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btTransform Class Reference

#include <btTransform.h>

List of all members.

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 26 of file btTransform.h.

Public Member Functions

SIMD_FORCE_INLINE btTransform (const btTransform &other)
 Copy constructor.
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 btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
 Constructor from btQuaternion (optional btVector3 ).
 btTransform ()
 No initialization constructor.
getBasis () const
 Return the basis matrix for the rotation.
SIMD_FORCE_INLINE btMatrix3x3getBasis ()
 Return the basis matrix for the rotation.
void getOpenGLMatrix (btScalar *m) const
 Fill an array representation.
SIMD_FORCE_INLINE const btVector3 & getOrigin () const
 Return the origin vector translation.
SIMD_FORCE_INLINE btVector3 & getOrigin ()
 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.
btTransform operator* (const btTransform &t) const
 Return the product of this transform and the other.
SIMD_FORCE_INLINE btQuaternion operator* (const btQuaternion &q) const
 Return the transform of the btQuaternion.
SIMD_FORCE_INLINE btVector3 operator* (const btVector3 &x) const
 Return the transform of the vector.
btTransformoperator*= (const btTransform &t)
 Multiply this Transform by another(this = this * another).
SIMD_FORCE_INLINE btTransformoperator= (const btTransform &other)
 Assignment Operator.
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.

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

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