//--------------------------------------------------------------------
// setWorldPosition()
//--------------------------------------------------------------------
void LLJoint::setWorldPosition( const LLVector3& pos )
{
if (mParent == NULL)
{
this->setPosition( pos );
return;
}
LLMatrix4a temp_matrix = getWorldMatrix();
temp_matrix.setTranslate_affine(pos);
LLMatrix4a invParentWorldMatrix = mParent->getWorldMatrix();
invParentWorldMatrix.invert();
invParentWorldMatrix.mul(temp_matrix);
LLVector3 localPos( invParentWorldMatrix.getRow<LLMatrix4a::ROW_TRANS>().getF32ptr() );
setPosition( localPos );
}
//--------------------------------------------------------------------
// setWorldRotation()
//--------------------------------------------------------------------
void LLJoint::setWorldRotation( const LLQuaternion& rot )
{
if (mParent == NULL)
{
this->setRotation( rot );
return;
}
LLMatrix4a parentWorldMatrix = mParent->getWorldMatrix();
LLQuaternion2 rota(rot);
LLMatrix4a temp_mat(rota);
LLMatrix4a invParentWorldMatrix = mParent->getWorldMatrix();
invParentWorldMatrix.setTranslate_affine(LLVector3(0.f));
invParentWorldMatrix.invert();
invParentWorldMatrix.mul(temp_mat);
setRotation(LLQuaternion(LLMatrix4(invParentWorldMatrix.getF32ptr())));
}