// TODO: Check if transform is right, or lefthanded and transform it accordingly, to match imported scene and scene display in FUSEE
private static TransformComponent GetXForm(Matrix4x4 transform)
{
Vector3D scaling, translation;
AsQuaternion rotation;
transform.Decompose(out scaling, out rotation, out translation);
FuQuaternion fuRot = new FuQuaternion(rotation.X, rotation.Y, rotation.Z, rotation.W);
float3 ypr = FuQuaternion.QuaternionToEuler(fuRot);
return(new TransformComponent
{
Translation = new float3(translation.X, translation.Y, translation.Z),
Rotation = ypr,
Scale = new float3(scaling.X, scaling.Y, scaling.Z)
});
}
/// <summary>
/// Sets the motor target.
/// </summary>
/// <param name="qAinB">The q ain b.</param>
/// <param name="dt">The dt.</param>
public void SetMotorTarget(Quaternion qAinB, float dt)
{
var o = (HingeConstraintImp)_hci.UserObject;
o._hci.SetMotorTarget(Translator.QuaternionToBtQuaternion(qAinB), dt);
}
/// <summary>
/// Sets the motor target in constraint space.
/// </summary>
/// <param name="q">The q.</param>
public void SetMotorTargetInConstraintSpace(Quaternion q)
{
_cti.SetMotorTargetInConstraintSpace(Translator.QuaternionToBtQuaternion(q));
}
/// <summary>
/// Sets the motor target.
/// </summary>
/// <param name="q">The q.</param>
public void SetMotorTarget(Quaternion q)
{
_cti.SetMotorTarget(Translator.QuaternionToBtQuaternion(q));
}
