Hi again,
i step into another problem. i have setup the leg, but when i apply a
rotation to any link, it seems to be, the leg is rotated around the
origin point of the scene (0,0,0). one thing, that gets me confused is,
that in my understanding it should rotated around the local coordinate
system, not the global. if not, ok, one solution would be, to translate
the object to the origin and after the rotation is applied, translate it
back. to do such an operation, i require the global translation matrix
of the given link. but when i call:
Matrix tempTrans = linkTransformNodes[1]->getToWorld();
it returns the identity matrix. any ideas how i can get the global
translation matrix?
on the other hand, i wonder if there is a way to move the pivot point of
an object to the local origin point?
another point is, that the rotation works just fine that way, when i
setup the leg with openSG primitives.
Code:
void Leg::setRotation(int n) {
TransformPtr resultTrans = linkTransform[n];
Matrix tempJ, tempR, t, r;
tempJ.setIdentity();
tempR.setIdentity();
tempTrans.setIdentity();
r.setIdentity();
if(resultTrans!=NullFC) {
tempR = resultTrans->getMatrix();
tempJ.setRotate(Quaternion(Vec3f(1,0,0),deg2rad(-45)));
tempJ.mult(tempR);
tempTrans = linkTransformNodes[n]->getToWorld();
r.inverse(tempTrans);
cout << "tx:" << t[0] << " rx:" << r[0] << endl;
cout << "tx:" << t[1] << " rx:" << r[1] << endl;
cout << "tx:" << t[2] << " rx:" << r[2] << endl;
beginEditCP(resultTrans, Transform::MatrixFieldMask);
//resultTrans->setMatrix(r);
resultTrans->setMatrix(tempJ);
endEditCP(resultTrans, Transform::MatrixFieldMask);
}
else
cout << "No rotation was set!" << endl;
}
best regards,
robin
p.s. thanks a lot, for the help with the actions, works fine now
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