From 66b8ca8afcd5e061955d3bad60f2dcef42fce8d6 Mon Sep 17 00:00:00 2001
From: Bruno Dilly <bdilly@profusion.mobi>
Date: Mon, 15 Oct 2012 21:53:56 +0000
Subject: [PATCH] ephysics: implement rotation quartenion getter

So it's possible to create a custom body update callback using
it with evas_map_util_quat_rotate().



SVN revision: 78010
---
 legacy/ephysics/src/lib/EPhysics.h        | 21 ++++++++++++++++++++-
 legacy/ephysics/src/lib/ephysics_body.cpp | 22 ++++++++++++++++++++++
 2 files changed, 42 insertions(+), 1 deletion(-)

diff --git a/legacy/ephysics/src/lib/EPhysics.h b/legacy/ephysics/src/lib/EPhysics.h
index dc10eb38af..04cb54e1cd 100644
--- a/legacy/ephysics/src/lib/EPhysics.h
+++ b/legacy/ephysics/src/lib/EPhysics.h
@@ -2924,6 +2924,7 @@ EAPI void ephysics_body_linear_movement_enable_get(const EPhysics_Body *body, Ei
  * @param rot_z The amount of degrees @p body is rotated on z axis.
  *
  * @see ephysics_body_rotation_set()
+ * @see ephysics_body_rotation_quaternion_get()
  *
  * @ingroup EPhysics_Body
  */
@@ -2949,6 +2950,24 @@ EAPI void ephysics_body_rotation_get(const EPhysics_Body *body, double *rot_x, d
  */
 EAPI void ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, double rot_z);
 
+/**
+ * @brief
+ * Get body's normalized rotation quaternion (x, y, z and w).
+ *
+ * @param body The physics body.
+ * @param x the x component of the imaginary part of the quaternion.
+ * @param y the y component of the imaginary part of the quaternion.
+ * @param z the z component of the imaginary part of the quaternion.
+ * @param w the w component of the real part of the quaternion.
+ *
+ * @see ephysics_body_rotation_set()
+ * @see ephysics_body_rotation_get()
+ *
+ * @ingroup EPhysics_Body
+ */
+EAPI void
+ephysics_body_rotation_quaternion_get(const EPhysics_Body *body, double *x, double *y, double *z, double *w);
+
 /**
  * @brief
  * Set data to @p body.
@@ -3169,7 +3188,7 @@ EAPI void ephysics_body_forces_clear(EPhysics_Body *body);
  *
  * If a body of width = 30, height = 20 and depth = 20, and has the center of
  * mass at x component = 20, y component = 10 and z = 10, it will return
- * @p x = 0.666, @p y = 0.5 and @z = 0.5.
+ * @p x = 0.666, @p y = 0.5 and @p z = 0.5.
  *
  * For primitive shapes, like box and circle, the center of mass
  * is (0.5, 0.5, 0.5).
diff --git a/legacy/ephysics/src/lib/ephysics_body.cpp b/legacy/ephysics/src/lib/ephysics_body.cpp
index 67617be0ff..28e7d76993 100644
--- a/legacy/ephysics/src/lib/ephysics_body.cpp
+++ b/legacy/ephysics/src/lib/ephysics_body.cpp
@@ -2611,6 +2611,28 @@ ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, doub
    ephysics_world_lock_release(body->world);
 }
 
+EAPI void
+ephysics_body_rotation_quaternion_get(const EPhysics_Body *body, double *x, double *y, double *z, double *w)
+{
+   btTransform trans;
+   btQuaternion quat;
+
+   if (!body)
+     {
+        ERR("Can't get rotation, body is null.");
+        return;
+     }
+
+   trans = _ephysics_body_transform_get(body);
+   quat = trans.getRotation();
+   quat.normalize();
+
+   if (x) *x = quat.x();
+   if (y) *y = quat.y();
+   if (z) *z = quat.z();
+   if (w) *w = -quat.w();
+}
+
 EAPI void
 ephysics_body_data_set(EPhysics_Body *body, void *data)
 {