math overhaul

assets/Data/creatures/human.json

@@ -263,10 +263,10 @@
                     "equipPointId" : "handsCombined",
                     "bone" : "Hand.R",
                     "firstPersonBone" : "hand.R",
-                    "offsetVectorFirstPerson" : [-0.01,-0.05,-0.10],
                     "offsetVectorThirdPerson" : [0.02,-0.06,0],
-                    "offsetRotationThirdPerson" : [-0.334,0.145,-0.28,0.89],
+                    "offsetVectorFirstPerson" : [0.04,-0.08,0.016],
-                    "offsetRotationFirstPerson" : [0.02,-0.977,-0.211,-0.005],
+                    "offsetRotationThirdPerson" : [0.665,-0.462,0.176,-0.56],
+                    "offsetRotationFirstPerson" : [0.35,-0.775,-0.012,-0.53],
                     "canBlock" : true,
                     "equipClassWhitelist" : [
                         "tool",

docs/src/progress/currenttarget.md

@@ -13,11 +13,10 @@
 
 Things that feel bad:
   Attack animation feels slow
-  No audio
   Short movement bursts feel jittery
     Part of this may be cylinder collidable instead of capsule
+  Hitboxes between server and client feel wayyyy off
 
 
 Sound effect on block
 Allow block hotboxes to block damage
-Server packet on damage collision

docs/src/progress/renderertodo.md

@@ -516,8 +516,15 @@ Sound effects on footstep
 New sound effects for movement
 Jump sound effects
 Don't play walking audio when entity is jumping
+Server alert client on collision
 Sound effect on sword hit
 
+(08/09/2024)
+Math overhaul
+ - Engine defined origin, up, and left vectors
+ - Redo math for camera calculations
+Rotate player models to face correct direction
+
 # TODO
 
 

src/main/java/electrosphere/client/sim/ClientSimulation.java

@@ -163,8 +163,7 @@ public class ClientSimulation {
         Globals.profiler.beginCpuSample("updateFirstPersonAttachments");
         //update the facing vector when camera moves in first person
         if(!Globals.controlHandler.cameraIsThirdPerson() && Globals.playerCamera != null && Globals.playerEntity != null){
-            Vector3f cameraEyeVec = CameraEntityUtils.getCameraEye(Globals.playerCamera);
+            CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-            CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(cameraEyeVec.x,0,cameraEyeVec.z).normalize());
             //flush equipped item state
             if(ClientEquipState.hasEquipState(Globals.playerEntity)){
                 ClientEquipState equipState = ClientEquipState.getClientEquipState(Globals.playerEntity);

src/main/java/electrosphere/controls/CameraHandler.java

@@ -49,7 +49,7 @@ public class CameraHandler {
 
         if(Globals.controlHandler != null && !Globals.controlHandler.isMouseVisible()){
             yaw = yaw + event.getDeltaX() * mouseSensitivityHorizontal;
-            pitch = pitch - event.getDeltaY() * mouseSensitivityVertical;
+            pitch = pitch + event.getDeltaY() * mouseSensitivityVertical;
 
             if (pitch >= 89.9f) {
                 pitch = 89.9f;
@@ -105,8 +105,8 @@ public class CameraHandler {
                 //     CameraEntityUtils.setCameraCenter(Globals.playerCamera, new Vector3f((float)charPos.x,(float)charPos.y,(float)charPos.z));
                 // }
 
-                Quaternionf pitchQuat = new Quaternionf().fromAxisAngleDeg(new Vector3f(1,0,0), -pitch);
+                Quaternionf pitchQuat = new Quaternionf().fromAxisAngleDeg(MathUtils.getLeftVectorf(), -pitch);
-                Quaternionf yawQuat = new Quaternionf().fromAxisAngleDeg(new Vector3f(0,1,0), -yaw);
+                Quaternionf yawQuat = new Quaternionf().fromAxisAngleDeg(MathUtils.getUpVectorf(), -yaw);
                 // float yawRad = yaw / 180.0f * (float)Math.PI;
                 // float pitchRad = pitch / 180.0f * (float)Math.PI;
                 // float rollRad = 0.0f;
@@ -140,15 +140,17 @@ public class CameraHandler {
             if(Globals.controlHandler.cameraIsThirdPerson()){
                 perspectiveVal = CameraHandler.CAMERA_PERSPECTIVE_THIRD;
             }
-            Globals.clientConnection.queueOutgoingMessage(
+            if(Globals.cameraHandler.getTrackPlayerEntity()){
-                EntityMessage.constructupdateEntityViewDirMessage(
+                Globals.clientConnection.queueOutgoingMessage(
-                    Globals.clientSceneWrapper.mapClientToServerId(Globals.playerEntity.getId()),
+                    EntityMessage.constructupdateEntityViewDirMessage(
-                    Globals.timekeeper.getNumberOfSimFramesElapsed(),
+                        Globals.clientSceneWrapper.mapClientToServerId(Globals.playerEntity.getId()),
-                    perspectiveVal,
+                        Globals.timekeeper.getNumberOfSimFramesElapsed(),
-                    yaw,
+                        perspectiveVal,
-                    pitch
+                        yaw,
-                )
+                        pitch
-            );
+                    )
+                );
+            }
 
