moved files around

Extras/BulletOdeCollide/BulletOdeTransformConvert.cpp

@@ -0,0 +1,39 @@
+#include "BulletOdeTransformConvert.h"
+#include "../ode/src/collision_kernel.h"
+
+SimdTransform	GetTransformFromGeom(dGeomID geom)
+{
+	SimdTransform trans;
+	trans.setIdentity();
+
+
+	const dReal* pos = dGeomGetPosition (geom);// pointer to object's position vector
+	const dReal* rot = dGeomGetRotation (geom);;		// pointer to object's rotation matrix, 4*3 format!
+	
+	SimdMatrix3x3 orn(rot[0],rot[1],rot[2],
+		rot[4],rot[5],rot[6],
+		rot[8],rot[9],rot[10]);
+
+	trans.setOrigin(SimdVector3(pos[0],pos[1],pos[2]));
+	trans.setBasis(orn);
+
+  return trans;
+}
+
+SimdTransform	GetTransformFromBody(dBodyID body)
+{
+	SimdTransform trans;
+
+	const dReal* pos = body->pos;
+	const dReal* rot = body->R;
+
+	SimdMatrix3x3 orn(rot[0],rot[1],rot[2],
+		rot[4],rot[5],rot[6],
+		rot[8],rot[9],rot[10]);
+
+	trans.setOrigin(SimdVector3(pos[0],pos[1],pos[2]));
+	trans.setBasis(orn);
+
+  return trans;
+
+}