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/home/rdbrown/doxygen/cse125g1/src/modules/actor/Joint.cpp

#include "Joint.h"
#include "opengl.h"

void BallJoint::Update()
{
        //Matrix34 offs, rotate;
        Vector3 dofs(x.GetVal(),y.GetVal(),z.GetVal());

        local.FromEulers(dofs, Matrix34::EULER_XYZ);
//      local.d.Set(offset.x,offset.y,offset.z);
        //offs.d.Set(offset.x,offset.y,offset.z);

        //local.Dot(offs, rotate);

        if(parent != NULL)
                world.Dot(local, (parent->world));
        else
                world.Dot(local, world);

        for(unsigned int i = 0; i < childObjects.size(); i++)
                childObjects[i]->Update();
}

void BallJoint::Draw()
{
        glPushMatrix();
        glMultMatrixf(world);
        glutWireCube(0.3);
        glPopMatrix();
}
void BallJoint::AttachObject(BallJoint *newObject)
{
        childObjects.push_back(newObject);
        newObject->parent = this;
        //newObject->local.d.Subtract(world.d,newObject->world.d);
        // get the local matrix for the new object by transforming
        // its world matrix into bone space
        //Matrix34 transInto = world;
        //transInto.Inverse();
        //newObject->local.Dot(newObject->world,transInto);
}

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