void Transform::setRotationComponent(const Vector3& axis, Real angle)
{
if (isIdentity || isPureTranslationRotation) {
hasRotation=true;
Quat4 q;
q.setRotation(axis,angle);
orient = q;
if (isIdentity)
hasTranslation=isIdentity=false;
}
else {
Matrix4 r(Quat4(axis,angle));
r.e(4,4)=0;
Matrix4 sm(t);
sm.e(1,1)=sm.e(1,2)=sm.e(1,3)=sm.e(2,1)=sm.e(2,2)=sm.e(2,3)=sm.e(3,1)=sm.e(3,2)=sm.e(3,3)=0;
sm+=r;
t=sm;
}
}
Transform::Transform(const Vector3& translation, const Quat4& rotation)
: isIdentity(false), isPureTranslationRotation(true),
hasTranslation(translation!=Vector3(0,0,0)), hasRotation(!rotation.equals(Quat4())),
orient(rotation), trans(translation) {}
Transform::Transform(const Quat4& rotation)
: isIdentity(rotation.equals(Quat4())), isPureTranslationRotation(true),
hasTranslation(false), hasRotation(!rotation.equals(Quat4())),
orient(rotation) {}