             //the view matrix
             Globals.viewMatrix = CameraEntityUtils.getCameraViewMatrix(Globals.playerCamera);

src/main/java/electrosphere/controls/ControlHandler.java

@@ -522,18 +522,14 @@ public class ControlHandler {
                 BehaviorTree movementTree = CreatureUtils.clientGetEntityMovementTree(Globals.playerEntity);
                 if(movementTree instanceof ClientGroundMovementTree){
                     ClientGroundMovementTree groundTree = (ClientGroundMovementTree) movementTree;
-                    Vector3f cameraEyeVector = CameraEntityUtils.getCameraEye(Globals.playerCamera);
                     if(controls.get(DATA_STRING_INPUT_CODE_STRAFE_LEFT).isState()){
-                        Vector3d newFacingVector = new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).rotateY(Math.PI/4.0).normalize();
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                        CreatureUtils.setFacingVector(Globals.playerEntity, newFacingVector);
                         groundTree.start(MovementRelativeFacing.FORWARD_LEFT);
                     } else if(controls.get(DATA_STRING_INPUT_CODE_STRAFE_RIGHT).isState()){
-                        Vector3d newFacingVector = new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).rotateY(-Math.PI/4.0).normalize();
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                        CreatureUtils.setFacingVector(Globals.playerEntity, newFacingVector);
                         groundTree.start(MovementRelativeFacing.FORWARD_RIGHT);
                     } else {
-                        Vector3d newFacingVector = new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).normalize();
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                        CreatureUtils.setFacingVector(Globals.playerEntity, newFacingVector);
                         groundTree.start(MovementRelativeFacing.FORWARD);
                     }
                 }
@@ -544,18 +540,14 @@ public class ControlHandler {
                 BehaviorTree movementTree = CreatureUtils.clientGetEntityMovementTree(Globals.playerEntity);
                 if(movementTree instanceof ClientGroundMovementTree){
                     ClientGroundMovementTree groundTree = (ClientGroundMovementTree) movementTree;
-                    Vector3f cameraEyeVector = CameraEntityUtils.getCameraEye(Globals.playerCamera);
                     if(controls.get(DATA_STRING_INPUT_CODE_STRAFE_LEFT).isState()){
-                        Vector3d newFacingVector = new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).rotateY(Math.PI/4.0).normalize();
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                        CreatureUtils.setFacingVector(Globals.playerEntity, newFacingVector);
                         groundTree.start(MovementRelativeFacing.FORWARD_LEFT);
                     } else if(controls.get(DATA_STRING_INPUT_CODE_STRAFE_RIGHT).isState()){
-                        Vector3d newFacingVector = new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).rotateY(-Math.PI/4.0).normalize();
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                        CreatureUtils.setFacingVector(Globals.playerEntity, newFacingVector);
                         groundTree.start(MovementRelativeFacing.FORWARD_RIGHT);
                     } else {
-                        Vector3d newFacingVector = new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).normalize();
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                        CreatureUtils.setFacingVector(Globals.playerEntity, newFacingVector);
                         groundTree.start(MovementRelativeFacing.FORWARD);
                     }
                 }
@@ -587,7 +579,7 @@ public class ControlHandler {
                         CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).rotateY(5.0/4.0*Math.PI).normalize());
                         groundTree.start(MovementRelativeFacing.BACKWARD_RIGHT);
                     } else {
-                        CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).normalize());
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
                         groundTree.start(MovementRelativeFacing.BACKWARD);
                     }
                 }
@@ -606,7 +598,7 @@ public class ControlHandler {
                         CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).rotateY(5.0/4.0*Math.PI).normalize());
                         groundTree.start(MovementRelativeFacing.BACKWARD_RIGHT);
                     } else {
-                        CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z).normalize());
+                        CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
                         groundTree.start(MovementRelativeFacing.BACKWARD);
                     }
                 }
@@ -729,8 +721,7 @@ public class ControlHandler {
                 BehaviorTree movementTree = CreatureUtils.clientGetEntityMovementTree(Globals.playerEntity);
                 if(movementTree instanceof ClientGroundMovementTree){
                     ClientGroundMovementTree groundTree = (ClientGroundMovementTree) movementTree;
-                    Vector3f cameraEyeVector = CameraEntityUtils.getCameraEye(Globals.playerCamera);
+                    CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                    CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z));
                     if(
                         (groundTree.getState()==MovementTreeState.IDLE || groundTree.getState()==MovementTreeState.SLOWDOWN) &&
                         (controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).isIsKey() && !Globals.controlCallback.getKey(controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).getKeyValue())) &&
@@ -746,8 +737,7 @@ public class ControlHandler {
                 BehaviorTree movementTree = CreatureUtils.clientGetEntityMovementTree(Globals.playerEntity);
                 if(movementTree instanceof ClientGroundMovementTree){
                     ClientGroundMovementTree groundTree = (ClientGroundMovementTree) movementTree;
-                    Vector3f cameraEyeVector = CameraEntityUtils.getCameraEye(Globals.playerCamera);
+                    CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                    CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z));
                     if(
                         (groundTree.getState()==MovementTreeState.IDLE || groundTree.getState()==MovementTreeState.SLOWDOWN) &&
                         (controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).isIsKey() && !Globals.controlCallback.getKey(controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).getKeyValue())) &&
@@ -776,8 +766,7 @@ public class ControlHandler {
                 BehaviorTree movementTree = CreatureUtils.clientGetEntityMovementTree(Globals.playerEntity);
                 if(movementTree instanceof ClientGroundMovementTree){
                     ClientGroundMovementTree groundTree = (ClientGroundMovementTree) movementTree;
-                    Vector3f cameraEyeVector = CameraEntityUtils.getCameraEye(Globals.playerCamera);
+                    CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                    CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z));
                     if(
                         (groundTree.getState()==MovementTreeState.IDLE || groundTree.getState()==MovementTreeState.SLOWDOWN) &&
                         (controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).isIsKey() && !Globals.controlCallback.getKey(controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).getKeyValue())) &&
@@ -793,8 +782,7 @@ public class ControlHandler {
                 BehaviorTree movementTree = CreatureUtils.clientGetEntityMovementTree(Globals.playerEntity);
                 if(movementTree instanceof ClientGroundMovementTree){
                     ClientGroundMovementTree groundTree = (ClientGroundMovementTree) movementTree;
-                    Vector3f cameraEyeVector = CameraEntityUtils.getCameraEye(Globals.playerCamera);
+                    CreatureUtils.setFacingVector(Globals.playerEntity, CameraEntityUtils.getFacingVec(Globals.playerCamera));
-                    CreatureUtils.setFacingVector(Globals.playerEntity, new Vector3d(-cameraEyeVector.x,0,-cameraEyeVector.z));
                     if(
                         (groundTree.getState()==MovementTreeState.IDLE || groundTree.getState()==MovementTreeState.SLOWDOWN) &&
                         (controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).isIsKey() && !Globals.controlCallback.getKey(controls.get(DATA_STRING_INPUT_CODE_MOVEMENT_FORWARD).getKeyValue())) &&

src/main/java/electrosphere/entity/state/movement/groundmove/ClientGroundMovementTree.java

