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

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. More...

#include <btTransform.h>

List of all members.

Public Member Functions

 btTransform ()
 No initialization constructor.
SIMD_FORCE_INLINE btTransform (const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
 Constructor from btQuaternion (optional btVector3 )
SIMD_FORCE_INLINE btTransform (const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
 Constructor from btMatrix3x3 (optional btVector3)
SIMD_FORCE_INLINE btTransform (const btTransform &other)
 Copy constructor.
void deSerialize (const struct btTransformData &dataIn)
void deSerializeDouble (const struct btTransformDoubleData &dataIn)
void deSerializeFloat (const struct btTransformFloatData &dataIn)
SIMD_FORCE_INLINE btMatrix3x3getBasis ()
 Return the basis matrix for the rotation.
SIMD_FORCE_INLINE const
btMatrix3x3
getBasis () const
 Return the basis matrix for the rotation.
void getOpenGLMatrix (btScalar *m) const
 Fill an array representation.
SIMD_FORCE_INLINE btVector3 & getOrigin ()
 Return the origin vector translation.
SIMD_FORCE_INLINE const btVector3 & getOrigin () const
 Return the origin vector translation.
btQuaternion getRotation () const
 Return a quaternion representing the rotation.
btTransform inverse () const
 Return the inverse of this transform.
btTransform inverseTimes (const btTransform &t) const
 Return the inverse of this transform times the other transform.
SIMD_FORCE_INLINE btVector3 invXform (const btVector3 &inVec) const
SIMD_FORCE_INLINE void mult (const btTransform &t1, const btTransform &t2)
 Set the current transform as the value of the product of two transforms.
SIMD_FORCE_INLINE btVector3 operator() (const btVector3 &x) const
 Return the transform of the vector.
SIMD_FORCE_INLINE btVector3 operator* (const btVector3 &x) const
 Return the transform of the vector.
SIMD_FORCE_INLINE btQuaternion operator* (const btQuaternion &q) const
 Return the transform of the btQuaternion.
btTransform operator* (const btTransform &t) const
 Return the product of this transform and the other.
btTransformoperator*= (const btTransform &t)
 Multiply this Transform by another(this = this * another)
SIMD_FORCE_INLINE btTransformoperator= (const btTransform &other)
 Assignment Operator.
void serialize (struct btTransformData &dataOut) const
void serializeFloat (struct btTransformFloatData &dataOut) const
SIMD_FORCE_INLINE void setBasis (const btMatrix3x3 &basis)
 Set the rotational element by btMatrix3x3.
void setFromOpenGLMatrix (const btScalar *m)
 Set from an array.
void setIdentity ()
 Set this transformation to the identity.
SIMD_FORCE_INLINE void setOrigin (const btVector3 &origin)
 Set the translational element.
SIMD_FORCE_INLINE void setRotation (const btQuaternion &q)
 Set the rotational element by btQuaternion.

Static Public Member Functions

static const btTransformgetIdentity ()
 Return an identity transform.

Private Attributes

btMatrix3x3 m_basis
 Storage for the rotation.
btVector3 m_origin
 Storage for the translation.

Detailed Description

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 34 of file btTransform.h.


Constructor & Destructor Documentation

No initialization constructor.

Definition at line 44 of file btTransform.h.

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

Constructor from btQuaternion (optional btVector3 )

Parameters:
qRotation from quaternion
cTranslation from Vector (default 0,0,0)

Definition at line 48 of file btTransform.h.

SIMD_FORCE_INLINE btTransform::btTransform ( const btMatrix3x3 b,
const btVector3 &  c = btVector3(btScalar(0), btScalar(0), btScalar(0)) 
) [inline, explicit]

Constructor from btMatrix3x3 (optional btVector3)

Parameters:
bRotation from Matrix
cTranslation from Vector default (0,0,0)

Definition at line 57 of file btTransform.h.

Copy constructor.

Definition at line 63 of file btTransform.h.


Member Function Documentation

Definition at line 282 of file btTransform.h.

Definition at line 294 of file btTransform.h.

Definition at line 288 of file btTransform.h.

Return the basis matrix for the rotation.

Definition at line 114 of file btTransform.h.

Return the basis matrix for the rotation.

Definition at line 116 of file btTransform.h.

static const btTransform& btTransform::getIdentity ( ) [inline, static]

Return an identity transform.

Definition at line 205 of file btTransform.h.

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

Fill an array representation.

Parameters:
mA pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation

Definition at line 141 of file btTransform.h.

SIMD_FORCE_INLINE btVector3& btTransform::getOrigin ( ) [inline]

Return the origin vector translation.

Definition at line 119 of file btTransform.h.

SIMD_FORCE_INLINE const btVector3& btTransform::getOrigin ( ) const [inline]

Return the origin vector translation.

Definition at line 121 of file btTransform.h.

Return a quaternion representing the rotation.

Definition at line 124 of file btTransform.h.

btTransform btTransform::inverse ( ) const [inline]

Return the inverse of this transform.

Definition at line 190 of file btTransform.h.

Return the inverse of this transform times the other transform.

Parameters:
tThe other transform return this.inverse() * the other

Definition at line 232 of file btTransform.h.

SIMD_FORCE_INLINE btVector3 btTransform::invXform ( const btVector3 &  inVec) const

Definition at line 225 of file btTransform.h.

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

Set the current transform as the value of the product of two transforms.

Parameters:
t1Transform 1
t2Transform 2 This = Transform1 * Transform2

Definition at line 81 of file btTransform.h.

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

Return the transform of the vector.

Definition at line 94 of file btTransform.h.

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

Return the transform of the vector.

Definition at line 102 of file btTransform.h.

SIMD_FORCE_INLINE btQuaternion btTransform::operator* ( const btQuaternion q) const [inline]

Return the transform of the btQuaternion.

Definition at line 108 of file btTransform.h.

SIMD_FORCE_INLINE btTransform btTransform::operator* ( const btTransform t) const

Return the product of this transform and the other.

Definition at line 240 of file btTransform.h.

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

Multiply this Transform by another(this = this * another)

Parameters:
tThe other transform

Definition at line 182 of file btTransform.h.

SIMD_FORCE_INLINE btTransform& btTransform::operator= ( const btTransform other) [inline]

Assignment Operator.

Definition at line 69 of file btTransform.h.

SIMD_FORCE_INLINE void btTransform::serialize ( struct btTransformData dataOut) const

Definition at line 269 of file btTransform.h.

Definition at line 275 of file btTransform.h.

SIMD_FORCE_INLINE void btTransform::setBasis ( const btMatrix3x3 basis) [inline]

Set the rotational element by btMatrix3x3.

Definition at line 161 of file btTransform.h.

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

Set from an array.

Parameters:
mA pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation

Definition at line 133 of file btTransform.h.

void btTransform::setIdentity ( ) [inline]

Set this transformation to the identity.

Definition at line 174 of file btTransform.h.

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

Set the translational element.

Parameters:
originThe vector to set the translation to

Definition at line 152 of file btTransform.h.

Set the rotational element by btQuaternion.

Definition at line 167 of file btTransform.h.


Member Data Documentation

Storage for the rotation.

Definition at line 37 of file btTransform.h.

btVector3 btTransform::m_origin [private]

Storage for the translation.

Definition at line 39 of file btTransform.h.


The documentation for this class was generated from the following file:
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:33