# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1325840623 25200
# Node ID 6b4ca076285eb932bb7dd4f2a1b00e4279d2cb41
# Parent  10f495560c5935a9616625ee93c8521d3fb1a6c9
making some progress on cone joints...

diff -r 10f495560c59 -r 6b4ca076285e assets/Models/creature1/one.blend
Binary file assets/Models/creature1/one.blend has changed
diff -r 10f495560c59 -r 6b4ca076285e org/test-creature.org
--- a/org/test-creature.org	Thu Jan 05 21:31:34 2012 -0700
+++ b/org/test-creature.org	Fri Jan 06 02:03:43 2012 -0700
@@ -173,19 +173,19 @@
                       twist    (:twist constraints)]
                   
                   (println-repl "creating CONE joint")
-                  (let [vector-1
-                        (.mult (.getWorldRotation joint)
-                               Vector3f/UNIT_X)
-                        vector-2
-                        (.normalize
-                         (.subtract
-                          (.getWorldTranslation joint)
-                          (.getWorldTranslation obj-a)))
+                  (let [frame-a
+                        (.toRotationMatrix
+                         (doto (Quaternion.)
+                           (.fromAngleAxis
+                            (float
+                             (.angleBetween
+                              pivot-a Vector3f/UNIT_X))
+                            (.cross (.normalize pivot-a)
+                                    Vector3f/UNIT_X))))
                         ]
                     (println-repl
-                     "vector-1 :" vector-1)
-                    (println-repl
-                     "vector-2 :" vector-2)
+                     "angle between pivot-a (" pivot-a ") and UNIT_X is"
+                     (.angleBetween Vector3f/UNIT_X (.normalize pivot-a)))
                     
                     
                     
@@ -195,40 +195,25 @@
                          control-b
                          pivot-a
                          pivot-b
+
+                        
+                         ;; ;; frame-in-A
+                         frame-a
+                         frame-a
                          
-                         ;;(doto (Matrix3f.)
-                         ;;  (.fromStartEndVectors
-                         ;;   Vector3f/UNIT_X
-                         ;;   (.normalize
-                         ;;    (.subtract
-                         ;;     (.getWorldTranslation joint)
-                         ;;     (.getWorldTranslation obj-a)))))
-
-
-                         (.toRotationMatrix
-                          (.getWorldRotation joint))
+                         ;; (.toRotationMatrix
+                         ;;  (doto (Quaternion.)
+                         ;;    (.fromAngles
+                         ;;     0 0 (* -1 (/ Math/PI 2)))))
 
                          
-                         
-                         (.toRotationMatrix
-                          (.fromAngleAxis
-                           (Quaternion.)
-                           (.angleBetween Vector3f/UNIT_X pivot-a)
-                           (.cross Vector3f/UNIT_X pivot-a)))
-                         
+                         ;; ;; frame-in-B
+                         ;; (.toRotationMatrix
+                         ;;  (doto (Quaternion.)
+                         ;;    (.fromAngles
+                         ;;     0 0 (* -1.2 (/ Math/PI 2)))))
 
-                         
-                         
-                         ;; (doto (Matrix3f.)
-                         ;;   (.fromStartEndVectors
-                         ;;    Vector3f/UNIT_X
-                         ;;    (.normalize
-                         ;;     vector-1)))
-                         
-                         ;; (doto (Matrix3f.)
-                         ;;   (.fromStartEndVectors
-                         ;;    Vector3f/UNIT_X
-                         ;;    vector-2))
+
                          )
                       (.setLimit (float limit-xz)
                                  (float limit-xy)