@@ -238,7 +238,7 @@ public class ClientGroundMovementTree implements BehaviorTree {
                 break;
             }
         }
-        Quaterniond movementQuaternion = new Quaterniond().rotationTo(MathUtils.getOriginVector(), new Vector3d(movementVector.x,0,movementVector.z)).normalize();
+        Quaterniond movementQuaternion = new Quaterniond().rotationTo(MathUtils.getOriginVector(), new Vector3d(facingVector.x,0,facingVector.z)).normalize();
         Quaterniond rotation = EntityUtils.getRotation(parent);
         rotation.set(movementQuaternion);
         

src/main/java/electrosphere/entity/state/movement/groundmove/ServerGroundMovementTree.java

@@ -214,7 +214,7 @@ public class ServerGroundMovementTree implements BehaviorTree {
                 break;
             }
         }
-        Quaterniond movementQuaternion = new Quaterniond().rotationTo(MathUtils.getOriginVector(), new Vector3d(movementVector.x,0,movementVector.z)).normalize();
+        Quaterniond movementQuaternion = new Quaterniond().rotationTo(MathUtils.getOriginVector(), new Vector3d(facingVector.x,0,facingVector.z)).normalize();
         Quaterniond rotation = EntityUtils.getRotation(parent);
         rotation.set(movementQuaternion);
         //TODO: optimize away and document (I know for the moment if this exception isn't here it will bite me in the ass later)

src/main/java/electrosphere/entity/types/camera/CameraEntityUtils.java

@@ -120,9 +120,9 @@ public class CameraEntityUtils {
         }
         //create
         if(Globals.controlHandler.cameraIsThirdPerson()){
-            Globals.playerCamera = CameraEntityUtils.spawnPlayerEntityTrackingCameraEntity(new Vector3f(1,0,1), MathUtils.getOriginVectorf());
+            Globals.playerCamera = CameraEntityUtils.spawnPlayerEntityTrackingCameraEntity(new Vector3f(0,0,0), MathUtils.getOriginVectorf());
         } else {
-            Globals.playerCamera = CameraEntityUtils.spawnPlayerEntityTrackingCameraFirstPersonEntity(new Vector3f(1,0,1), MathUtils.getOriginVectorf());
+            Globals.playerCamera = CameraEntityUtils.spawnPlayerEntityTrackingCameraFirstPersonEntity(new Vector3f(0,0,0), MathUtils.getOriginVectorf());
         }
     }
     
@@ -184,7 +184,7 @@ public class CameraEntityUtils {
      * @return The quaternion
      */
     public static Quaternionf getPitchQuat(double pitch){
-        Quaternionf pitchQuat = new Quaternionf().fromAxisAngleDeg(new Vector3f(1,0,0), -(float)pitch);
+        Quaternionf pitchQuat = new Quaternionf().fromAxisAngleDeg(MathUtils.getLeftVectorf(), -(float)pitch);
         return pitchQuat;
     }
 
@@ -194,7 +194,7 @@ public class CameraEntityUtils {
      * @return The quaternion
      */
     public static Quaternionf getYawQuat(double yaw){
-        Quaternionf yawQuat = new Quaternionf().fromAxisAngleDeg(new Vector3f(0,1,0), -(float)yaw);
+        Quaternionf yawQuat = new Quaternionf().fromAxisAngleDeg(MathUtils.getUpVectorf(), -(float)yaw);
         return yawQuat;
     }
     
@@ -207,7 +207,7 @@ public class CameraEntityUtils {
     public static Matrix4f getCameraViewMatrix(Entity camera){
         Vector3f cameraCenter = new Vector3f(0,0,0);//getViewMatrixCenterOffset(camera);
         Vector3f cameraEye = new Vector3f(cameraCenter).add(getCameraEye(camera));
-        Vector3f cameraUp = new Vector3f(0,1.0f,0);
+        Vector3f cameraUp = MathUtils.getUpVectorf();
         //!!before you make the same mistake I made, cameraEye is NOT NECESSARILY normalized/unit vector
         //the orbital distance and offset are included in this vector
         //TODO: refactor this to some other matrix of transforms or something??
@@ -231,9 +231,9 @@ public class CameraEntityUtils {
     public static Quaterniond getRotationQuat(Entity entity){
         double yaw = CameraEntityUtils.getCameraYaw(entity);
         double pitch = CameraEntityUtils.getCameraPitch(entity);
-        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch));
+        //quaternion is multiplied by pi because we want to point away from the eye of the camera, NOT towards it
+        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch)).mul(new Quaternionf().rotateY((float)Math.PI));
         Quaterniond quatd = new Quaterniond(quatRaw).normalize();
-
         return quatd;
     }
 
@@ -244,9 +244,9 @@ public class CameraEntityUtils {
      * @return The rotation quaternion
      */
     public static Quaterniond getRotationQuat(double yaw, double pitch){
-        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch));
+        //quaternion is multiplied by pi because we want to point away from the eye of the camera, NOT towards it
+        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch)).mul(new Quaternionf().rotateY((float)Math.PI));
         Quaterniond quatd = new Quaterniond(quatRaw).normalize();
-
         return quatd;
     }
 
