void TransformWriter::add_node_transform(COLLADASW::Node& node, float mat[4][4], float parent_mat[4][4]) { float loc[3], rot[3], scale[3]; float local[4][4]; if (parent_mat) { float invpar[4][4]; invert_m4_m4(invpar, parent_mat); mul_m4_m4m4(local, invpar, mat); } else { copy_m4_m4(local, mat); } double dmat[4][4]; UnitConverter *converter = new UnitConverter(); converter->mat4_to_dae_double(dmat, local); TransformBase::decompose(local, loc, rot, NULL, scale); if (node.getType() == COLLADASW::Node::JOINT) { // XXX Why are joints handled differently ? node.addMatrix("transform", dmat); } else { add_transform(node, loc, rot, scale); } }