The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. More...

#include <btTransform.h>

Collaboration diagram for btTransform:

[legend]

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

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 28 of file btTransform.h.

Constructor & Destructor Documentation

◆ btTransform() [1/4]

btTransform::btTransform ( )

inline

No initialization constructor.

Definition at line 38 of file btTransform.h.

◆ btTransform() [2/4]

btTransform::btTransform	(	const btQuaternion &	q,
		const btVector3 &	c = btVector3(btScalar(0), btScalar(0), btScalar(0)) )

inlineexplicit

Constructor from btQuaternion (optional btVector3 ).

Parameters

q	Rotation from quaternion
c	Translation from Vector (default 0,0,0)

Definition at line 42 of file btTransform.h.

◆ btTransform() [3/4]

btTransform::btTransform	(	const btMatrix3x3 &	b,
		const btVector3 &	c = btVector3(btScalar(0), btScalar(0), btScalar(0)) )

inlineexplicit

Constructor from btMatrix3x3 (optional btVector3).

Parameters

b	Rotation from Matrix
c	Translation from Vector default (0,0,0)

Definition at line 52 of file btTransform.h.

◆ btTransform() [4/4]

btTransform::btTransform ( const btTransform & other )

inline

Copy constructor.

Definition at line 59 of file btTransform.h.

Member Function Documentation

◆ deSerialize()

void btTransform::deSerialize ( const struct btTransformData & dataIn )

inline

Definition at line 268 of file btTransform.h.

◆ deSerializeDouble()

void btTransform::deSerializeDouble ( const struct btTransformDoubleData & dataIn )

inline

Definition at line 280 of file btTransform.h.

◆ deSerializeFloat()

void btTransform::deSerializeFloat ( const struct btTransformFloatData & dataIn )

inline

Definition at line 274 of file btTransform.h.

◆ getBasis() [1/2]

btMatrix3x3 & btTransform::getBasis ( )

inline

Return the basis matrix for the rotation.

Definition at line 108 of file btTransform.h.

◆ getBasis() [2/2]

const btMatrix3x3 & btTransform::getBasis ( ) const

inline

Return the basis matrix for the rotation.

Definition at line 110 of file btTransform.h.

◆ getIdentity()

const btTransform & btTransform::getIdentity ( )

inlinestatic

Return an identity transform.

Definition at line 197 of file btTransform.h.

◆ getOpenGLMatrix()

void btTransform::getOpenGLMatrix ( btScalar * m ) const

inline

Fill an array representation.

Parameters

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.

◆ getOrigin() [1/2]

btVector3 & btTransform::getOrigin ( )

inline

Return the origin vector translation.

Definition at line 113 of file btTransform.h.

◆ getOrigin() [2/2]

const btVector3 & btTransform::getOrigin ( ) const

inline

Return the origin vector translation.

Definition at line 115 of file btTransform.h.

◆ getRotation()

btQuaternion btTransform::getRotation ( ) const

inline

Return a quaternion representing the rotation.

Definition at line 118 of file btTransform.h.

◆ inverse()

btTransform btTransform::inverse ( ) const

inline

Return the inverse of this transform.

Definition at line 182 of file btTransform.h.

◆ inverseTimes()

btTransform btTransform::inverseTimes ( const btTransform & t ) const

inline

Return the inverse of this transform times the other transform.

Parameters

t	The other transform return this.inverse() * the other

Definition at line 222 of file btTransform.h.

◆ invXform()

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

inline

Definition at line 215 of file btTransform.h.

◆ mult()

void btTransform::mult	(	const btTransform &	t1,
		const btTransform &	t2 )

inline

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

Parameters

t1	Transform 1
t2	Transform 2 This = Transform1 * Transform2

Definition at line 76 of file btTransform.h.

◆ operator()()

btVector3 btTransform::operator() ( const btVector3 & x ) const

inline

Return the transform of the vector.

Definition at line 90 of file btTransform.h.

◆ operator*() [1/3]

btQuaternion btTransform::operator* ( const btQuaternion & q ) const

inline

Return the transform of the btQuaternion.

Definition at line 102 of file btTransform.h.

◆ operator*() [2/3]

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

inline

Return the product of this transform and the other.

Definition at line 230 of file btTransform.h.

◆ operator*() [3/3]

btVector3 btTransform::operator* ( const btVector3 & x ) const

inline

Return the transform of the vector.

Definition at line 96 of file btTransform.h.

◆ operator*=()

btTransform & btTransform::operator*= ( const btTransform & t )

inline

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

Parameters

t	The other transform

Definition at line 174 of file btTransform.h.

◆ operator=()

btTransform & btTransform::operator= ( const btTransform & other )

inline

Assignment Operator.

Definition at line 65 of file btTransform.h.

◆ serialize()

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

inline

Definition at line 256 of file btTransform.h.

◆ serializeFloat()

void btTransform::serializeFloat ( struct btTransformFloatData & dataOut ) const

inline

Definition at line 262 of file btTransform.h.

◆ setBasis()

void btTransform::setBasis ( const btMatrix3x3 & basis )

inline

Set the rotational element by btMatrix3x3.

Definition at line 154 of file btTransform.h.

◆ setFromOpenGLMatrix()

void btTransform::setFromOpenGLMatrix ( const btScalar * m )

inline

Set from an array.

Parameters

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.

◆ setIdentity()

void btTransform::setIdentity ( )

inline

Set this transformation to the identity.

Definition at line 166 of file btTransform.h.

◆ setOrigin()

void btTransform::setOrigin ( const btVector3 & origin )

inline

Set the translational element.

Parameters

origin The vector to set the translation to

Definition at line 146 of file btTransform.h.

◆ setRotation()

void btTransform::setRotation ( const btQuaternion & q )

inline

Set the rotational element by btQuaternion.

Definition at line 160 of file btTransform.h.

Member Data Documentation

◆ m_basis

btMatrix3x3 btTransform::m_basis

private

Storage for the rotation.

Definition at line 32 of file btTransform.h.

◆ m_origin

btVector3 btTransform::m_origin

private

Storage for the translation.

Definition at line 34 of file btTransform.h.

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

btTransform.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btTransform() [1/4]

◆ btTransform() [2/4]

◆ btTransform() [3/4]

◆ btTransform() [4/4]

Member Function Documentation

◆ deSerialize()

◆ deSerializeDouble()

◆ deSerializeFloat()

◆ getBasis() [1/2]

◆ getBasis() [2/2]

◆ getIdentity()

◆ getOpenGLMatrix()

◆ getOrigin() [1/2]

◆ getOrigin() [2/2]

◆ getRotation()

◆ inverse()

◆ inverseTimes()

◆ invXform()

◆ mult()

◆ operator()()

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=()

◆ operator=()

◆ serialize()

◆ serializeFloat()

◆ setBasis()

◆ setFromOpenGLMatrix()

◆ setIdentity()

◆ setOrigin()

◆ setRotation()

Member Data Documentation

◆ m_basis

◆ m_origin