurnAction(torsoGroup.ry, -15) );
buttonBox.getChildren().add(b = new Button("Yaw right"));
b.setOnAction(new TurnAction(torsoGroup.ry, 15) );
buttonBox.getChildren().add(b = new Button("Roll right"));
b.setOnAction(new TurnAction(torsoGroup.rz, -15) );
buttonBox.getChildren().add(b = new Button("Roll left"));
b.setOnAction(new TurnAction(torsoGroup.rz, 15) );
return buttonBox;
}
class TurnAction implements EventHandler<ActionEvent> {
final Rotate rotate;
double deltaAngle;
public TurnAction(Rotate rotate, double targetAngle) {
this.rotate = rotate;
this.deltaAngle = targetAngle;
}
@Override
public void handle(ActionEvent arg0) {
addRotate(torsoGroup, rotate, deltaAngle);
}
}
private void addRotate(XGroup node, Rotate rotate, double angle) {
Affine affine = node.getTransforms().isEmpty() ? new Affine() : new Affine(node.getTransforms().get(0));
double A11 = affine.getMxx(), A12 = affine.getMxy(), A13 = affine.getMxz();
double A21 = affine.getMyx(), A22 = affine.getMyy(), A23 = affine.getMyz();
double A31 = affine.getMzx(), A32 = affine.getMzy(), A33 = affine.getMzz();
Rotate newRotateX = new Rotate(angle, new Point3D(A11, A21, A31));
Rotate newRotateY = new Rotate(angle, new Point3D(A12, A22, A32));
Rotate newRotateZ = new Rotate(angle, new Point3D(A13, A23, A33));
affine.prepend(rotate.getAxis() == Rotate.X_AXIS ? newRotateX :
rotate.getAxis() == Rotate.Y_AXIS ? newRotateY : newRotateZ);
node.getTransforms().setAll(affine);
}
public class XGroup extends Group {
public Rotate rx = new Rotate(0, Rotate.X_AXIS);
public Rotate ry = new Rotate(0, Rotate.Y_AXIS);
public Rotate rz = new Rotate(0, Rotate.Z_AXIS);
}
@Override
public void start(Stage stage) throws Exception {
Parent robot = createRobot();
SubScene subScene = new SubScene(robot, width, height, true, SceneAntialiasing.BALANCED);
PerspectiveCamera camera = new PerspectiveCamera(true);
camera.setNearClip(0.01);
camera.setFarClip(100000);
camera.setTranslateZ(-400);
subScene.setCamera(camera);
Parent ui = createUI();
StackPane combined = new StackPane(ui, subScene);
combined.setStyle("-fx-background-color: linear-gradient(to bottom, cornsilk, midnightblue);");
Scene scene = new Scene(combined, width, height);
stage.setScene(scene);
stage.show();
}
对于任何感兴趣的人：我已将所有最终代码（包括 arduino 草图）放在 github 上。还有一个youtube显示了快速准确的响应：
请耐心等待我的长问题，我会尽量说清楚。 （在另一个问题中找到。）
在下面的示例中，所有旋转按钮都是来自陀螺仪传感器的陀螺仪值的测试替代品。传感器固定在真实世界的躯干上，因此按钮旨在表示相对于躯干坐标系而不是场景坐标系应用于虚拟躯干的旋转增量。
如果从 "zero" 旋转开始，所有按钮都可以正常工作。但是当我按 3 次偏航，然后滚动时，我看到滚动旋转在场景轴上起作用。但我想将其应用于当前的躯干旋转。
我已经从这里尝试了一些相关问题的建议，但没有找到解决方案。
旁注：我不确定偏航、俯仰和滚动这些术语是否通常与欧拉角相关联，所以我想强调一下，根据我的理解，陀螺仪传感器的值不是欧拉角，因为它们表示相对于当前躯干旋转的旋转增量，而不是到躯干起点的累积角度 "absolute"。因此，如果我不恰当地使用了这些术语，请尝试理解我的意思。
（背景信息：我有一个机器人项目 roboshock.de，陀螺仪传感器连接到机器人躯干，我想在屏幕上可视化机器人的旋转。下面示例中的旋转按钮只是来自传感器的陀螺仪值的测试替代品。）
非常感谢任何帮助。
import javafx.application.Application;
import javafx.event.ActionEvent;
import javafx.event.EventHandler;
import javafx.scene.Group;
import javafx.scene.Parent;
import javafx.scene.Scene;
import javafx.scene.control.Button;
import javafx.scene.layout.HBox;
import javafx.scene.layout.StackPane;
import javafx.scene.paint.Color;
import javafx.scene.paint.PhongMaterial;
import javafx.scene.shape.Box;