@@ -257,14 +257,30 @@ public class CameraEntityUtils {
      * @return The rotation matrix
      */
     public static Matrix4d getRotationMat(double yaw, double pitch){
-        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch));
+        //quaternion is multiplied by pi because we want to point away from the eye of the camera, NOT towards it
+        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch)).mul(new Quaternionf().rotateY((float)Math.PI));
         Quaterniond quatd = new Quaterniond(quatRaw).normalize();
-
         Matrix4d rotationMat = new Matrix4d().rotate(quatd);
-
         return rotationMat;
     }
 
+    /**
+     * Gets the facing vector from the camera angles
+     * @param cameraEntity The camera entity
+     * @return The facing vector
+     */
+    public static Vector3d getFacingVec(Entity cameraEntity){
+        float yaw = CameraEntityUtils.getCameraYaw(cameraEntity);
+        float pitch = CameraEntityUtils.getCameraPitch(cameraEntity);
+        //quaternion is multiplied by pi because we want to point away from the eye of the camera, NOT towards it
+        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch)).mul(new Quaternionf().rotateY((float)Math.PI));
+        Quaterniond quatd = new Quaterniond(quatRaw).normalize();
+        Matrix4d rotationMat = new Matrix4d().rotate(quatd);
+        Vector4d rotationVecRaw = MathUtils.getOriginVector4();
+        rotationVecRaw = rotationMat.transform(rotationVecRaw);
+        return new Vector3d(rotationVecRaw.x,0,rotationVecRaw.z);
+    }
+
     /**
      * Gets the facing vector from the camera angles
      * @param yaw The yaw of the camera
@@ -272,14 +288,13 @@ public class CameraEntityUtils {
      * @return The facing vector
      */
     public static Vector3d getFacingVec(double yaw, double pitch){
-        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch));
+        //quaternion is multiplied by pi because we want to point away from the eye of the camera, NOT towards it
+        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch)).mul(new Quaternionf().rotateY((float)Math.PI));
         Quaterniond quatd = new Quaterniond(quatRaw).normalize();
-
         Matrix4d rotationMat = new Matrix4d().rotate(quatd);
         Vector4d rotationVecRaw = MathUtils.getOriginVector4();
         rotationVecRaw = rotationMat.transform(rotationVecRaw);
-
+        return new Vector3d(rotationVecRaw.x,0,rotationVecRaw.z);
-        return new Vector3d(-rotationVecRaw.x,0,-rotationVecRaw.z);
     }
 
     /**
@@ -289,11 +304,12 @@ public class CameraEntityUtils {
      * @return The rotation matrix
      */
     public static Matrix4d getRotationMat(Entity entity){
-        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(CameraEntityUtils.getCameraYaw(entity)).mul(CameraEntityUtils.getPitchQuat(CameraEntityUtils.getCameraPitch(entity)));
+        float yaw = CameraEntityUtils.getCameraYaw(entity);
+        float pitch = CameraEntityUtils.getCameraPitch(entity);
+        //quaternion is multiplied by pi because we want to point away from the eye of the camera, NOT towards it
+        Quaternionf quatRaw = CameraEntityUtils.getYawQuat(yaw).mul(CameraEntityUtils.getPitchQuat(pitch)).mul(new Quaternionf().rotateY((float)Math.PI));
         Quaterniond quatd = new Quaterniond(quatRaw).normalize();
-
         Matrix4d rotationMat = new Matrix4d().rotate(quatd);
-
         return rotationMat;
     }
     

src/main/java/electrosphere/entity/types/debug/DebugVisualizerUtils.java

@@ -1,31 +1,68 @@
 package electrosphere.entity.types.debug;
 
+import java.util.function.Consumer;
+
+import org.joml.Quaterniond;
 import org.joml.Vector3d;
 
+import electrosphere.engine.Globals;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityCreationUtils;
 import electrosphere.entity.EntityUtils;
+import electrosphere.entity.btree.BehaviorTree;
+import electrosphere.util.math.MathUtils;
 
+/**
+ * Debug tools for visualizing things in the game engine
+ */
 public class DebugVisualizerUtils {
     
 
-    public static Entity clientSpawnVectorVisualizer(Vector3d position, Vector3d direction){
+    /**
+     * Spawns an entity that visualizes a vector
+     * @param position The position to start the vector
+     * @param rotation The rotation of the vector
+     * @param scale The scale of the vector
+     * @return The entity that visualizes the vector
+     */
+    public static Entity clientSpawnVectorVisualizer(Vector3d position, Quaterniond rotation, Vector3d scale){
         Entity rVal = EntityCreationUtils.createClientSpatialEntity();
-        EntityCreationUtils.makeEntityDrawable(rVal, "Models/unitcube.fbx");
+        EntityCreationUtils.makeEntityDrawable(rVal, "Models/basic/geometry/unitvector.glb");
-        Vector3d pos = new Vector3d(position).add(new Vector3d(direction).normalize().mul(0.3));
+        Vector3d pos = new Vector3d(position);
         EntityUtils.getPosition(rVal).set(pos);
-        EntityUtils.getScale(rVal).set(0.05f,0.3f,0.05f);
+        EntityUtils.getScale(rVal).set(scale);
-        EntityUtils.getRotation(rVal).rotateTo(new Vector3d(0,1,0), new Vector3d(direction.x,direction.y,direction.z));
+        EntityUtils.getRotation(rVal).set(rotation);
         return rVal;
     }
 
