sdf-loader.cpp

// Snippet from sdf-loader.cpp:
// for each line multiply existing matrix with the transformation matrix corresponding to the
// instruction in the sdf-file (a translation matrix in this case).
// Save the accumulated transformation matrix as the world transformation matrix of the object,
// i.e. use object->t_matrix for transformations

if(str3 == "translate" && iss >> int1 >> int2 >> int3)
{
  std::map<std::string,math3d::matrix>::iterator iter = transformation_list.find(str2);
  if(iter != transformation_list.end())
    t_matrix = transformation_list[str2];
  else
    t_matrix = math3d::matrix();
  transformation_list[str2] = t_matrix * math3d::make_translation(int1,int2,int3);
}