Bullet Collision Detection & Physics Library
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The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. More...
#include <btTransform.h>
Public Member Functions | |
btTransform () | |
No initialization constructor. More... | |
btTransform (const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0))) | |
Constructor from btQuaternion (optional btVector3 ) More... | |
btTransform (const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0))) | |
Constructor from btMatrix3x3 (optional btVector3) More... | |
btTransform (const btTransform &other) | |
Copy constructor. More... | |
btTransform & | operator= (const btTransform &other) |
Assignment Operator. More... | |
void | mult (const btTransform &t1, const btTransform &t2) |
Set the current transform as the value of the product of two transforms. More... | |
btVector3 | operator() (const btVector3 &x) const |
Return the transform of the vector. More... | |
btVector3 | operator* (const btVector3 &x) const |
Return the transform of the vector. More... | |
btQuaternion | operator* (const btQuaternion &q) const |
Return the transform of the btQuaternion. More... | |
btMatrix3x3 & | getBasis () |
Return the basis matrix for the rotation. More... | |
const btMatrix3x3 & | getBasis () const |
Return the basis matrix for the rotation. More... | |
btVector3 & | getOrigin () |
Return the origin vector translation. More... | |
const btVector3 & | getOrigin () const |
Return the origin vector translation. More... | |
btQuaternion | getRotation () const |
Return a quaternion representing the rotation. More... | |
void | setFromOpenGLMatrix (const btScalar *m) |
Set from an array. More... | |
void | getOpenGLMatrix (btScalar *m) const |
Fill an array representation. More... | |
void | setOrigin (const btVector3 &origin) |
Set the translational element. More... | |
btVector3 | invXform (const btVector3 &inVec) const |
void | setBasis (const btMatrix3x3 &basis) |
Set the rotational element by btMatrix3x3. More... | |
void | setRotation (const btQuaternion &q) |
Set the rotational element by btQuaternion. More... | |
void | setIdentity () |
Set this transformation to the identity. More... | |
btTransform & | operator*= (const btTransform &t) |
Multiply this Transform by another(this = this * another) More... | |
btTransform | inverse () const |
Return the inverse of this transform. More... | |
btTransform | inverseTimes (const btTransform &t) const |
Return the inverse of this transform times the other transform. More... | |
btTransform | operator* (const btTransform &t) const |
Return the product of this transform and the other. More... | |
void | serialize (struct btTransformData &dataOut) const |
void | serializeFloat (struct btTransformFloatData &dataOut) const |
void | deSerialize (const struct btTransformData &dataIn) |
void | deSerializeDouble (const struct btTransformDoubleData &dataIn) |
void | deSerializeFloat (const struct btTransformFloatData &dataIn) |
Static Public Member Functions | |
static const btTransform & | getIdentity () |
Return an identity transform. More... | |
Private Attributes | |
btMatrix3x3 | m_basis |
Storage for the rotation. More... | |
btVector3 | m_origin |
Storage for the translation. More... | |
The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes.
Definition at line 28 of file btTransform.h.
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No initialization constructor.
Definition at line 38 of file btTransform.h.
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Constructor from btQuaternion (optional btVector3 )
q | Rotation from quaternion |
c | Translation from Vector (default 0,0,0) |
Definition at line 42 of file btTransform.h.
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inlineexplicit |
Constructor from btMatrix3x3 (optional btVector3)
b | Rotation from Matrix |
c | Translation from Vector default (0,0,0) |
Definition at line 52 of file btTransform.h.
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Copy constructor.
Definition at line 59 of file btTransform.h.
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Definition at line 268 of file btTransform.h.
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Definition at line 280 of file btTransform.h.
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Definition at line 274 of file btTransform.h.
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Return the basis matrix for the rotation.
Definition at line 108 of file btTransform.h.
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Return the basis matrix for the rotation.
Definition at line 110 of file btTransform.h.
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Return an identity transform.
Definition at line 197 of file btTransform.h.
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Fill an array representation.
m | A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation |
Definition at line 135 of file btTransform.h.
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Return the origin vector translation.
Definition at line 113 of file btTransform.h.
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Return the origin vector translation.
Definition at line 115 of file btTransform.h.
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Return a quaternion representing the rotation.
Definition at line 118 of file btTransform.h.
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Return the inverse of this transform.
Definition at line 182 of file btTransform.h.
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Return the inverse of this transform times the other transform.
t | The other transform return this.inverse() * the other |
Definition at line 222 of file btTransform.h.
Definition at line 215 of file btTransform.h.
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Set the current transform as the value of the product of two transforms.
t1 | Transform 1 |
t2 | Transform 2 This = Transform1 * Transform2 |
Definition at line 76 of file btTransform.h.
Return the transform of the vector.
Definition at line 90 of file btTransform.h.
Return the transform of the vector.
Definition at line 96 of file btTransform.h.
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Return the transform of the btQuaternion.
Definition at line 102 of file btTransform.h.
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Return the product of this transform and the other.
Definition at line 230 of file btTransform.h.
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Multiply this Transform by another(this = this * another)
t | The other transform |
Definition at line 174 of file btTransform.h.
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Assignment Operator.
Definition at line 65 of file btTransform.h.
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Definition at line 256 of file btTransform.h.
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Definition at line 262 of file btTransform.h.
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Set the rotational element by btMatrix3x3.
Definition at line 154 of file btTransform.h.
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Set from an array.
m | A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation |
Definition at line 127 of file btTransform.h.
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Set this transformation to the identity.
Definition at line 166 of file btTransform.h.
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Set the translational element.
origin | The vector to set the translation to |
Definition at line 146 of file btTransform.h.
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Set the rotational element by btQuaternion.
Definition at line 160 of file btTransform.h.
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Storage for the rotation.
Definition at line 32 of file btTransform.h.
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Storage for the translation.
Definition at line 34 of file btTransform.h.