-    public static Entity clientSpawnUpdatingVectorVisualizer(Vector3d position, Vector3d direction){
+    /**
+     * Spawns a vector that visualizes the distance between two points
+     * @param point1 The first point
+     * @param point2 The second point
+     * @return The entity that visualizes the vector
+     */
+    public static Entity clientSpawnVectorVisualizer(Vector3d point1, Vector3d point2){
+        Vector3d position = point1;
+        Quaterniond rotation = MathUtils.calculateRotationFromPointToPoint(point1, point2);
+        Vector3d scale = new Vector3d(point1.distance(point2));
+        return clientSpawnVectorVisualizer(position, rotation, scale);
+    }
+
+    /**
+     * Spawns an entity that visualizes a vector. It's transform is constantly updated by a provided callback.
+     * @param callback The callback which should update the transforms of the vector
+     * @return The entity that visualizes the vector
+     */
+    public static Entity clientSpawnVectorVisualizer(Consumer<Entity> callback){
         Entity rVal = EntityCreationUtils.createClientSpatialEntity();
-        EntityCreationUtils.makeEntityDrawable(rVal, "Models/unitcube.fbx");
+        EntityCreationUtils.makeEntityDrawable(rVal, "Models/basic/geometry/unitvector.glb");
-        Vector3d pos = new Vector3d(position).add(new Vector3d(direction).normalize().mul(0.3));
+        BehaviorTree updateTree = new BehaviorTree() {
-        EntityUtils.getPosition(rVal).set(pos);
+            @Override
-        EntityUtils.getScale(rVal).set(0.05f,0.3f,0.05f);
+            public void simulate(float deltaTime) {
-        EntityUtils.getRotation(rVal).rotateTo(new Vector3d(0,1,0), new Vector3d(direction.x,direction.y,direction.z));
+                callback.accept(rVal);
+            }
+        };
+        Globals.clientSceneWrapper.getScene().registerBehaviorTree(updateTree);
         return rVal;
     }
 

src/main/java/electrosphere/menu/debug/ImGuiEntityMacros.java

@@ -12,8 +12,10 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.EntityUtils;
 import electrosphere.entity.state.client.firstPerson.FirstPersonTree;
 import electrosphere.entity.state.equip.ClientEquipState;
+import electrosphere.entity.state.server.ServerPlayerViewDirTree;
 import electrosphere.entity.types.attach.AttachUtils;
 import electrosphere.entity.types.creature.CreatureUtils;
+import electrosphere.entity.types.debug.DebugVisualizerUtils;
 import electrosphere.entity.types.foliage.FoliageUtils;
 import electrosphere.entity.types.item.ItemUtils;
 import electrosphere.game.data.creature.type.equip.EquipPoint;
@@ -28,6 +30,7 @@ import electrosphere.renderer.model.Mesh;
 import electrosphere.renderer.model.Model;
 import electrosphere.renderer.ui.imgui.ImGuiWindow;
 import electrosphere.renderer.ui.imgui.ImGuiWindow.ImGuiWindowCallback;
+import electrosphere.server.datacell.utils.EntityLookupUtils;
 import imgui.ImGui;
 
 /**
@@ -48,6 +51,7 @@ public class ImGuiEntityMacros {
     private static boolean showEquipStateTab = false; //actor details
     private static boolean showFirstPersonTab = false; //first person tab
     private static boolean showLinkedEntitiesTab = false;//show linked entities
+    private static boolean showServerViewDirTab = false; //show server view dir
 
     /**
      * Creates the windows in this file
@@ -116,6 +120,9 @@ public class ImGuiEntityMacros {
                     ){
                         showLinkedEntitiesTab = !showLinkedEntitiesTab;
                     }
+                    if(ServerPlayerViewDirTree.hasTree(detailViewEntity) && ImGui.checkbox("Server View Dir", showServerViewDirTab)){
+                        showServerViewDirTab = !showServerViewDirTab;
+                    }
                     ImGui.treePop();
                 }
                 ImGui.nextColumn();
@@ -123,6 +130,7 @@ public class ImGuiEntityMacros {
                 drawEquipState();
                 drawFirstPersonView();
                 drawLinkedEntities();
+                drawServerViewDir();
             }
         });
         clientEntityDetailWindow.setOpen(false);
@@ -234,6 +242,22 @@ public class ImGuiEntityMacros {
         if(showFirstPersonTab && ImGui.collapsingHeader("First Person Tree")){
             ImGui.indent();
             // FirstPersonTree firstPersonTree = FirstPersonTree.getTree(detailViewEntity);
+            if(ImGui.button("Visualize facing vectors")){
+                DebugVisualizerUtils.clientSpawnVectorVisualizer((Entity vector) -> {
+                    EntityUtils.getPosition(vector).set(EntityUtils.getPosition(Globals.firstPersonEntity));
+                    EntityUtils.getRotation(vector).set(EntityUtils.getRotation(Globals.firstPersonEntity));
+                });
+                DebugVisualizerUtils.clientSpawnVectorVisualizer((Entity vector) -> {
+                    EntityUtils.getPosition(vector).set(EntityUtils.getPosition(Globals.playerEntity));
+                    EntityUtils.getRotation(vector).set(EntityUtils.getRotation(Globals.playerEntity));
+                });
+                DebugVisualizerUtils.clientSpawnVectorVisualizer((Entity vector) -> {
+                    int serverIdForClientEntity = Globals.clientSceneWrapper.mapClientToServerId(Globals.playerEntity.getId());
+                    Entity serverPlayerEntity = EntityLookupUtils.getEntityById(serverIdForClientEntity);
+                    EntityUtils.getPosition(vector).set(EntityUtils.getPosition(serverPlayerEntity));
+                    EntityUtils.getRotation(vector).set(EntityUtils.getRotation(serverPlayerEntity));
+                });
+            }
             ImGui.unindent();
         }
     }
@@ -329,6 +353,12 @@ public class ImGuiEntityMacros {
                                     AttachUtils.setRotationOffset(equippedEntity, AttachUtils.getEquipPointRotationOffset(point.getOffsetRotationFirstPerson()));
                                 }
                             }
+                            if(ImGui.button("Print transforms")){
+                                LoggerInterface.loggerEngine.WARNING("Third person Offset: " + AttachUtils.getEquipPointVectorOffset(point.getOffsetVectorThirdPerson()));
+                                LoggerInterface.loggerEngine.WARNING("First person Offset: " + AttachUtils.getEquipPointVectorOffset(point.getOffsetVectorFirstPerson()));
+                                LoggerInterface.loggerEngine.WARNING("Third person Rotation: " + AttachUtils.getEquipPointRotationOffset(point.getOffsetRotationThirdPerson()));
+                                LoggerInterface.loggerEngine.WARNING("First person Rotation: " + AttachUtils.getEquipPointRotationOffset(point.getOffsetRotationFirstPerson()));
+                            }
                         }
                     }
                 }
@@ -373,6 +403,21 @@ public class ImGuiEntityMacros {
         }
     }
 
