Transform.cpp

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2022 Daniel Chappuis                                       *
*********************************************************************************
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// Libraries
#include <reactphysics3d/mathematics/Transform.h>
#include <reactphysics3d/mathematics/Matrix3x3.h>

// Namespaces
using namespace reactphysics3d;

// Set the transform from an OpenGL transform matrix
void Transform::setFromOpenGL(decimal* openglMatrix) {
    Matrix3x3 matrix(openglMatrix[0], openglMatrix[4], openglMatrix[8],
                     openglMatrix[1], openglMatrix[5], openglMatrix[9],
                     openglMatrix[2], openglMatrix[6], openglMatrix[10]);
    mOrientation = Quaternion(matrix);
    mPosition.setAllValues(openglMatrix[12], openglMatrix[13], openglMatrix[14]);
}

// Get the OpenGL matrix of the transform
void Transform::getOpenGLMatrix(decimal* openglMatrix) const {
    const Matrix3x3& matrix = mOrientation.getMatrix();
    openglMatrix[0] = matrix[0][0]; openglMatrix[1] = matrix[1][0];
    openglMatrix[2] = matrix[2][0]; openglMatrix[3] = 0.0;
    openglMatrix[4] = matrix[0][1]; openglMatrix[5] = matrix[1][1];
    openglMatrix[6] = matrix[2][1]; openglMatrix[7] = 0.0;
    openglMatrix[8] = matrix[0][2]; openglMatrix[9] = matrix[1][2];
    openglMatrix[10] = matrix[2][2]; openglMatrix[11] = 0.0;
    openglMatrix[12] = mPosition.x; openglMatrix[13] = mPosition.y;
    openglMatrix[14] = mPosition.z; openglMatrix[15] = 1.0;
}