Merge branch 'maint' into next

[simgear.git] / simgear / scene / model / placement.cxx

diff --git a/simgear/scene/model/placement.cxx b/simgear/scene/model/placement.cxx
index f781ab3e2b343922e2cd8c1f8d4c9a81ddec9dac..9da016ef89b13020fafda51a5fc0cfbf95a4fdaf 100644 (file)
--- a/simgear/scene/model/placement.cxx
+++ b/simgear/scene/model/placement.cxx
@@ -10,8 +10,7 @@
 #include <simgear/compiler.h>
 
 #include <simgear/scene/util/SGSceneUserData.hxx>
-
-#include "placementtrans.hxx"
+#include <simgear/scene/util/SGUpdateVisitor.hxx>
 
 #include "placement.hxx"
 
@@ -54,10 +53,12 @@ SGModelPlacement::update()
   // The orientation, composed from the horizontal local orientation and the
   // orientation wrt the horizontal local frame
   SGQuatd orient = SGQuatd::fromLonLat(_position);
-  orient *= SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
-  orient *= SGQuatd::fromYawPitchRollDeg(-_heading_deg, _pitch_deg, -_roll_deg);
-  SGMatrixd rotation(inverse(orient));
-  _transform->setTransform(position, rotation);
+  orient *= SGQuatd::fromYawPitchRollDeg(_heading_deg, _pitch_deg, _roll_deg);
+  // Convert to the scenegraph orientation where we just rotate around
+  // the y axis 180 degrees.
+  orient *= SGQuatd::fromRealImag(0, SGVec3d(0, 1, 0));
+
+  _transform->setTransform(position, orient);
 }
 
 bool
@@ -135,14 +136,22 @@ SGModelPlacement::setOrientation (const SGQuatd& orientation)
   orientation.getEulerDeg(_heading_deg, _pitch_deg, _roll_deg);
 }
 
+void
+SGModelPlacement::setReferenceTime(const double& referenceTime)
+{
+  SGSceneUserData* userData;
+  userData = SGSceneUserData::getOrCreateSceneUserData(_transform);
+  SGSceneUserData::Velocity* vel = userData->getOrCreateVelocity();
+  vel->referenceTime = referenceTime;
+}
+
 void
 SGModelPlacement::setBodyLinearVelocity(const SGVec3d& linear)
 {
   SGSceneUserData* userData;
   userData = SGSceneUserData::getOrCreateSceneUserData(_transform);
   SGSceneUserData::Velocity* vel = userData->getOrCreateVelocity();
-  SGQuatd orientation = SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
-  vel->linear = orientation.backTransform(linear);
+  vel->linear = SGVec3d(-linear[0], linear[1], -linear[2]);
 }
 
 void
@@ -151,8 +160,7 @@ SGModelPlacement::setBodyAngularVelocity(const SGVec3d& angular)
   SGSceneUserData* userData;
   userData = SGSceneUserData::getOrCreateSceneUserData(_transform);
   SGSceneUserData::Velocity* vel = userData->getOrCreateVelocity();
-  SGQuatd orientation = SGQuatd::fromAngleAxisDeg(180, SGVec3d(0, 1, 0));
-  vel->angular = orientation.backTransform(angular);
+  vel->angular = SGVec3d(-angular[0], angular[1], -angular[2]);
 }
 
 // end of model.cxx