void BodySW::_update_transform_dependant() {
center_of_mass = get_transform().basis.xform(center_of_mass_local);
principal_inertia_axes = get_transform().basis * principal_inertia_axes_local;
// update inertia tensor
Basis tb = principal_inertia_axes;
Basis tbt = tb.transposed();
tb.scale(_inv_inertia);
_inv_inertia_tensor = tb * tbt;
}
Vector3 Basis::get_rotation() const {
// Assumes that the matrix can be decomposed into a proper rotation and scaling matrix as M = R.S,
// and returns the Euler angles corresponding to the rotation part, complementing get_scale().
// See the comment in get_scale() for further information.
Basis m = orthonormalized();
real_t det = m.determinant();
if (det < 0) {
// Ensure that the determinant is 1, such that result is a proper rotation matrix which can be represented by Euler angles.
m.scale(Vector3(-1,-1,-1));
}
return m.get_euler();
}
Basis Basis::scaled( const Vector3& p_scale ) const {
Basis m = *this;
m.scale(p_scale);
return m;
}