public void getOrientation(float[] angleAxis) {
if (angleAxis == null) throw new NullPointerException("angleAxis can not be null");
if (angleAxis.length < 4) throw new IllegalArgumentException("length must be greater than 3");
float[] m = new float[16];
orientation.get(m);
Vector3 axis = new Vector3(m[6] - m[9], m[8] - m[2], m[1] - m[4]);
axis.normalize();
float angle = (float) StrictMath.acos(0.5 * (m[0] + m[5] + m[10] - 1));
angleAxis[0] = angle;
angleAxis[1] = axis.x;
angleAxis[2] = axis.y;
angleAxis[3] = axis.z;
// TODO: Handle singularities for angle = 0 and angle = 180 degrees
}
public void getCompositeTransform(Transform transform) {
if (transform == null) throw new NullPointerException("transform can not be null");
// transform = T R S M
// Combine translation and rotation (TR)
float[] m = new float[16];
orientation.get(m);
m[3] = translation.x;
m[7] = translation.y;
m[11] = translation.z;
transform.set(m);
// Apply scale (S)
transform.postScale(scale.x, scale.y, scale.z);
// Apply custom (M)
transform.postMultiply(this.transform);
}