void TransformManipulator::attachTo(BaseTransform * subject)
{
m_subject = subject;
setTranslation(subject->translation());
setRotationAngles(subject->rotationAngles());
setParent(subject->parent());
}
void TransformManipulator::spin(const Vector3F & d)
{
Matrix44F ps;
parentSpace(ps);
Matrix44F invps = ps;
invps.inverse();
const Vector3F worldP = ps.transform(translation());
const Vector3F rotUp = ps.transformAsNormal(hitPlaneNormal());
Vector3F toa = m_currentPoint - worldP;
Vector3F tob = toa + d;
toa.normalize();
tob.normalize();
float ang = toa.angleBetween(tob, toa.cross(rotUp).reversed());
Vector3F angles;
if(m_rotateAxis == AY) angles.set(0.f, ang, 0.f);
else if(m_rotateAxis == AZ) angles.set(0.f, 0.f, ang);
else angles.set(ang, 0.f, 0.f);
m_subject->rotate(angles);
setRotationAngles(m_subject->rotationAngles());
}
void ModelQuadruped::render(float f, float f1, float f2, float f3, float f4, float f5)
{
setRotationAngles(f, f1, f2, f3, f4, f5);
head.render(f5);
body.render(f5);
leg1.render(f5);
leg2.render(f5);
leg3.render(f5);
leg4.render(f5);
}
void BaseTransform::rotate(const Vector3F & v)
{
Vector3F v1 = m_angles + v * m_rotateDOF;
setRotationAngles(v1);
}