void
Matrix4x4::decompose(Vector3::Ptr translation,
Quaternion::Ptr rotation,
Vector3::Ptr scaling) const
{
static auto matrixR = Matrix4x4::create();
decomposeQR(rotation, matrixR);
const std::vector<float>& matR = matrixR->_m;
scaling->setTo(matR[0], matR[5], matR[10]);
#ifdef DEBUG
if (fabsf(matR[1]) > 1e-3f || fabsf(matR[2]) > 1e-3f || fabsf(matR[6]) > 1e-3f)
std::cout << "Warning: Matrix decomposition assumes the following composition order : scaling, rotation, and translation." << std::endl;
#endif // DEBUG
translation->setTo(_m[3], _m[7], _m[11]);
}
Vector3::Ptr
bullet::PhysicsWorld::getColliderAngularVelocity(Collider::ConstPtr collider,
Vector3::Ptr output) const
{
if (output == nullptr)
output = Vector3::create(0.0f, 0.0f, 0.0f);
auto foundColliderIt = _colliderMap.find(std::const_pointer_cast<Collider>(collider));
if (foundColliderIt == _colliderMap.end())
return output;
auto rigidBody = foundColliderIt->second->rigidBody();
auto vec = rigidBody->getAngularVelocity();
return output->setTo(vec.x(), vec.y(), vec.z());
}
inline
void
copyTranslation(Vector3::Ptr t)
{
t->setTo(_m[3], _m[7], _m[11]);
}