Matrix PhysicsGeom::getTransformation(void) const
{
Matrix Transformation;
Vec3f Translation;
const dReal* t = dGeomGetOffsetPosition(_GeomID);
Translation.setValues( t[0],t[1],t[2] );
dQuaternion q;
dGeomGetOffsetQuaternion(_GeomID, q);
Quaternion Rotation;
Rotation.setValueAsQuat(q[1], q[2], q[3], q[0]);
Transformation.setTransform(Translation,Rotation);
if(isPlaceable())
{
t = dGeomGetPosition(_GeomID);
Translation.setValues( t[0],t[1],t[2] );
dGeomGetQuaternion(_GeomID, q);
Rotation.setValueAsQuat(q[1], q[2], q[3], q[0]);
Matrix NonBodyTransformation;
NonBodyTransformation.setTransform(Translation,Rotation);
Transformation.mult(NonBodyTransformation);
}
return Transformation;
}
Vec3f PObject::getPos()
{
if (isPlaceable())
{
const dReal *pos = dGeomGetPosition(geom);
return Vec3f(pos[0], pos[1], pos[2]);
}
else
return Vec3f(0,0,0);
}
bool Board::place(Entity * entity, int x, int y) {
if (!isPlaceable(entity, x, y)) {
return (false);
}
if (entity->getType() == ENEMY)
this->_onBoard->listAdd(entity);
for (int i = 0; i < 9; i++) {
for (int j = 0; j < entity->getWidth(); j++) {
if (entity->getShape()[i][j] != ' ') {
this->_board[x + i - 5][y + j - (entity->getWidth() / 2)].modify(entity, entity->getShape()[i][j], false);
}
}
}
return (true);
}
void PObject::getQuat(Quatf_t quat)
{
dReal dquat[4];
if (isPlaceable())
{
dGeomGetQuaternion(geom, dquat);
DQuatToQuatf(dquat, quat);
}
else
{
quat[0] = 0;
quat[1] = 0;
quat[2] = 0;
quat[3] = 1;
}
}
