# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1325925135 25200
# Node ID 00ab1f10266f654cf410f4f482103ae688ef97df
# Parent  4f5e2c629e45f28147a6d09782a0947b3bbbdb08
creatig cone joints for hand

diff -r 4f5e2c629e45 -r 00ab1f10266f assets/Models/creature1/one.blend
Binary file assets/Models/creature1/one.blend has changed
diff -r 4f5e2c629e45 -r 00ab1f10266f org/test-creature.org
--- a/org/test-creature.org	Sat Jan 07 01:10:14 2012 -0700
+++ b/org/test-creature.org	Sat Jan 07 01:32:15 2012 -0700
@@ -180,59 +180,29 @@
               (do
                 (let [limit-xz (:limit-xz constraints)
                       limit-xy (:limit-xy constraints)
-                      twist    (:twist constraints)]
+                      twist    (:twist constraints)
+                      rotation (.toRotationMatrix (.getWorldRotation joint))]
                   
                   (println-repl "creating CONE joint")
-                  (let [frame-a
-                        (.toRotationMatrix
-                         (doto (Quaternion.)
-                           (.fromAngleAxis
-                            (float
-                             (.angleBetween
-                              (.normalize pivot-a) Vector3f/UNIT_X))
-                            (.normalize
-                             (.cross pivot-a
-                                     Vector3f/UNIT_X)))))
-                         ]
-                    (println-repl "pivot-a" pivot-a)
-                    (println-repl
-                     "angle between pivot-a and UNIT_X is"
-                     (.angleBetween Vector3f/UNIT_X (.normalize pivot-a)))
-                    (println-repl "frame-a:" frame-a)
-                    (println-repl
-                     "frame-a moves Vector3f/UNIT_X to"
-                     (.mult frame-a Vector3f/UNIT_X ))
-                    
-                    
-                    (doto
-                        (ConeJoint.
-                         control-a
-                         control-b
-                         pivot-a
-                         pivot-b
-
-                        
-                         ;; frame-in-A
-                         ;;frame-a
-                         ;;frame-a
-                         
-                         (.toRotationMatrix
-                          (doto (Quaternion.)
-                            (.fromAngles
-                             0 0 (* -0.5 (/ Math/PI 2)))))
-                         
-                         
-                         ;; frame-in-B
-                         (.toRotationMatrix
-                          (doto (Quaternion.)
-                            (.fromAngles
-                             0 0 (* -0.5 (/ Math/PI 2)))))
-                         
-
-                         )
-                      (.setLimit (float limit-xz)
-                                 (float limit-xy)
-                                 (float twist))))))
+                  (println-repl rotation)
+                  (println-repl
+                   "UNIT_X --> " (.mult rotation (Vector3f. 1 0 0)))
+                  (println-repl
+                   "UNIT_Y --> " (.mult rotation (Vector3f. 0 1 0)))
+                  (println-repl
+                   "UNIT_Z --> " (.mult rotation (Vector3f. 0 0 1)))
+                  (doto
+                      (ConeJoint.
+                       control-a
+                       control-b
+                       pivot-a
+                       pivot-b
+                       rotation
+                       rotation
+                       )
+                    (.setLimit (float limit-xz)
+                               (float limit-xy)
+                               (float twist)))))
               true
               (println-repl
                "joint-type" joint-type "not recognized")))
@@ -321,16 +291,11 @@
           (doto (Quaternion.)
             (.fromAngleAxis
              (* 1 (/ Math/PI 4))
-             (Vector3f. 0 0 1)))
-          (.mult
-           (doto (Quaternion.)
-             (.fromAngleAxis
-              (* 2 (/ Math/PI 4))
-              (Vector3f. 0 1 0)))
-           (doto (Quaternion.)
-             (.fromAngleAxis
-              (* 1 (/ Math/PI 2))
-              (Vector3f. 0 0 1))))))
+             (Vector3f. -1 0 0)))
+          (doto (Quaternion.)
+            (.fromAngleAxis
+             (* 1 (/ Math/PI 2))
+             (Vector3f. 0 0 1)))))
         top-position (.mult joint-rotation (Vector3f. 8 0 0))
         
         origin (doto