btTransform.h File Reference

#include "btMatrix3x3.h"

Go to the source code of this file.

Classes
struct	btTransformFloatData
	for serialization More...
struct	btTransformDoubleData

Macros
#define	btTransformData   btTransformFloatData

Functions
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.
SIMD_FORCE_INLINE btTransform &	operator= (const btTransform &other)
	Assignment Operator.
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.
SIMD_FORCE_INLINE btMatrix3x3 &	getBasis ()
	Return the basis matrix for the rotation.
SIMD_FORCE_INLINE btVector3 &	getOrigin ()
	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.
SIMD_FORCE_INLINE void	setOrigin (const btVector3 &origin)
	Set the translational element.
SIMD_FORCE_INLINE btVector3	invXform (const btVector3 &inVec) const
SIMD_FORCE_INLINE void	setBasis (const btMatrix3x3 &basis)
	Set the rotational element by btMatrix3x3.
SIMD_FORCE_INLINE 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.
static const btTransform &	getIdentity ()
	Return an identity transform.
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)
SIMD_FORCE_INLINE bool	operator== (const btTransform &t1, const btTransform &t2)
	Test if two transforms have all elements equal.

Variables
	btTransform
	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.
btVector3	m_origin
	Storage for the translation.

Macro Definition Documentation

btTransformData

#define btTransformData   btTransformFloatData

Definition at line 23 of file btTransform.h.

Referenced by deSerialize(), and serialize().

Function Documentation

btTransform() [1/3]

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

explicit

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.

References b, btMatrix3x3, btVector3, m_origin, and SIMD_FORCE_INLINE.

btTransform() [2/3]

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

explicit

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.

References btVector3, m_origin, and SIMD_FORCE_INLINE.

btTransform() [3/3]

SIMD_FORCE_INLINE btTransform

(

const btTransform &

other

)

Copy constructor.

Definition at line 59 of file btTransform.h.

References btTransform, m_origin, and SIMD_FORCE_INLINE.

deSerialize()

void deSerialize

(

const struct btTransformData &

dataIn

)

References btTransformData.

deSerializeDouble()

void deSerializeDouble

(

const struct btTransformDoubleData &

dataIn

)

deSerializeFloat()

void deSerializeFloat

(

const struct btTransformFloatData &

dataIn

)

getBasis()

SIMD_FORCE_INLINE const btMatrix3x3 & getBasis

(

)

Return the basis matrix for the rotation.

Definition at line 108 of file btTransform.h.

References btMatrix3x3, and SIMD_FORCE_INLINE.

Referenced by btHingeConstraint().

getIdentity()

const btTransform & getIdentity ( )

static

Return an identity transform.

Definition at line 197 of file btTransform.h.

References btTransform.

getOpenGLMatrix()

void getOpenGLMatrix

(

btScalar *

m

)

const

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.

References m_origin.

getOrigin()

SIMD_FORCE_INLINE const btVector3 & getOrigin

(

)

Return the origin vector translation.

Definition at line 113 of file btTransform.h.

References btVector3, m_origin, and SIMD_FORCE_INLINE.

Referenced by btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(), btConvexConvexAlgorithm::calculateTimeOfImpact(), btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(), and Freestyle::ViewMapBuilder::FindOccludee().

getRotation()

btQuaternion getRotation

(

)

const

Return a quaternion representing the rotation.

Definition at line 118 of file btTransform.h.

Referenced by operator*(), and setUpVector().

inverse()

btTransform inverse

(

)

const

Return the inverse of this transform.

Return the inverse of the matrix.

Definition at line 182 of file btTransform.h.

References btMatrix3x3, btTransform, and m_origin.

inverseTimes()

SIMD_FORCE_INLINE btTransform btTransform::inverseTimes

(

const btTransform &

t

)

const

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.

References btTransform, btVector3, m_origin, and v.

invXform()

SIMD_FORCE_INLINE btVector3 btTransform::invXform

(

const btVector3 &

inVec

)

const

Definition at line 215 of file btTransform.h.

