Hello world to D3D help

[David Carson]

I'm implementing Bullet Physics into a D3D Engine I've been working on for a while. All my geo's nodes have a D3DXVECTOR3 position and rotation member. I'm getting the position like this:

btVector3 btPosition = trans.getOrigin();
cSTATIC_NODE::SetPosition((D3DXVECTOR3*)&btPosition);

works great.

now how do I do this:

btQuaternion btQuat = trans.getRotation();
cSTATIC_NODE::SetRotation((D3DXVECTOR3*)& ?????)

I'm not ready to convert my engine to quaternions yet, so any help with my meager math skills would be appreciated.

[Erwin Coumans]

Can you deal with a 3x3 rotation matrix? If so, please use trans.getBasis();

Cheers,
Erwin

[David Carson]

Thanks!
Here's the code I implemented. I think it's working!

btScalar yaw;
btScalar pitch;
btScalar roll;

btMatrix3x3 btMatrix = trans.getBasis();
btMatrix.getEulerZYX(yaw, pitch, roll);

cSTATIC_NODE::SetRotation(&D3DXVECTOR3(pitch, yaw, roll));

[adam4813]

I am using the suggested code snippet, however I seem to be rotating about the X axis instead of the y. My code to set the rotation was borrowed and modified from the Character Demo:

Code: Select all

	void SetRotation(float yaw, float pitch, float roll) {	
		btTransform xform;
		this->colBody->getMotionState()->getWorldTransform(xform);

		xform.setRotation(btQuaternion(yaw, pitch, roll));
		this->colBody->getMotionState()->setWorldTransform(xform);
		this->colBody->setCenterOfMassTransform(xform);
	}

Where yaw, pitch, roll are rotations about the Y,X,Z axis respectively, and colBody is an already initialized btRigidBody.