+    /**
+     * Server view dir
+     */
+    protected static void drawServerViewDir(){
+        if(showServerViewDirTab && ImGui.collapsingHeader("Server View Dir")){
+            ImGui.indent();
+            if(ServerPlayerViewDirTree.hasTree(detailViewEntity)){
+                ServerPlayerViewDirTree viewDirTree = ServerPlayerViewDirTree.getTree(detailViewEntity);
+                ImGui.text("Yaw: " + viewDirTree.getYaw());
+                ImGui.text("Pitch: " + viewDirTree.getPitch());
+            }
+            ImGui.unindent();
+        }
+    }
+
     /**
      * Gets the displayed name of an entity (ie creature type, foliage type, terrain, etc)
      * @param entity

src/main/java/electrosphere/menu/debug/ImGuiPlayerEntity.java

@@ -0,0 +1,140 @@
+package electrosphere.menu.debug;
+
+import org.ode4j.ode.DBody;
+
+import electrosphere.collision.PhysicsEntityUtils;
+import electrosphere.engine.Globals;
+import electrosphere.entity.Entity;
+import electrosphere.entity.EntityUtils;
+import electrosphere.entity.state.attack.ClientAttackTree;
+import electrosphere.entity.state.server.ServerPlayerViewDirTree;
+import electrosphere.entity.types.camera.CameraEntityUtils;
+import electrosphere.entity.types.creature.CreatureUtils;
+import electrosphere.renderer.ui.imgui.ImGuiWindow;
+import electrosphere.renderer.ui.imgui.ImGuiWindow.ImGuiWindowCallback;
+import electrosphere.server.datacell.utils.EntityLookupUtils;
+import imgui.ImGui;
+
+/**
+ * Menus for player entity in particular
+ */
+public class ImGuiPlayerEntity {
+
+    //player entity details
+    public static ImGuiWindow playerEntityWindow;
+    
+    /**
+     * Create player entity debug menu
+     */
+    public static void createPlayerEntityDebugWindow(){
+        playerEntityWindow = new ImGuiWindow("Player Entity");
+        playerEntityWindow.setCallback(new ImGuiWindowCallback() {
+            @Override
+            public void exec() {
+                //player entity details
+                ImGui.text("Player Entity Details");
+
+                //data about player entity
+                if(Globals.playerEntity != null){
+                    ImGui.text("Position: " + EntityUtils.getPosition(Globals.playerEntity));
+                    ImGui.text("Rotation: " + EntityUtils.getRotation(Globals.playerEntity));
+                    
+                    //physics on client
+                    if(ImGui.collapsingHeader("Physics Data")){
+                        drawPhysicsData();
+                    }
+
+                    //sync data
+                    if(ImGui.collapsingHeader("Synchronization Data")){
+                        drawSynchronizationData();
+                    }
+
+                    //camera details
+                    if(ImGui.collapsingHeader("Camera Data")){
+                        drawCameraData();
+                    }
+
+                }
+
+                //
+                //Camera controls
+                if(ImGui.button("Toggle Player Camera Lock")){
+                    Globals.cameraHandler.setTrackPlayerEntity(!Globals.cameraHandler.getTrackPlayerEntity());
+                }
+                if(ImGui.button("Toggle 1st/3rd Person")){
+                    Globals.controlHandler.setIsThirdPerson(!Globals.controlHandler.cameraIsThirdPerson());
+                }
+
+                //
+                //quick launch entity details
+                if(ImGui.button("Client Details")){
+                    ImGuiEntityMacros.showEntity(Globals.playerEntity);
+                }
+                ImGui.sameLine();
+                if(ImGui.button("1st Person Details")){
+                    ImGuiEntityMacros.showEntity(Globals.firstPersonEntity);
+                }
+                ImGui.sameLine();
+                if(ImGui.button("Server Details")){
+                    int serverIdForClientEntity = Globals.clientSceneWrapper.mapClientToServerId(Globals.playerEntity.getId());
+                    Entity serverPlayerEntity = EntityLookupUtils.getEntityById(serverIdForClientEntity);
+                    ImGuiEntityMacros.showEntity(serverPlayerEntity);
+                }
+
+
+            }
+        });
+        playerEntityWindow.setOpen(false);
+        Globals.renderingEngine.getImGuiPipeline().addImGuiWindow(playerEntityWindow);
+    }
+
+    /**
+     * Draws data about physics for client entity
+     */
+    private static void drawPhysicsData(){
+        //client-side tree stuff
+        DBody body = PhysicsEntityUtils.getDBody(Globals.playerEntity);
+        ClientAttackTree attackTree = ClientAttackTree.getClientAttackTree(Globals.playerEntity);
+        if(body != null){
+            ImGui.text("Velocity: " + body.getLinearVel());
+            ImGui.text("Force: " + body.getForce());
+            ImGui.text("Angular Velocity: " + body.getAngularVel());
+            ImGui.text("Torque: " + body.getTorque());
+            ImGui.text("Move Vector: " + CreatureUtils.getFacingVector(Globals.playerEntity));
+            if(attackTree != null){
+                ImGui.text("Attack Tree State: " + attackTree.getState());
+            }
+        }
+    }
+
+    /**
+     * Draws data on server side for synchronization comparison
+     */
+    private static void drawSynchronizationData(){
+        //server pos
+        int serverIdForClientEntity = Globals.clientSceneWrapper.mapClientToServerId(Globals.playerEntity.getId());
+        Entity serverPlayerEntity = EntityLookupUtils.getEntityById(serverIdForClientEntity);
+        ImGui.text("Position (Server): " + EntityUtils.getPosition(serverPlayerEntity));
+        ImGui.text("Rotation (Server): " + EntityUtils.getRotation(serverPlayerEntity));
+
+        //server-side physics stuff
+        DBody serverBody = PhysicsEntityUtils.getDBody(serverPlayerEntity);
+        if(serverBody != null){
+            ImGui.text("Velocity (Server): " + serverBody.getLinearVel());
+            ImGui.text("Force (Server): " + serverBody.getForce());
+            ImGui.text("Move Vector (Server): " + CreatureUtils.getFacingVector(serverPlayerEntity));
+            ImGui.text("Velocity (Server): " + CreatureUtils.getVelocity(serverPlayerEntity));
+        }
+        ImGui.text("View yaw (Server): " + ServerPlayerViewDirTree.getTree(serverPlayerEntity).getYaw());
+        ImGui.text("View pitch (Server): " + ServerPlayerViewDirTree.getTree(serverPlayerEntity).getPitch());
+    }
+
+    /**
+     * Draws camera data
+     */
+    private static void drawCameraData(){
+        ImGui.text("Yaw: " + CameraEntityUtils.getCameraYaw(Globals.playerCamera));
+        ImGui.text("Pitch: " + CameraEntityUtils.getCameraPitch(Globals.playerCamera));
+    }
+
+}

