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);
    }
}
void TransformWriter::add_node_transform_ob(COLLADASW::Node& node, Object *ob)
{
#if 0
	float rot[3], loc[3], scale[3];

	if (ob->parent) {
		float C[4][4], tmat[4][4], imat[4][4], mat[4][4];

		// factor out scale from obmat

		copy_v3_v3(scale, ob->size);

		ob->size[0] = ob->size[1] = ob->size[2] = 1.0f;
		BKE_object_to_mat4(ob, C);
		copy_v3_v3(ob->size, scale);

		mul_serie_m4(tmat, ob->parent->obmat, ob->parentinv, C, NULL, NULL, NULL, NULL, NULL);

		// calculate local mat

		invert_m4_m4(imat, ob->parent->obmat);
		mult_m4_m4m4(mat, imat, tmat);

		// done

		mat4_to_eul(rot, mat);
		copy_v3_v3(loc, mat[3]);
	}
	else {
		copy_v3_v3(loc, ob->loc);
		copy_v3_v3(rot, ob->rot);
		copy_v3_v3(scale, ob->size);
	}

	add_transform(node, loc, rot, scale);
#endif

	/* Using parentinv should allow use of existing curves */
	if (ob->parent) {
		// If parentinv is identity don't add it.
		bool add_parinv = false;

		for (int i = 0; i < 16; ++i) {
			float f = (i % 4 == i / 4) ? 1.0f : 0.0f;
			add_parinv |= (ob->parentinv[i % 4][i / 4] != f);
		}

		if (add_parinv) {
			double dmat[4][4];
			UnitConverter converter;
			converter.mat4_to_dae_double(dmat, ob->parentinv);
			node.addMatrix("parentinverse", dmat);
		}
	}

	add_transform(node, ob->loc, ob->rot, ob->size);
}