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Fix orent -> orient typo #76

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Merged
madhephaestus merged 2 commits into from
Mar 15, 2026
Merged

Fix orent -> orient typo #76

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9e7cf80
Fix orent -> orient typo
rondlh Mar 15, 2026
916072f
Solve formatting issue, solve a few deprecation warnings
rondlh Mar 15, 2026
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10 changes: 5 additions & 5 deletions src/main/java/com/neuronrobotics/bowlerkernel/Bezier3d/BezierEditor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -228,11 +228,11 @@ private TransformNR updateLines(CartesianManipulator m, CartesianManipulator p,
double xyRot = Math.toDegrees(Math.atan2(cp1Ydiff, cp1XDiff)) - 90;

TransformNR az = new TransformNR(0, 0, 0, new RotationNR(0, -xyRot, 0));
TransformNR reorented = az.times(vect);
// com.neuronrobotics.sdk.common.Log.error("CP1 "+reorented.getX()+"
// "+reorented.getY()+"
// "+reorented.getZ());
double xzRot = Math.toDegrees(Math.atan2(reorented.getZ(), reorented.getY()));
TransformNR reoriented = az.times(vect);
// com.neuronrobotics.sdk.common.Log.error("CP1 "+reoriented.getX()+"
// "+reoriented.getY()+"
// "+reoriented.getZ());
double xzRot = Math.toDegrees(Math.atan2(reoriented.getZ(), reoriented.getY()));

TransformNR pose = new TransformNR(0, 0, 0, new RotationNR(xzRot, xyRot, 0));

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3 changes: 2 additions & 1 deletion src/main/java/com/neuronrobotics/bowlerstudio/physics/MobileBasePhysicsManager.java
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Expand Up @@ -70,7 +70,8 @@ public void update(float timeStep) {
TransformFactory.nrToBullet(new TransformNR(gravity.x, gravity.y, gravity.z, new RotationNR()),
gravTrans);
TransformFactory.nrToBullet(
new TransformNR(0, 0, 0, orientation.w, orientation.x, orientation.y, orientation.z), orientTrans);
new TransformNR(0, 0, 0, orientation.w, orientation.x, orientation.y, orientation.z),
orientTrans);
orientTrans.inverse();
orientTrans.mul(gravTrans);

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6 changes: 3 additions & 3 deletions src/main/java/com/neuronrobotics/bowlerstudio/physics/MuJoCoPhysicsManager.java
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Expand Up @@ -154,9 +154,9 @@ public void controlStep(MuJoCoModelManager manager) {
String s = iterator.next();
if (bodyName.contentEquals(s)) {
TransformNR tf = mujocoToTransformNR(manager.getBodyPose(s));
Double xAcceleration = Math.toDegrees(tf.getRotation().getRotationTilt());
Double yAcceleration = Math.toDegrees(tf.getRotation().getRotationAzimuth());
Double zAcceleration = Math.toDegrees(tf.getRotation().getRotationElevation());
Double xAcceleration = Math.toDegrees(tf.getRotation().getRotationTiltRadians());
Double yAcceleration = Math.toDegrees(tf.getRotation().getRotationAzimuthRadians());
Double zAcceleration = Math.toDegrees(tf.getRotation().getRotationElevationRadians());

Double rotxAcceleration = 0.0;
Double rotyAcceleration = 0.0;
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6 changes: 3 additions & 3 deletions src/main/java/com/neuronrobotics/bowlerstudio/physics/TransformFactory.java
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Expand Up @@ -182,9 +182,9 @@ public static eu.mihosoft.vrl.v3d.Transform nrToCSG(TransformNR nr) {

public static TransformNR scale(TransformNR incoming, double scale) {
return new TransformNR(incoming.getX() * scale, incoming.getY() * scale, incoming.getZ() * scale,
new RotationNR(Math.toDegrees(incoming.getRotation().getRotationTilt()) * scale,
Math.toDegrees(incoming.getRotation().getRotationAzimuth()) * scale,
Math.toDegrees(incoming.getRotation().getRotationElevation()) * scale));
new RotationNR(Math.toDegrees(incoming.getRotation().getRotationTiltRadians()) * scale,
Math.toDegrees(incoming.getRotation().getRotationAzimuthRadians()) * scale,
Math.toDegrees(incoming.getRotation().getRotationElevationRadians()) * scale));
}

public static TransformNR csgToNR(eu.mihosoft.vrl.v3d.Transform csg) {
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5 changes: 3 additions & 2 deletions src/main/java/com/neuronrobotics/bowlerstudio/scripting/FreecadLoader.java
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Expand Up @@ -153,8 +153,9 @@ public static void addSVGToFreeCAD(File freecadModel, File SVG, Transform pose,
args.add(freecadModel.getAbsolutePath());
args.add(SVG.getAbsolutePath());
args.add("\"" + nr.getX() + "," + nr.getY() + "," + nr.getZ() + "\"");
args.add("\"" + Math.toDegrees(r.getRotationAzimuth()) + "," + Math.toDegrees(r.getRotationElevation())
+ "," + Math.toDegrees(r.getRotationTilt()) + "\"");
args.add("\"" + Math.toDegrees(r.getRotationAzimuthRadians()) + ","
+ Math.toDegrees(r.getRotationElevationRadians()) + "," + Math.toDegrees(r.getRotationTiltRadians())
+ "\"");
args.add(name);
args.add(bodyName);
legacySystemRun(null, export.getAbsoluteFile().getParentFile(), System.out, args);
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