/**
* Create an object.
**/
object_t *
object_create(object_t *parent)
{
object_t *ret = xmalloc(sizeof(object_t));
MATRIX_DECL_IDENT(ident);
ret->parent = NULL;
ret->type = OBJ_NODE;
ret->name = NULL;
ret->mat = NO_MATERIAL;
ret->transform_cache = NULL;
ret->private_transform = NULL;
ret->meta = NULL;
ret->meta_destructor = 0;
ret->draw_distance = 0;
ret->child_draw_distance = 0;
ret->trans[0] = ret->trans[1] = ret->trans[2] = 0;
ret->scale[0] = ret->scale[1] = ret->scale[2] = 1;
quat_init(&ret->rot, 0, 1, 0, 0);
ret->children = NULL;
ret->child_count = 0;
refcount_init(&ret->refcount);
refcount_add_destructor(&ret->refcount, object_destructor, ret);
object_apply_pretransform(ret, ident);
if (parent)
object_reparent(ret, parent);
return ret;
}
void ahrs_init(ahrs_t *ahrs, ahrs_type_t type, real_t beta_start, real_t beta_step, real_t beta_end)
{
ahrs->type = type;
ahrs->beta = beta_start;
ahrs->beta_step = beta_step;
ahrs->beta_end = beta_end;
quat_init(&ahrs->quat);
}
