//---------------------------------------------------------------------------
// setupParentToLocal
//
// Setup the matrix to perform a parent -> local transformation, given
// the position and orientation of the local reference frame within the
// parent reference frame.
//
// A very common use of this will be to construct a world -> object matrix.
// To perform this transformation, we would normally FIRST transform
// from world to inertial space, and then rotate from inertial space into
// object space. However, out 4x3 matrix always translates last. So
// we think about creating two matrices T and R, and then concatonating
// M = TR.
//
// We allow the orientation to be specified using either euler angles,
// or a RotationMatrix
public void setupParentToLocal(Vector3 pos, EulerAngles orient)
{
// Create a rotation matrix.
RotationMatrix orientMatrix = new RotationMatrix();
orientMatrix.setup(orient);
// Setup the 4x3 matrix.
setupParentToLocal(pos, orientMatrix);
}
//---------------------------------------------------------------------------
// setupLocalToParent
//
// Setup the matrix to perform a local -> parent transformation, given
// the position and orientation of the local reference frame within the
// parent reference frame.
//
// A very common use of this will be to construct a object -> world matrix.
// As an example, the transformation in this case is straightforward. We
// first rotate from object space into inertial space, then we translate
// into world space.
//
// We allow the orientation to be specified using either euler angles,
// or a RotationMatrix
public void setupLocalToParent(Vector3 pos, EulerAngles orient)
{
// Create a rotation matrix.
RotationMatrix orientMatrix = new RotationMatrix();
orientMatrix.setup(orient);
// Setup the 4x3 matrix. Note: if we were really concerned with
// speed, we could create the matrix directly into these variables,
// without using the temporary RotationMatrix object. This would
// save us a function call and a few copy operations.
setupLocalToParent(pos, orientMatrix);
}
