inline btTransform& minko::math::toBulletTransform(minko::math::Quaternion::Ptr rotation, minko::math::Vector3::Ptr translation, btTransform& output) { btQuaternion btRotation(rotation->i(), rotation->j(), rotation->k(), rotation->r()); btVector3 btOrigin(translation->x(), translation->y(), translation->z()); output.setOrigin(btOrigin); output.setRotation(btRotation); return output; }
inline btTransform& minko::math::toBulletTransform(const minko::math::quat& rotation, const minko::math::vec3& translation, btTransform& output) { btQuaternion btRotation(rotation.x, rotation.y, rotation.z, rotation.w); btVector3 btOrigin(translation.x, translation.y, translation.z); output.setOrigin(btOrigin); output.setRotation(btRotation); return output; }