import javafx.scene.transform.Rotate;
import javafx.stage.Stage;
public class PuppetTestApp extends Application {
int width = 800;
int height = 500;
XGroup torsoGroup;
double torsoX = 50;
double torsoY = 80;
public Parent createRobot() {
Box torso = new Box(torsoX, torsoY, 20);
torso.setMaterial(new PhongMaterial(Color.RED));
Box head = new Box(20, 20, 20);
head.setMaterial(new PhongMaterial(Color.YELLOW.darker()));
head.setTranslateY(-torsoY / 2 -10);
torsoGroup = new XGroup();
torsoGroup.getChildren().addAll(torso, head);
return torsoGroup;
}
public Parent createUI() {
HBox buttonBox = new HBox();
Button b;
buttonBox.getChildren().add(b = new Button("Exit"));
b.setOnAction( (ActionEvent arg0) -> { System.exit(0); } );
buttonBox.getChildren().add(b = new Button("pitch up"));
b.setOnAction(new TurnAction(torsoGroup.rx, -15) );
buttonBox.getChildren().add(b = new Button("pitch down"));
b.setOnAction(new TurnAction(torsoGroup.rx, 15) );
buttonBox.getChildren().add(b = new Button("Yaw left"));
b.setOnAction(new TurnAction(torsoGroup.ry, -15) );
buttonBox.getChildren().add(b = new Button("Yaw right"));
b.setOnAction(new TurnAction(torsoGroup.ry, 15) );
buttonBox.getChildren().add(b = new Button("Roll right"));
b.setOnAction(new TurnAction(torsoGroup.rz, -15) );
buttonBox.getChildren().add(b = new Button("Roll left"));
b.setOnAction(new TurnAction(torsoGroup.rz, 15) );
return buttonBox;
}
class TurnAction implements EventHandler<ActionEvent> {
final Rotate rotate;
double deltaAngle;
public TurnAction(Rotate rotate, double targetAngle) {
this.rotate = rotate;
this.deltaAngle = targetAngle;
}
@Override
public void handle(ActionEvent arg0) {
addRotate(torsoGroup, rotate, deltaAngle);
}
}
private void addRotate(XGroup node, Rotate rotate, double angle) {
// HERE I DO SOMETHING WRONG
// not working 1:
//Transform newRotate = new Rotate(angle, rotate.getAxis());
//node.getTransforms().add(newRotate);
// not working 2:
double x = rotate.getAngle();
rotate.setAngle(x + angle);
}
public class XGroup extends Group {
public Rotate rx = new Rotate(0, Rotate.X_AXIS);
public Rotate ry = new Rotate(0, Rotate.Y_AXIS);
public Rotate rz = new Rotate(0, Rotate.Z_AXIS);
public XGroup() {
super();
getTransforms().addAll(rz, ry, rx);
}
public void setRotate(double x, double y, double z) {
rx.setAngle(x);
ry.setAngle(y);
rz.setAngle(z);
}
public void setRotateX(double x) { rx.setAngle(x); }
public void setRotateY(double y) { ry.setAngle(y); }
public void setRotateZ(double z) { rz.setAngle(z); }
}
@Override
public void start(Stage stage) throws Exception {
Parent robot = createRobot();
Parent ui = createUI();
StackPane combined = new StackPane();
combined.getChildren().addAll(ui, robot);
combined.setStyle("-fx-background-color: linear-gradient(to bottom, cornsilk, midnightblue);");
Scene scene = new Scene(combined, width, height);
stage.setScene(scene);
stage.show();
}
public static void main(String[] args) {
launch(args);
}
}
对于初学者，对于 JavaFX 3D 应用程序，您应该考虑以下几点：
- 深度缓冲和抗锯齿
- 子场景
- 相机
而你没有这些。
您需要启用深度缓冲，因为您可以看到黄色的小框似乎在大框的顶部（根本不应该看到浅黄色的脸）：
根据 Scene 的 JavaDoc：
A scene containing 3D shapes or 2D shapes with 3D transforms may use depth buffer support for proper depth sorted rendering
