public Matrix44 calculateTransformation(javax.vecmath.Matrix4d m, ReferenceFrame asSeenBy) {
ReferenceFrame vehicle = (ReferenceFrame) getParent();
if (asSeenBy == null) {
asSeenBy = vehicle;
}
if (asSeenBy == vehicle) {
return new Matrix44(m);
} else {
javax.vecmath.Matrix4d vehicleInverse;
if (vehicle != null) {
vehicleInverse = vehicle.getInverseAbsoluteTransformation();
} else {
vehicleInverse = new javax.vecmath.Matrix4d();
vehicleInverse.setIdentity();
}
return Matrix44.multiply(
m, Matrix44.multiply(asSeenBy.getAbsoluteTransformation(), vehicleInverse));
}
}
public void setAbsoluteTransformation(javax.vecmath.Matrix4d m) {
ReferenceFrame vehicle = (ReferenceFrame) getParent();
setLocalTransformation(MathUtilities.multiply(m, vehicle.getInverseAbsoluteTransformation()));
}
