/** Rotate around in local coordinates
* @param angle the angle to rotate in radians
* @param axis the vector rotate around
*/
void Position::rotateLocal(float angle, const Vector3f& axis)
{
// transform the rotation axis to world coordinates
Matrix44f rotMat;
this->getRotationMatrix(rotMat);
Vector3f worldAxis(axis);
worldAxis.transform(rotMat);
// perform rotation
this->rotate(angle, worldAxis);
}
b2Joint* makePrismaticJoint(b2World* world, b2Body* a, b2Body *b)
{
// make prismatic joint between 2 bodies
b2PrismaticJointDef jointDef;
b2Vec2 worldAxis(1.0,0.0);
jointDef.Initialize(a,b,a->GetWorldCenter(), worldAxis);
jointDef.lowerTranslation = -5.f;
jointDef.upperTranslation = 5.f; // muscles can only contract
jointDef.enableLimit = true;
jointDef.maxMotorForce = 500.0f;
jointDef.motorSpeed = 0.0f;
jointDef.enableMotor = true;
return world->CreateJoint(&jointDef);
}
