///grabbed
void parent(CommonRigidBodyBase* bullet_scene, int id, quaternion base, quaternion current_parent, vec3f position_offset, vec3f ideal_position_offset, bool slide = false)
{
parent_id = id;
base_diff = current_parent.get_difference(base);
should_hand_collide = false;
make_kinematic(bullet_scene);
mat3f hand_rot = current_parent.get_rotation_matrix();
offset = hand_rot.transp() * position_offset;
ideal_offset = hand_rot.transp() * ideal_position_offset;
is_parented = true;
if(slide && can_slide)
{
slide_towards_parent = true;
slide_timer = 0;
slide_parent_init = false;
}
//printf("%f %f %f %f base\n", base_diff.x(), base_diff.y(), base_diff.z(), base_diff.w());
}
void set_trans(cl_float4 clpos, quaternion m)
{
mat3f mat_diff = base_diff.get_rotation_matrix();
mat3f current_hand = m.get_rotation_matrix();
mat3f my_rot = current_hand * mat_diff;
quaternion n;
n.load_from_matrix(my_rot);
vec3f absolute_pos = {clpos.x, clpos.y, clpos.z};
///current hand does not take into account the rotation offset when grabbing
///ie we'll double rotate
vec3f offset_rot = current_hand * offset;
vec3f pos = absolute_pos + offset_rot;
btTransform newTrans;
//rigid_body->getMotionState()->getWorldTransform(newTrans);
newTrans.setOrigin(btVector3(pos.v[0], pos.v[1], pos.v[2]));
newTrans.setRotation(btQuaternion(n.x(), n.y(), n.z(), n.w()));
rigid_body->getMotionState()->setWorldTransform(newTrans);
//rigid_body->setInterpolationWorldTransform(newTrans);
//if(ctr)
// ctr->set_pos(conv_implicit<cl_float4>(pos));
slide_parent_init = true;
slide_saved_parent = absolute_pos;
remote_pos = pos;
remote_rot = n;
kinematic_old = kinematic_current;
kinematic_current = xyzf_to_vec(rigid_body->getWorldTransform().getOrigin());
}
