KX_MotionState.cpp

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/*
 * $Id: KX_MotionState.cpp 35171 2011-02-25 13:35:59Z jesterking $
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * 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 2
 * of the License, or (at your option) any later version.
 *
 * 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.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#include "KX_MotionState.h"
#include "SG_Spatial.h"

KX_MotionState::KX_MotionState(SG_Spatial* node) : m_node(node)
{

}

KX_MotionState::~KX_MotionState()
{
}

void    KX_MotionState::getWorldPosition(float& posX,float& posY,float& posZ)
{
        const MT_Point3& pos = m_node->GetWorldPosition();
        posX = pos[0];
        posY = pos[1];
        posZ = pos[2];
}

void    KX_MotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
{
        const MT_Vector3& scale = m_node->GetWorldScaling();
        scaleX = scale[0];
        scaleY = scale[1];
        scaleZ = scale[2];
}

void    KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
{
        MT_Quaternion orn = m_node->GetWorldOrientation().getRotation();
        quatIma0 = orn[0];
        quatIma1 = orn[1];
        quatIma2 = orn[2];
        quatReal = orn[3];
}
        
void    KX_MotionState::getWorldOrientation(float* ori)
{
        const MT_Matrix3x3& mat = m_node->GetWorldOrientation();
        mat.getValue(ori);
}
        
void    KX_MotionState::setWorldOrientation(const float* ori)
{
        m_node->SetLocalOrientation(ori);
}
        
void    KX_MotionState::setWorldPosition(float posX,float posY,float posZ)
{
        m_node->SetLocalPosition(MT_Point3(posX,posY,posZ));
        //m_node->SetWorldPosition(MT_Point3(posX,posY,posZ));
}

void    KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
{
        MT_Quaternion orn;
        orn[0] = quatIma0;
        orn[1] = quatIma1;
        orn[2] = quatIma2;
        orn[3] = quatReal;

        m_node->SetLocalOrientation(orn);
        //m_node->SetWorldOrientation(orn);

}

void    KX_MotionState::calculateWorldTransformations()
{
        //Not needed, will be done in KX_Scene::UpdateParents() after the physics simulation
        //bool parentUpdated = false;
        //m_node->ComputeWorldTransforms(NULL, parentUpdated);
}