/** get the world tansform of the linked position
* @param worldTrans out parameter to palce transform in
* @warning this method is called by physics library and should
* not be called directly
*/
void MotionState::getWorldTransform(btTransform &worldTrans) const
{
// set the location/origin
Vector3 l = this->shape._getTranslation();
if (this->position != nullptr)
l += this->position->getLocation();
worldTrans.setOrigin (btVector3(l.x(), l.y(), l.z()));
// set the basis/rotational matrix
// since openGL matrix is column major and Bullet is row
// major, we have to do some converting
Matrix3 matrix;
if (this->position != nullptr)
{
matrix.setColumn(0, this->position->getLocalXAxis());
matrix.setColumn(1, this->position->getUpVector());
matrix.setColumn(2, this->position->getForwardVector());
}
matrix.multiply(this->shape._getRotation());
btMatrix3x3 rot;
rot.setValue(
// fill in x axis, first column
matrix.getColumn(0).x(),
matrix.getColumn(0).y(),
matrix.getColumn(0).z(),
// fill in y axis, second column
matrix.getColumn(1).x(),
matrix.getColumn(1).y(),
matrix.getColumn(1).z(),
// fill in z axis, thrid column
matrix.getColumn(2).x(),
matrix.getColumn(2).y(),
matrix.getColumn(2).z()
);
worldTrans.setBasis(rot);
}
Real
estimateScalingFactor(Matrix3 const & m)
{
return (m.getColumn(0).fastLength() + m.getColumn(1).fastLength() + m.getColumn(2).fastLength()) / 3.0f;
}
Matrix3
orthonormalBasisMatrix(Matrix3 const & m)
{
return orthonormalBasisMatrix(m.getColumn(0), m.getColumn(1), m.getColumn(2));
}
inline Vector3 Camera::getWorldRVector() const
{
Matrix3 m = world.getRotate();
return m.getColumn(2);
}
inline Vector3 Camera::getRVector () const
{
Matrix3 m = local.getRotate();
return m.getColumn(2);
}
bool WindowedApp3d::moveObject ()
{
// The coordinate system in which the rotations are applied is that of
// the object's parent, if it has one. The parent's world rotation
// matrix is R, of which the columns are the coordinate axis directions.
// Column 0 is "direction", column 1 is "up", and column 2 is "right".
// If the object does not have a parent, the world coordinate axes are
// used, in which case the rotation matrix is I, the identity. Column 0
// is (1,0,0) and is "direction", column 1 is (0,1,0) and is "up", and
// column 2 is (0,0,1) and is "right". This choice is consistent with
// the use of rotations in the Camera and Light classes to store
// coordinate axes.
//
// Roll is about the "direction" axis, yaw is about the "up" axis, and
// pitch is about the "right" axis.
if ( !m_bCameraMoveable || !motionObject )
return false;
RenderObject* pkParent = motionObject->getParent();
Vector3 kAxis;
float fAngle;
Matrix3 kRot, kIncr;
Matrix3 m;
if ( m_iDoRoll )
{
motionObject->localTrans.getMatrix(m);
kRot = m;
fAngle = m_iDoRoll*m_fRotSpeed;
if ( pkParent )
{
pkParent->worldTrans.getMatrix(m);
kAxis = m.getColumn(0);
}
else
kAxis = Vector3::UNIT_X;
kIncr.fromAxisAngle(kAxis,fAngle);
motionObject->localTrans.setMatrix(kIncr*kRot);
return true;
}
if ( m_iDoYaw )
{
motionObject->localTrans.getMatrix(m);
kRot = m;
fAngle = m_iDoYaw*m_fRotSpeed;
if ( pkParent )
{
pkParent->worldTrans.getMatrix(m);
kAxis = m.getColumn(1);
}
else
kAxis = Vector3::UNIT_Y;
kIncr.fromAxisAngle(kAxis,fAngle);
motionObject->localTrans.setMatrix(kIncr*kRot);
return true;
}
if ( m_iDoPitch )
{
motionObject->localTrans.getMatrix(m);
kRot = m;
fAngle = m_iDoPitch*m_fRotSpeed;
if ( pkParent )
{
pkParent->worldTrans.getMatrix(m);
kAxis = m.getColumn(2);
}
else
kAxis = Vector3::UNIT_Z;
kIncr.fromAxisAngle(kAxis,fAngle);
motionObject->localTrans.setMatrix(kIncr*kRot);
return true;
}
return false;
}