src/main/java/electrosphere/menu/debug/ImGuiWindowMacros.java

@@ -3,21 +3,12 @@ package electrosphere.menu.debug;
 import java.util.HashMap;
 import java.util.Map;
 
-import org.ode4j.ode.DBody;
-
-import electrosphere.collision.PhysicsEntityUtils;
 import electrosphere.controls.ControlHandler.ControlsState;
 import electrosphere.engine.Globals;
-import electrosphere.entity.Entity;
-import electrosphere.entity.EntityUtils;
-import electrosphere.entity.state.attack.ClientAttackTree;
-import electrosphere.entity.state.server.ServerPlayerViewDirTree;
-import electrosphere.entity.types.creature.CreatureUtils;
 import electrosphere.renderer.ui.imgui.ImGuiLinePlot;
 import electrosphere.renderer.ui.imgui.ImGuiWindow;
 import electrosphere.renderer.ui.imgui.ImGuiLinePlot.ImGuiLinePlotDataset;
 import electrosphere.renderer.ui.imgui.ImGuiWindow.ImGuiWindowCallback;
-import electrosphere.server.datacell.utils.EntityLookupUtils;
 import electrosphere.server.fluid.manager.ServerFluidManager;
 import imgui.ImGui;
 
@@ -36,9 +27,6 @@ public class ImGuiWindowMacros {
     private static ImGuiLinePlot globalFrametimePlot;
     private static Map<String,ImGuiLinePlotDataset> globalFrametimeDatasets;
 
-    //player entity details
-    private static ImGuiWindow playerEntityWindow;
-
     //fluid details
     private static ImGuiWindow fluidWindow;
 
@@ -48,7 +36,7 @@ public class ImGuiWindowMacros {
     public static void initImGuiWindows(){
         createMainDebugMenu();
         createFramerateGraph();
-        createPlayerEntityDebugWindow();
+        ImGuiPlayerEntity.createPlayerEntityDebugWindow();
         createFluidDebugWindow();
         ImGuiEntityMacros.createClientEntityWindows();
         ImGuiUIFramework.createUIFrameworkWindows();
@@ -108,64 +96,6 @@ public class ImGuiWindowMacros {
         }
     }
 
