55 lines
3.1 KiB
C++
55 lines
3.1 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "Transform.h"
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#include "Matrix3x3.h"
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// Namespaces
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using namespace reactphysics3d;
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// Set the transform from an OpenGL transform matrix
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void Transform::setFromOpenGL(decimal* openglMatrix) {
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Matrix3x3 matrix(openglMatrix[0], openglMatrix[4], openglMatrix[8],
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openglMatrix[1], openglMatrix[5], openglMatrix[9],
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openglMatrix[2], openglMatrix[6], openglMatrix[10]);
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mOrientation = Quaternion(matrix);
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mPosition.setAllValues(openglMatrix[12], openglMatrix[13], openglMatrix[14]);
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}
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// Get the OpenGL matrix of the transform
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void Transform::getOpenGLMatrix(decimal* openglMatrix) const {
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const Matrix3x3& matrix = mOrientation.getMatrix();
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openglMatrix[0] = matrix[0][0]; openglMatrix[1] = matrix[1][0];
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openglMatrix[2] = matrix[2][0]; openglMatrix[3] = 0.0;
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openglMatrix[4] = matrix[0][1]; openglMatrix[5] = matrix[1][1];
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openglMatrix[6] = matrix[2][1]; openglMatrix[7] = 0.0;
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openglMatrix[8] = matrix[0][2]; openglMatrix[9] = matrix[1][2];
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openglMatrix[10] = matrix[2][2]; openglMatrix[11] = 0.0;
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openglMatrix[12] = mPosition.x; openglMatrix[13] = mPosition.y;
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openglMatrix[14] = mPosition.z; openglMatrix[15] = 1.0;
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}
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