void ComponentPhysicsGeom::drawAxes() const
{
CHECK_GL_ERROR();
glPushAttrib(GL_ALL_ATTRIB_BITS);
{
glLineWidth(2.0f);
const mat3 orientation = getOrientation();
mat4 transformation(getPosition(),
orientation.getAxisX(),
orientation.getAxisY(),
orientation.getAxisZ());
glPushMatrix();
glMultMatrixf(transformation);
glBegin(GL_LINES);
glColor4fv(red);
glVertex3fv(vec3(0,0,0));
glVertex3fv(orientation.getAxisX());
glColor4fv(green);
glVertex3fv(vec3(0,0,0));
glVertex3fv(orientation.getAxisY());
glColor4fv(blue);
glVertex3fv(vec3(0,0,0));
glVertex3fv(orientation.getAxisZ());
glEnd();
glPopMatrix();
}
glPopAttrib();
CHECK_GL_ERROR();
}
void ComponentPhysicsGeom::setOrientation(const mat3 &m)
{
dMatrix3 r;
const vec3 x = m.getAxisX().getNormal();
const vec3 y = m.getAxisY().getNormal();
const vec3 z = m.getAxisZ().getNormal();
r[0] = x.x; r[1] = x.y; r[2] = x.z; r[3] = 0.0f;
r[4] = y.x; r[5] = y.y; r[6] = y.z; r[7] = 0.0f;
r[8] = z.x; r[9] = z.y; r[10]= z.z; r[11]= 0.0f;
dGeomSetRotation(geom, r);
getParentBlackBoard().relayMessage(MessageOrientationHasBeenSet(getOrientation()));
}
