Finding 3D coordinates of object

transform = new Transform3D();
animCents[0].computeTransform((float)leadAlphaVal, transform);
pos = new Vector3d();
transform.get(pos);
lblLeadTVD.setText(String.valueOf((int)(0 - pos.z)));
 
public void computeTransform(float alphaValue, Transform3D transform) {
 
        float scale;
        Vector3d scaleVector = new Vector3d();
        double quatDot;
        computePathInterpolation(alphaValue);
 
        if (currentKnotIndex == 0 &&
            currentInterpolationValue == 0f) {
            tQuat.x = quats[0].x;
            tQuat.y = quats[0].y;
            tQuat.z = quats[0].z;
            tQuat.w = quats[0].w;
            pos.x = positions[0].x;
            pos.y = positions[0].y;
            pos.z = positions[0].z;
            scale = scales[0];
            scaleVector = scalesVector[0];
        } else {
            quatDot = quats[currentKnotIndex].x *
            quats[currentKnotIndex+1].x +
            quats[currentKnotIndex].y *
            quats[currentKnotIndex+1].y +
            quats[currentKnotIndex].z *
            quats[currentKnotIndex+1].z +
            quats[currentKnotIndex].w *
            quats[currentKnotIndex+1].w;
            if (quatDot < 0) {
            tQuat.x = quats[currentKnotIndex].x +
                (-quats[currentKnotIndex+1].x -
                 quats[currentKnotIndex].x)*currentInterpolationValue;
            tQuat.y = quats[currentKnotIndex].y +
                (-quats[currentKnotIndex+1].y -
                 quats[currentKnotIndex].y)*currentInterpolationValue;
            tQuat.z = quats[currentKnotIndex].z +
                (-quats[currentKnotIndex+1].z -
                 quats[currentKnotIndex].z)*currentInterpolationValue;
            tQuat.w = quats[currentKnotIndex].w +
                (-quats[currentKnotIndex+1].w -
                 quats[currentKnotIndex].w)*currentInterpolationValue;
            } else {
            tQuat.x = quats[currentKnotIndex].x +
                (quats[currentKnotIndex+1].x -
                 quats[currentKnotIndex].x)*currentInterpolationValue;
            tQuat.y = quats[currentKnotIndex].y +
                (quats[currentKnotIndex+1].y -
                 quats[currentKnotIndex].y)*currentInterpolationValue;
            tQuat.z = quats[currentKnotIndex].z +
                (quats[currentKnotIndex+1].z -
                 quats[currentKnotIndex].z)*currentInterpolationValue;
            tQuat.w = quats[currentKnotIndex].w +
                (quats[currentKnotIndex+1].w -
                 quats[currentKnotIndex].w)*currentInterpolationValue;
            }
            pos.x = positions[currentKnotIndex].x +
            (positions[currentKnotIndex+1].x -
             positions[currentKnotIndex].x) * currentInterpolationValue;
            pos.y = positions[currentKnotIndex].y +
            (positions[currentKnotIndex+1].y -
             positions[currentKnotIndex].y) * currentInterpolationValue;
            pos.z = positions[currentKnotIndex].z +
            (positions[currentKnotIndex+1].z -
             positions[currentKnotIndex].z) * currentInterpolationValue;
 
            scale = scales[currentKnotIndex] +
            (scales[currentKnotIndex+1] -
             scales[currentKnotIndex]) * currentInterpolationValue;
 
            /*System.out.println("Knot value = " + currentKnotIndex);
            System.out.println("Current value = " + currentInterpolationValue);
            System.out.println("scaleVector = " + scalesVector[currentKnotIndex].x);
            System.out.println("scaleVector + 1 = " + scalesVector[currentKnotIndex+1].x);*/
            scaleVector.x = scalesVector[currentKnotIndex].x +
            (scalesVector[currentKnotIndex+1].x -
             scalesVector[currentKnotIndex].x) * currentInterpolationValue;
            scaleVector.y = scalesVector[currentKnotIndex].y +
            (scalesVector[currentKnotIndex+1].y -
             scalesVector[currentKnotIndex].y) * currentInterpolationValue;
            scaleVector.z = scalesVector[currentKnotIndex].z +
            (scalesVector[currentKnotIndex+1].z -
             scalesVector[currentKnotIndex].z) * currentInterpolationValue;
        }
        tQuat.normalize();
 
        sMat.set(scale);
        //sMat.set(scaleVector);
        //sMat.transform(scaleVector);
        //sMat.setS
        tMat.set(tQuat);
        tMat.mul(sMat);
        // Set the translation components.
 
        tMat.m03 = pos.x;
        tMat.m13 = pos.y;
        tMat.m23 = pos.z;
        rotation.set(tMat);
 
        // construct a Transform3D from:  axis * rotation * axisInverse
        transform.mul(axis, rotation);
        transform.mul(transform, axisInverse);
        transform.setScale(scaleVector);
    }

                                              

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