private void UpdateTransform()
{
// ortho basis
vec3 tangent, binormal;
Geometry.OrthoBasis(vec3.UP, out tangent, out binormal);
// decompose transformation
position = node.WorldPosition - zAxis * (collisionHeight + 2.0f * CollisionRadius);
direction = MathLib.Normalize(new vec3(-node.WorldTransform.AxisZ));
// decompose direction
// in this case don't use properties
phiAngle = MathLib.Atan2(MathLib.Dot(direction, tangent), MathLib.Dot(direction, binormal)) * MathLib.RAD2DEG;
thetaAngle = MathLib.Acos(MathLib.Clamp(MathLib.Dot(direction, vec3.UP), -1.0f, 1.0f)) * MathLib.RAD2DEG - 90.0f;
// object transformation
playerBody.WorldTransform = GetBodyTransform();
// set camera
camera.Modelview = GetModelview();
}