src/SimTKBindings/SceneGeneratorNew.cpp
// get modelspace to worldspace xform for a given decorative element
get modelspace to worldspace xform for a given decorative element
get modelspace to worldspace xform for a given decorative element
static glm::mat4 geomXform(SimTK::SimbodyMatterSubsystem const& matter, SimTK::State const& state, SimTK::DecorativeGeometry const& g) {
    SimTK::MobilizedBody const& mobod = matter.getMobilizedBody(SimTK::MobilizedBodyIndex(g.getBodyId()));
    glm::mat4 ground2body = SimTKMat4x4FromTransform(mobod.getBodyTransform(state));
    glm::mat4 body2decoration = SimTKMat4x4FromTransform(g.getTransform());
    return ground2body * body2decoration;
}
static glm :: mat4 geomXform ( SimTK :: SimbodyMatterSubsystem const & matter , SimTK :: State const & state , SimTK :: DecorativeGeometry const & g ) { SimTK :: MobilizedBody const & mobod = matter . getMobilizedBody ( SimTK :: MobilizedBodyIndex ( g . getBodyId ( ) ) ) ; glm :: mat4 ground2body = SimTKMat4x4FromTransform ( mobod . getBodyTransform ( state ) ) ; glm :: mat4 body2decoration = SimTKMat4x4FromTransform ( g . getTransform ( ) ) ; return ground2body * body2decoration ; }
get modelspace to worldspace xform for a given decorative element
get modelspace to worldspace xform for a given decorative element