Converters.cpp

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//-----------------------------------------------------------------------------------
//
// Pro-Vocation Light Engine (PVLE)
// Copyright (C) 2007-2009  Sukender, KinoX & Buzib
// For more information, contact us : sukender@free.fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 3 of the License, or
// (at your option) any later version.
//
// For any use that is not compatible with the terms of the GNU 
// General Public License, please contact the authors for alternative
// licensing options.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License along
// with this program; if not, write to the Free Software Foundation, Inc.,
// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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//-----------------------------------------------------------------------------------

#include <PVLE/Physics/Converters.h>

namespace Physics {

graphMat toGraphMatInertia(const dReal * m) {
    // Warning : inertia is stored in a 4x3 matrix, not 3x3.
    return graphMat(
        m[0], m[1], m[2], 0,
        m[4], m[5], m[6], 0,
        m[8], m[9], m[10],0,
        0, 0, 0, 1);
}

graphMat toGraphMatRotation(const dReal * m) {
    graphMat matrix(
        m[0], m[1], m[2], m[3],
        m[4], m[5], m[6], m[7],
        m[8], m[9], m[10], m[11],
        0, 0, 0, 1);

    graphQuat q; matrix.get(q);
    matrix.set(q.inverse());
    return matrix;
}

graphMat toGraphMatRotationPosition(const dReal * m, const dReal * p) {
    // Invert rotation
    graphMat matrix(
        m[0], m[1], m[2], m[3],
        m[4], m[5], m[6], m[7],
        m[8], m[9], m[10], m[11],
        0, 0, 0, 1);
        //p[0], p[1], p[2], 1);

    graphQuat q; matrix.get(q);
    matrix.set(q.inverse());
    matrix.setTrans(p[0], p[1], p[2]);
    return matrix;
}


void toPhyMatRotation(const graphMat & matrix, dMatrix3 & out_matrix) {
    // Invert rotation
    graphQuat q; matrix.get(q);
    graphMat m(q.inverse());

    out_matrix[0] = m(0,0); out_matrix[1] = m(0,1); out_matrix[2] = m(0,2); out_matrix[3] = m(0,3);
    out_matrix[4] = m(1,0); out_matrix[5] = m(1,1); out_matrix[6] = m(1,2); out_matrix[7] = m(1,3);
    out_matrix[8] = m(2,0); out_matrix[9] = m(2,1); out_matrix[10] = m(2,2); out_matrix[11] = m(2,3);
}

}   // namespace Physics

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