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c:/home/kevn/src/animaniac/ani/Dynamics/Convert.h

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#ifndef ANIMATION_PRIMITIVE_CONVERTERS
#define ANIMATION_PRIMITIVE_CONVERTERS

#include <gmtl/Output.h>

namespace ani
{
   inline gmtl::Matrix44f matrix( const ani::Body& body ) 
   {
      gmtl::Matrix44f trans, rot;
      gmtl::setTrans( trans, (gmtl::Vec3f)body.position() );
      gmtl::set( rot, body.rotation() );

      return trans * rot; 
   }

   inline gmtl::Matrix44f invMatrix( const ani::Body& body ) 
   {
      gmtl::Matrix44f mat( matrix( body ) );
      return gmtl::invert( mat );
   }

   inline std::vector<gmtl::Point3f> getLocalBox( const ani::Body& body )
   {
      std::vector<gmtl::Point3f> corners;
      corners.resize( 8 );
      assert( corners.size() == 8 );
      corners[0].set( 1.0f, 1.0f, 1.0f );
      corners[1].set( 1.0f, 1.0f, -1.0f );
      corners[2].set( 1.0f, -1.0f, 1.0f );
      corners[3].set( 1.0f, -1.0f, -1.0f );
      corners[4].set( -1.0f, 1.0f, 1.0f );
      corners[5].set( -1.0f, 1.0f, -1.0f );
      corners[6].set( -1.0f, -1.0f, 1.0f );
      corners[7].set( -1.0f, -1.0f, -1.0f );

      for (unsigned int x = 0; x < corners.size(); ++x)
      {
         // expand the unit cube to the volume size.
         (corners[x])[0] *= body.volume()[0];
         (corners[x])[1] *= body.volume()[1];
         (corners[x])[2] *= body.volume()[2];

         // rotate the cube.
         gmtl::xform( corners[x], body.rotation(), corners[x] );
      }
      return corners;
   }

   inline std::vector<gmtl::Point3f> getWorldBox( const ani::Body& body )
   {
      std::vector<gmtl::Point3f> corners = getLocalBox( body );
      for (unsigned int x = 0; x < corners.size(); ++x)
      {
         // translate the cube
         corners[x] += body.position();
      }
      return corners;
   }
};

#endif

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