变化：
Scene scene = new Scene(combined, width, height);
至：
Scene scene = new Scene(combined, width, height, true, SceneAntialiasing.BALANCED);
完成后，您会发现当框转到 z > 0 时不再可见，顶部的按钮也不再可点击。
在同一个场景中混合 2D 和 3D 不是个好主意。为此，您需要一个 SubScene，您可以在其中布置 3D 内容，并将 2D 留在场景本身中。此外，您可以将深度缓冲区和抗锯齿选项移动到子场景：
Parent robot = createRobot();
// add subScene
SubScene subScene = new SubScene(robot, width, height, true, SceneAntialiasing.BALANCED);
Parent ui = createUI();
StackPane combined = new StackPane();
combined.getChildren().addAll(ui, subScene);
Scene scene = new Scene(combined, width, height);
现在的问题是布局，方框会出现在左上角，而不是中间。
您可以将翻译添加到您的群组：
public XGroup() {
super();
getTransforms().addAll(new Translate(width/2, height/2, 0), rz, ry, rx);
}
现在您可以看到正确的深度排序渲染，并且可以访问 ui 按钮。
另一种选择是添加摄像头。您可以删除平移转换，也可以 "zoom" 使您的框变大：
Parent robot = createRobot();
SubScene subScene = new SubScene(robot, width, height, true, SceneAntialiasing.BALANCED);
PerspectiveCamera camera = new PerspectiveCamera(true);
camera.setNearClip(0.01);
camera.setFarClip(100000);
camera.setTranslateZ(-400);
subScene.setCamera(camera);
旋转
现在，就旋转而言，如果你想在框的当前状态上应用给定的旋转，并且与 "scene" 轴无关（我认为你的意思是三个正交的非旋转轴), 你必须在应用新的旋转之前考虑到以前的状态。
在这个blog post about the Rubik's cube, each face (composed of 9 small "cubies") can be rotated again and again and the affected cubies carry on a number of previous rotations. The project can be found here.
在这种情况下，使用变换和仿射 prepend 是始终更新 3D 体上局部正交轴的关键。
我建议这样做：
private void addRotate(XGroup node, Rotate rotate, double angle) {
Transform newRotate = new Rotate(angle, rotate.getAxis());
Affine affine = node.getTransforms().isEmpty() ? new Affine() : new Affine(node.getTransforms().get(0));
affine.prepend(newRotate);
node.getTransforms().setAll(affine);
}
尽管如此，您的新旋转都是在场景正交轴上定义的。
如果您想要局部坐标轴，您可以从仿射矩阵中获取它们。如果你随时打印 affine，你可以从第 1、2 和 3 列得到 x'、y'、z' 轴：
Affine [
0.70710678, 0.50000000, 0.50000000, 0.0
0.00000000, 0.70710678, -0.70710678, 0.0
-0.70710678, 0.50000000, 0.50000000, 0.0]
即 x' 轴（蓝色）为 {0.7071, 0.0, -0.7071}。
所以最后你可以将局部轴上的旋转定义为：
private void addRotate(XGroup node, Rotate rotate, double angle) {
Affine affine = node.getTransforms().isEmpty() ? new Affine() : new Affine(node.getTransforms().get(0));
double A11 = affine.getMxx(), A12 = affine.getMxy(), A13 = affine.getMxz();
double A21 = affine.getMyx(), A22 = affine.getMyy(), A23 = affine.getMyz();
double A31 = affine.getMzx(), A32 = affine.getMzy(), A33 = affine.getMzz();
// rotations over local axis
Rotate newRotateX = new Rotate(angle, new Point3D(A11, A21, A31));
Rotate newRotateY = new Rotate(angle, new Point3D(A12, A22, A32));
Rotate newRotateZ = new Rotate(angle, new Point3D(A13, A23, A33));
// apply rotation
affine.prepend(rotate.getAxis() == Rotate.X_AXIS ? newRotateX :
rotate.getAxis() == Rotate.Y_AXIS ? newRotateY : newRotateZ);
node.getTransforms().setAll(affine);
}
我相信这会给你想要的东西。
这是修改后的全部代码：
private final int width = 800;
private final int height = 500;
private XGroup torsoGroup;
private final double torsoX = 50;
private final double torsoY = 80;
public Parent createRobot() {
Box torso = new Box(torsoX, torsoY, 20);
torso.setMaterial(new PhongMaterial(Color.RED));
Box head = new Box(20, 20, 20);
