Re: [Pyode-user] simpler rotation return type?

[Matthias B. <ba...@ir...>]

brett hartshorn wrote:
> body.getRotation() seems to return a long list of values that must be carefully mapped to a
> matrix.  Is there a way to get a simpler value like a vector or quat of a body's rotation?  I'm
> following tutorial3.py here is how its getting and setting rotation.
> 
>     R = body.getRotation()
>     T = mat4()
>     T[0,0] = R[0]
>     T[0,1] = R[1]
>     T[0,2] = R[2]
>     T[1,0] = R[3]
>     T[1,1] = R[4]
>     T[1,2] = R[5]
>     T[2,0] = R[6]
>     T[2,1] = R[7]
>     T[2,2] = R[8]
>     T[3] = (x,y,z,1.0)

Well, the code could actually be a bit shorter:

     R = body.getRotation()
     T = mat4()
     T.setMat3(mat3(R))
     T[3] = (x,y,z,1.0)

You could also call getQuaternion() on the body, but to my knowledge 
OpenGL has no function that allows you to specify a rotation as a 
quaternion. That's why a 4x4 matrix is constructed from the 3x3 rotation 
matrix and the translation vector.

- Matthias -