From d5198ff4f5334791d3cfac0e313d289f5aa3b0d1 Mon Sep 17 00:00:00 2001
From: Jasper <Jaspermanousek@hotmail.com>
Date: Fri, 14 Nov 2014 15:15:29 +0100
Subject: [PATCH] Added getRotation in physics to give rotation of object back
 as 4x4Matrix

---
 physics.cc | 10 ++++++++--
 physics.hh |  4 +++-
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/physics.cc b/physics.cc
index cf030ff..f092a1d 100644
--- a/physics.cc
+++ b/physics.cc
@@ -100,9 +100,15 @@ glm::vec3 getPos(int i)
 	return save;
 }
 
-void getRotation(int i)
+glm::mat4 getRotation(int i)
 {
-	btQuaternion rotQuantrino = bodies[i]->getOrientation(); //TODO return orientation in gl format
+	btQuaternion quat = bodies[i]->getOrientation();
+
+	glm::mat4 matrix = glm::rotate(
+	    matrix,
+	    quat.getAngle(),
+	    glm::vec3(quat.getAxis().getX(), quat.getAxis().getY(), quat.getAxis().getZ())
+	);
 }
 
 void rollForward()
diff --git a/physics.hh b/physics.hh
index a52e646..97a56ca 100644
--- a/physics.hh
+++ b/physics.hh
@@ -26,6 +26,8 @@
 #include "extern/bullet/src/LinearMath/btMotionState.h"
 #include "extern/bullet/src/LinearMath/btDefaultMotionState.h"
 #include "extern/bullet/src/LinearMath/btQuaternion.h"
+#include "extern/bullet/src/LinearMath/btVector3.h"
+#include "extern/bullet/src/LinearMath/btMatrix3x3.h"
 
 class Physics {
     public:
@@ -35,7 +37,7 @@ class Physics {
 	void takeUpdateStep(float timeDiff);
 	void rollForward(glm::vec3 camPos, float strength);
 	glm::vec3 getPos(int i);
-	void getRotation(int i);
+	glm::mat4 getRotation(int i);
 	void rollForward();
 	void addTerrain(int width, int length, float** heightData);
 	void addSphere(float rad, float x, float y, float z, float mass, int indice);