head.setMaterial(new PhongMaterial(Color.YELLOW.darker()));
head.setTranslateY(-torsoY / 2 -10);
Box x = new Box(200, 2, 2);
x.setMaterial(new PhongMaterial(Color.BLUE));
Box y = new Box(2, 200, 2);
y.setMaterial(new PhongMaterial(Color.BLUEVIOLET));
Box z = new Box(2, 2, 200);
z.setMaterial(new PhongMaterial(Color.BURLYWOOD));
torsoGroup = new XGroup();
torsoGroup.getChildren().addAll(torso, head, x, y, z);
return torsoGroup;
}
public Parent createUI() {
HBox buttonBox = new HBox();
Button b;
buttonBox.getChildren().add(b = new Button("Exit"));
b.setOnAction( (ActionEvent arg0) -> { Platform.exit(); } );
buttonBox.getChildren().add(b = new Button("pitch up"));
b.setOnAction(new TurnAction(torsoGroup.rx, -15) );
buttonBox.getChildren().add(b = new Button("pitch down"));
b.setOnAction(new TurnAction(torsoGroup.rx, 15) );
buttonBox.getChildren().add(b = new Button("Yaw left"));
b.setOnAction(new TurnAction(torsoGroup.ry, -15) );
buttonBox.getChildren().add(b = new Button("Yaw right"));
b.setOnAction(new TurnAction(torsoGroup.ry, 15) );
buttonBox.getChildren().add(b = new Button("Roll right"));
b.setOnAction(new TurnAction(torsoGroup.rz, -15) );
buttonBox.getChildren().add(b = new Button("Roll left"));
b.setOnAction(new TurnAction(torsoGroup.rz, 15) );
return buttonBox;
}
class TurnAction implements EventHandler<ActionEvent> {
final Rotate rotate;
double deltaAngle;
public TurnAction(Rotate rotate, double targetAngle) {
this.rotate = rotate;
this.deltaAngle = targetAngle;
}
@Override
public void handle(ActionEvent arg0) {
addRotate(torsoGroup, rotate, deltaAngle);
}
}
private void addRotate(XGroup node, Rotate rotate, double angle) {
Affine affine = node.getTransforms().isEmpty() ? new Affine() : new Affine(node.getTransforms().get(0));
double A11 = affine.getMxx(), A12 = affine.getMxy(), A13 = affine.getMxz();
double A21 = affine.getMyx(), A22 = affine.getMyy(), A23 = affine.getMyz();
double A31 = affine.getMzx(), A32 = affine.getMzy(), A33 = affine.getMzz();
Rotate newRotateX = new Rotate(angle, new Point3D(A11, A21, A31));
Rotate newRotateY = new Rotate(angle, new Point3D(A12, A22, A32));
Rotate newRotateZ = new Rotate(angle, new Point3D(A13, A23, A33));
affine.prepend(rotate.getAxis() == Rotate.X_AXIS ? newRotateX :
rotate.getAxis() == Rotate.Y_AXIS ? newRotateY : newRotateZ);
node.getTransforms().setAll(affine);
}
public class XGroup extends Group {
public Rotate rx = new Rotate(0, Rotate.X_AXIS);
public Rotate ry = new Rotate(0, Rotate.Y_AXIS);
public Rotate rz = new Rotate(0, Rotate.Z_AXIS);
}
@Override
public void start(Stage stage) throws Exception {
Parent robot = createRobot();
SubScene subScene = new SubScene(robot, width, height, true, SceneAntialiasing.BALANCED);
PerspectiveCamera camera = new PerspectiveCamera(true);
camera.setNearClip(0.01);
camera.setFarClip(100000);
camera.setTranslateZ(-400);
subScene.setCamera(camera);
Parent ui = createUI();
StackPane combined = new StackPane(ui, subScene);
combined.setStyle("-fx-background-color: linear-gradient(to bottom, cornsilk, midnightblue);");
Scene scene = new Scene(combined, width, height);
stage.setScene(scene);
stage.show();
}
对于任何感兴趣的人：我已将所有最终代码（包括 arduino 草图）放在 github 上。还有一个youtube显示了快速准确的响应：