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Public Member Functions | Static Public Member Functions | Private Attributes
btTransform Class Reference

btTransform supports rigid transforms (only translation and rotation, no scaling/shear) More...

#include <btTransform.h>

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List of all members.

Public Member Functions

 btTransform ()
SIMD_FORCE_INLINE btTransform (const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
SIMD_FORCE_INLINE btTransform (const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
SIMD_FORCE_INLINE btTransform (const btTransform &other)
SIMD_FORCE_INLINE btTransformoperator= (const btTransform &other)
SIMD_FORCE_INLINE void mult (const btTransform &t1, const btTransform &t2)
SIMD_FORCE_INLINE btVector3 operator() (const btVector3 &x) const
SIMD_FORCE_INLINE btVector3 operator* (const btVector3 &x) const
SIMD_FORCE_INLINE btMatrix3x3getBasis ()
SIMD_FORCE_INLINE const
btMatrix3x3
getBasis () const
SIMD_FORCE_INLINE btVector3getOrigin ()
SIMD_FORCE_INLINE const btVector3getOrigin () const
btQuaternion getRotation () const
void setFromOpenGLMatrix (const btScalar *m)
void getOpenGLMatrix (btScalar *m) const
SIMD_FORCE_INLINE void setOrigin (const btVector3 &origin)
SIMD_FORCE_INLINE btVector3 invXform (const btVector3 &inVec) const
SIMD_FORCE_INLINE void setBasis (const btMatrix3x3 &basis)
SIMD_FORCE_INLINE void setRotation (const btQuaternion &q)
void setIdentity ()
btTransformoperator*= (const btTransform &t)
btTransform inverse () const
btTransform inverseTimes (const btTransform &t) const
btTransform operator* (const btTransform &t) const

Static Public Member Functions

static btTransform getIdentity ()

Private Attributes

btMatrix3x3 m_basis
btVector3 m_origin

Detailed Description

btTransform supports rigid transforms (only translation and rotation, no scaling/shear)

Definition at line 25 of file btTransform.h.


Constructor & Destructor Documentation

Definition at line 31 of file btTransform.h.

{}

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SIMD_FORCE_INLINE btTransform::btTransform ( const btQuaternion q,
const btVector3 c = btVector3(btScalar(0), btScalar(0), btScalar(0)) 
) [inline, explicit]

Definition at line 33 of file btTransform.h.

              : m_basis(q),
              m_origin(c)
       {}
SIMD_FORCE_INLINE btTransform::btTransform ( const btMatrix3x3 b,
const btVector3 c = btVector3(btScalar(0), btScalar(0), btScalar(0)) 
) [inline, explicit]

Definition at line 39 of file btTransform.h.

              : m_basis(b),
              m_origin(c)
       {}

Definition at line 45 of file btTransform.h.

              : m_basis(other.m_basis),
              m_origin(other.m_origin)
       {
       }

Member Function Documentation

Definition at line 84 of file btTransform.h.

{ return m_basis; }

Definition at line 85 of file btTransform.h.

{ return m_basis; }
static btTransform btTransform::getIdentity ( ) [inline, static]

Definition at line 157 of file btTransform.h.

       {
              btTransform tr;
              tr.setIdentity();
              return tr;
       }

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void btTransform::getOpenGLMatrix ( btScalar m) const [inline]

Definition at line 103 of file btTransform.h.

       {
              m_basis.getOpenGLSubMatrix(m);
              m[12] = m_origin.x();
              m[13] = m_origin.y();
              m[14] = m_origin.z();
              m[15] = btScalar(1.0);
       }

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Definition at line 87 of file btTransform.h.

{ return m_origin; }

Definition at line 88 of file btTransform.h.

{ return m_origin; }

Definition at line 90 of file btTransform.h.

                                        { 
              btQuaternion q;
              m_basis.getRotation(q);
              return q;
       }

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btTransform btTransform::inverse ( ) const [inline]

Definition at line 147 of file btTransform.h.

       { 
              btMatrix3x3 inv = m_basis.transpose();
              return btTransform(inv, inv * -m_origin);
       }

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Definition at line 179 of file btTransform.h.

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Definition at line 172 of file btTransform.h.

{
       btVector3 v = inVec - m_origin;
       return (m_basis.transpose() * v);
}

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SIMD_FORCE_INLINE void btTransform::mult ( const btTransform t1,
const btTransform t2 
) [inline]

Definition at line 59 of file btTransform.h.

                                                                                        {
                     m_basis = t1.m_basis * t2.m_basis;
                     m_origin = t1(t2.m_origin);
              }
SIMD_FORCE_INLINE btVector3 btTransform::operator() ( const btVector3 x) const [inline]

Definition at line 72 of file btTransform.h.

       {
              return btVector3(m_basis[0].dot(x) + m_origin.x(), 
                     m_basis[1].dot(x) + m_origin.y(), 
                     m_basis[2].dot(x) + m_origin.z());
       }

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SIMD_FORCE_INLINE btVector3 btTransform::operator* ( const btVector3 x) const [inline]

Definition at line 79 of file btTransform.h.

       {
              return (*this)(x);
       }
SIMD_FORCE_INLINE btTransform btTransform::operator* ( const btTransform t) const

Definition at line 187 of file btTransform.h.

{
       return btTransform(m_basis * t.m_basis, 
              (*this)(t.m_origin));
}      

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btTransform& btTransform::operator*= ( const btTransform t) [inline]

Definition at line 140 of file btTransform.h.

       {
              m_origin += m_basis * t.m_origin;
              m_basis *= t.m_basis;
              return *this;
       }
SIMD_FORCE_INLINE btTransform& btTransform::operator= ( const btTransform other) [inline]

Definition at line 51 of file btTransform.h.

       {
              m_basis = other.m_basis;
              m_origin = other.m_origin;
              return *this;
       }
SIMD_FORCE_INLINE void btTransform::setBasis ( const btMatrix3x3 basis) [inline]

Definition at line 121 of file btTransform.h.

       { 
              m_basis = basis;
       }

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void btTransform::setFromOpenGLMatrix ( const btScalar m) [inline]

Definition at line 97 of file btTransform.h.

       {
              m_basis.setFromOpenGLSubMatrix(m);
              m_origin.setValue(m[12],m[13],m[14]);
       }

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void btTransform::setIdentity ( ) [inline]

Definition at line 133 of file btTransform.h.

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SIMD_FORCE_INLINE void btTransform::setOrigin ( const btVector3 origin) [inline]

Definition at line 112 of file btTransform.h.

       { 
              m_origin = origin;
       }

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Definition at line 126 of file btTransform.h.

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Member Data Documentation

Definition at line 166 of file btTransform.h.

Definition at line 167 of file btTransform.h.


The documentation for this class was generated from the following file: