rotationQuat = rotationQuat.createFromAxisAngle(axis, angle);Then
Matrix4x4 rotationMatrix = rotationQuat.getMatrix();and as you can see here http://nardove.com/p5/misc/steering_3g
go nuts, I need to check the applyMatrix() values, the problem may be there
applyMatrix reference http://processing.org/reference/applyMatrix_.html
mat = quat.getMatrix(); //println(mat.matrix[0][0]); Vec3D forward = new Vec3D((float)mat.matrix[0][2], (float)mat.matrix[1][2], (float)mat.matrix[2][2]); Vec3D desired_forward = velocity.normalize(); Vec3D axis = forward.cross(desired_forward); float leng = axis.magnitude(); if (leng > EPSILON) { axis.scaleSelf(1 / leng); float angle = atan2(leng, forward.dot(desired_forward)); rotationQuat = rotationQuat.createFromAxisAngle(axis, angle); quat = quat.multiply(rotationQuat); quat.normalize(); if (verbose) { println("length: " + leng); println("angle: " + angle); println("axis: " + axis); println("rotationQuat: " + rotationQuat); println("- - - - - - - - - - - - - - - - - - - - - - - -"); } } Matrix4x4 rotationMatrix = rotationQuat.getMatrix(); println(rotationMatrix); //applyQuat2Matrix(rotationQuat); pushMatrix(); // update location translate(location.x, location.y, location.z); // orientation to velocity //rotate(rotationQuat.w, rotationQuat.x, rotationQuat.y, rotationQuat.z); //rotate(res[0], res[1], res[2], res[3]); applyMatrix((float)rotationMatrix.matrix[0][0], (float)rotationMatrix.matrix[0][1], (float)rotationMatrix.matrix[0][2], 0.0, (float)rotationMatrix.matrix[1][0], (float)rotationMatrix.matrix[1][1], (float)rotationMatrix.matrix[1][2], 0.0, (float)rotationMatrix.matrix[2][0], (float)rotationMatrix.matrix[2][1], (float)rotationMatrix.matrix[2][2], 0.0, 0.0, 0.0, 0.0, 1.0); agent.display(); popMatrix();... almost there :)
rS
