| 245 | } |
| 246 | |
| 247 | void IKController::Joint::UpdateWorldRT() |
| 248 | { |
| 249 | Spatial const* parent = object->GetParent(); |
| 250 | auto const& olxfrm = object->localTransform; |
| 251 | auto& owxfrm = object->worldTransform; |
| 252 | |
| 253 | if (parent) |
| 254 | { |
| 255 | auto const& pwxfrm = parent->worldTransform; |
| 256 | owxfrm.SetRotation(pwxfrm.GetRotation() * olxfrm.GetRotation()); |
| 257 | owxfrm.SetTranslation(pwxfrm * olxfrm.GetTranslationW1()); |
| 258 | } |
| 259 | else |
| 260 | { |
| 261 | owxfrm.SetRotation(olxfrm.GetRotation()); |
| 262 | owxfrm.SetTranslation(olxfrm.GetTranslation()); |
| 263 | } |
| 264 | } |
| 265 | |
| 266 | Vector3<float> IKController::Joint::GetAxis(int32_t axis) |
| 267 | { |
no test coverage detected