static btTransform get_transform(ErlNifEnv *env, const ERL_NIF_TERM arg) {
double x,y,z,w;
const ERL_NIF_TERM *tuple;
int arity;
enif_get_tuple(env, arg, &arity, &tuple);
return btTransform(get_quaternion(env,tuple[0]),get_vector(env,tuple[1]));
}
glm::mat4 Position::get_pos_mat() {
if (!updated){
if (parent_pos) {
return parent_pos->get_pos_mat()*pos_matrix;
}else{
return pos_matrix;
}
}
pos_matrix = glm::mat4(1.0f);
if(pos!=glm::vec3(0,0,0)){
pos_matrix *= glm::translate(pos);
}
if(rotated_x||rotated_y||rotated_z){
glm::quat total;
if (rotated_x) {
quat_x = get_quaternion(glm::vec3(1, 0, 0), r.x);
rotated_x=false;
}
if (rotated_y) {
quat_y = get_quaternion(glm::vec3(0, 1, 0), r.y);
//glm::mat4 rmat = glm::rotate(r.y, glm::vec3(0, 1, 0));
rotated_y=false;
}
if (rotated_z) {
quat_z = get_quaternion(glm::vec3(0, 0, 1), r.z);
rotated_z=false;
}
r_mat=glm::mat4_cast(glm::cross(glm::cross(quat_y,quat_x),quat_z));
}
if(r.x!=0.0||r.y!=0.0||r.z!=0.0){
pos_matrix *= r_mat;
}
if(scale!=glm::vec3(1,1,1)){
pos_matrix *=glm::scale(scale);
}
updated = false;
if (parent_pos) {
return parent_pos->get_pos_mat()*pos_matrix;
}else{
return pos_matrix;
}
}
glm::mat4 Position::get_rotate_mat(){
if(rotated_x||rotated_y||rotated_z){
glm::quat total;
if (rotated_x) {
quat_x = get_quaternion(glm::vec3(1, 0, 0), r.x);
rotated_x=false;
}
if (rotated_y) {
quat_y = get_quaternion(glm::vec3(0, 1, 0), r.y);
//glm::mat4 rmat = glm::rotate(r.y, glm::vec3(0, 1, 0));
rotated_y=false;
}
if (rotated_z) {
quat_z = get_quaternion(glm::vec3(0, 0, 1), r.z);
rotated_z=false;
}
r_mat=glm::mat4_cast(glm::cross(glm::cross(quat_y,quat_x),quat_z));
}
return r_mat;
}
glm::mat4 Position::gen_rotate_mat(glm::vec3 axis,float angle){
return glm::mat4_cast(get_quaternion(axis,angle));
}