-
-    /**
-     * Create player entity debug menu
-     */
-    private static void createPlayerEntityDebugWindow(){
-        playerEntityWindow = new ImGuiWindow("Player Entity");
-        playerEntityWindow.setCallback(new ImGuiWindowCallback() {
-            @Override
-            public void exec() {
-                //player entity details
-                ImGui.text("Player Entity Details");
-                if(Globals.playerEntity != null){
-                    ImGui.text("Position: " + EntityUtils.getPosition(Globals.playerEntity));
-                    ImGui.text("Rotation: " + EntityUtils.getRotation(Globals.playerEntity));
-
-                    //server pos
-                    int serverIdForClientEntity = Globals.clientSceneWrapper.mapClientToServerId(Globals.playerEntity.getId());
-                    Entity serverPlayerEntity = EntityLookupUtils.getEntityById(serverIdForClientEntity);
-                    ImGui.text("Position (Server): " + EntityUtils.getPosition(serverPlayerEntity));
-                    ImGui.text("Rotation (Server): " + EntityUtils.getRotation(serverPlayerEntity));
-
-                    //client-side tree stuff
-                    DBody body = PhysicsEntityUtils.getDBody(Globals.playerEntity);
-                    ClientAttackTree attackTree = ClientAttackTree.getClientAttackTree(Globals.playerEntity);
-                    if(body != null){
-                        ImGui.text("Velocity: " + body.getLinearVel());
-                        ImGui.text("Force: " + body.getForce());
-                        ImGui.text("Angular Velocity: " + body.getAngularVel());
-                        ImGui.text("Torque: " + body.getTorque());
-                        ImGui.text("Move Vector: " + CreatureUtils.getFacingVector(Globals.playerEntity));
-                        if(attackTree != null){
-                            ImGui.text("Attack Tree State: " + attackTree.getState());
-                        }
-                    }
-
-                    //server-side tree stuff
-                    DBody serverBody = PhysicsEntityUtils.getDBody(serverPlayerEntity);
-                    if(body != null){
-                        ImGui.text("Velocity (Server): " + serverBody.getLinearVel());
-                        ImGui.text("Force (Server): " + serverBody.getForce());
-                        ImGui.text("Move Vector (Server): " + CreatureUtils.getFacingVector(serverPlayerEntity));
-                        ImGui.text("Velocity (Server): " + CreatureUtils.getVelocity(serverPlayerEntity));
-                    }
-                    ImGui.text("View yaw (Server): " + ServerPlayerViewDirTree.getTree(serverPlayerEntity).getYaw());
-                    ImGui.text("View pitch (Server): " + ServerPlayerViewDirTree.getTree(serverPlayerEntity).getPitch());
-                }
-                if(ImGui.button("Toggle Player Camera Lock")){
-                    Globals.cameraHandler.setTrackPlayerEntity(!Globals.cameraHandler.getTrackPlayerEntity());
-                }
-                if(ImGui.button("Toggle 1st/3rd Person")){
-                    Globals.controlHandler.setIsThirdPerson(!Globals.controlHandler.cameraIsThirdPerson());
-                }
-            }
-        });
-        playerEntityWindow.setOpen(false);
-        Globals.renderingEngine.getImGuiPipeline().addImGuiWindow(playerEntityWindow);
-    }
-
     /**
      * Create fluid debug menu
      */
@@ -205,7 +135,7 @@ public class ImGuiWindowMacros {
                 }
                 //show audio debug
                 if(ImGui.button("Show Player Entity Debug Menu")){
-                    playerEntityWindow.setOpen(true);
+                    ImGuiPlayerEntity.playerEntityWindow.setOpen(true);
                 }
                 //show fluids debug
                 if(ImGui.button("Show Fluids Debug Menu")){

src/main/java/electrosphere/renderer/pipelines/FirstPersonItemsPipeline.java

@@ -1,6 +1,7 @@
 package electrosphere.renderer.pipelines;
 
 import org.joml.Matrix4d;
+import org.joml.Quaterniond;
 import org.joml.Vector3d;
 import org.joml.Vector3f;
 import org.joml.Vector4d;
@@ -76,7 +77,7 @@ public class FirstPersonItemsPipeline implements RenderPipeline {
                     //calculate and apply model transform
                     modelTransformMatrix.identity();
                     modelTransformMatrix.translate(cameraModifiedPosition);
-                    modelTransformMatrix.rotate(EntityUtils.getRotation(child));
+                    modelTransformMatrix.rotate(new Quaterniond(EntityUtils.getRotation(child)));
                     modelTransformMatrix.scale(new Vector3d(EntityUtils.getScale(child)));
                     actor.applySpatialData(modelTransformMatrix,position);
                     //draw

src/main/java/electrosphere/util/math/MathUtils.java

@@ -16,7 +16,7 @@ public class MathUtils {
      * @return The origin vector
      */
     public static Vector3d getOriginVector(){
-        return new Vector3d(0,0,1);
+        return new Vector3d(1,0,0);
     }
 
     /**
@@ -24,7 +24,7 @@ public class MathUtils {
      * @return The origin vector
      */
     public static Vector4d getOriginVector4(){
-        return new Vector4d(0,0,1,1);
+        return new Vector4d(1,0,0,1);
     }
 
     /**
@@ -32,6 +32,54 @@ public class MathUtils {
      * @return The origin vector
      */
     public static Vector3f getOriginVectorf(){
+        return new Vector3f(1,0,0);
+    }
+
+    /**
+     * Gets the origin vector of the engine
+     * @return The origin vector
+     */
+    public static Vector3d getUpVector(){
+        return new Vector3d(0,1,0);
+    }
+
+    /**
+     * Gets the origin vector of the engine
+     * @return The origin vector
+     */
+    public static Vector4d getUpVector4(){
+        return new Vector4d(0,1,0,1);
+    }
+
+    /**
+     * Gets the origin vector of the engine, in Vector3f format
+     * @return The origin vector
+     */
+    public static Vector3f getUpVectorf(){
+        return new Vector3f(0,1,0);
+    }
+
+    /**
+     * Gets the origin vector of the engine
+     * @return The origin vector
+     */
+    public static Vector3d getLeftVector(){
+        return new Vector3d(0,0,1);
+    }
+
+    /**
+     * Gets the origin vector of the engine
+     * @return The origin vector
+     */
+    public static Vector4d getLeftVector4(){
+        return new Vector4d(0,0,1,1);
+    }
+
+    /**
+     * Gets the origin vector of the engine, in Vector3f format
+     * @return The origin vector
+     */
+    public static Vector3f getLeftVectorf(){
         return new Vector3f(0,0,1);
     }
 
@@ -43,7 +91,7 @@ public class MathUtils {
      * @return The quaternion
      */
     public static Quaterniond calculateRotationFromPointToPoint(Vector3d originPoint, Vector3d destinationPoint){
-        return getOriginVector().rotationTo(new Vector3d(originPoint).sub(destinationPoint).normalize(), new Quaterniond());
+        return getOriginVector().rotationTo(new Vector3d(destinationPoint).sub(originPoint).normalize(), new Quaterniond());
     }