/*
============
Matrix3::ToCQuat
============
*/
CQuat Matrix3::ToCQuat( void ) const {
idQuat q = ToQuat();
if ( q.w < 0.0f ) {
return CQuat( -q.x, -q.y, -q.z );
}
return CQuat( q.x, q.y, q.z );
}
PR PhysX3::GetWorldTransform(PintObjectHandle handle)
{
PxTransform Pose;
PxRigidActor* RigidActor = GetActorFromHandle(handle);
if(RigidActor)
{
Pose = RigidActor->getGlobalPose();
}
else
{
PxShape* Shape = GetShapeFromHandle(handle);
ASSERT(Shape);
#ifdef SUPPORT_SHARED_SHAPES
ASSERT(Shape->getActor());
Pose = PxShapeExt::getGlobalPose(*Shape, *Shape->getActor());
#else
Pose = PxShapeExt::getGlobalPose(*Shape);
#endif
}
return PR(ToPoint(Pose.p), ToQuat(Pose.q));
}
/*
=============
idCQuat::ToMat4
=============
*/
idMat4 idCQuat::ToMat4() const
{
return ToQuat().ToMat4();
}
/*
=============
idCQuat::ToMat3
=============
*/
idMat3 idCQuat::ToMat3() const
{
return ToQuat().ToMat3();
}
/*
=============
idCQuat::ToRotation
=============
*/
idRotation idCQuat::ToRotation() const
{
return ToQuat().ToRotation();
}
/*
=============
idCQuat::ToAngles
=============
*/
idAngles idCQuat::ToAngles() const
{
return ToQuat().ToAngles();
}