References btVector3, m_origin, and v.

mult()

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

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.

References btTransform, m_origin, and SIMD_FORCE_INLINE.

Referenced by blender::io::usd::dome_light_to_world_material(), and mathutils_array_hash().

operator()()

SIMD_FORCE_INLINE btVector3 operator()

(

const btVector3 &

x

)

const

Return the transform of the vector.

Definition at line 90 of file btTransform.h.

References btVector3, m_origin, SIMD_FORCE_INLINE, and x.

Referenced by ATTR_NONNULL(), get_gizmo_group_type_map(), get_gizmo_type_map(), get_list_type_map(), get_menu_type_map(), get_operators_map(), get_panel_type_map(), predictPositionsMultiDof(), btMultiBodyDynamicsWorld::solveExternalForces(), stepPositionsMultiDof(), blender::tests::TEST(), and blender::tests::TEST().

operator*() [1/3]

SIMD_FORCE_INLINE btQuaternion operator*

(

const btQuaternion &

q

)

const

Return the transform of the btQuaternion.

Definition at line 102 of file btTransform.h.

References getRotation(), and SIMD_FORCE_INLINE.

operator*() [2/3]

btTransform operator*

(

const btTransform &

t

)

const

Return the product of this transform and the other.

References btTransform.

operator*() [3/3]

SIMD_FORCE_INLINE btVector3 operator*

(

const btVector3 &

x

)

const

Return the transform of the vector.

Definition at line 96 of file btTransform.h.

References btVector3, SIMD_FORCE_INLINE, and x.

operator*=()

btTransform & operator*=

(

const btTransform &

t

)

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

Parameters

t	The other transform

Definition at line 174 of file btTransform.h.

References btTransform, and m_origin.

operator=()

SIMD_FORCE_INLINE btTransform & operator=

(

const btTransform &

other

)

Assignment Operator.

Definition at line 65 of file btTransform.h.

References btTransform, m_origin, and SIMD_FORCE_INLINE.

operator==()

SIMD_FORCE_INLINE bool operator==	(	const btTransform &	t1,
		const btTransform &	t2 )

Test if two transforms have all elements equal.

Definition at line 237 of file btTransform.h.

References btTransform, and SIMD_FORCE_INLINE.

serialize()

void serialize

(

struct btTransformData &

dataOut

)

const

References btTransformData.

serializeFloat()

void serializeFloat

(

struct btTransformFloatData &

dataOut

)

const

setBasis()

SIMD_FORCE_INLINE void setBasis

(

const btMatrix3x3 &

basis

)

Set the rotational element by btMatrix3x3.

Definition at line 154 of file btTransform.h.

References btMatrix3x3, and SIMD_FORCE_INLINE.

setFromOpenGLMatrix()

void setFromOpenGLMatrix

(

const btScalar *

m

)

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.

References m_origin.

setIdentity()

void setIdentity

(

)

Set this transformation to the identity.

Definition at line 166 of file btTransform.h.

References m_origin.

setOrigin()

SIMD_FORCE_INLINE void setOrigin

(

const btVector3 &

origin

)

Set the translational element.

Parameters

origin

The vector to set the translation to

Definition at line 146 of file btTransform.h.

References btVector3, m_origin, and SIMD_FORCE_INLINE.

setRotation()

SIMD_FORCE_INLINE void setRotation

(

const btQuaternion &

q

)

Set the rotational element by btQuaternion.

Definition at line 160 of file btTransform.h.

References SIMD_FORCE_INLINE.

Variable Documentation

btTransform

btTransform

Initial value:

{
    
    btMatrix3x3 m_basis

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.

No initialization constructor.

Definition at line 29 of file btTransform.h.

Referenced by addChildShape(), btGImpactCompoundShape::addChildShape(), btCollisionWorld::addCollisionObject(), btSoftBody::appendDeformableAnchor(), btSoftBody::appendDeformableAnchor(), GIM_TRIANGLE::apply_transform(), btPrimitiveTriangle::applyTransform(), btTriangleShapeEx::applyTransform(), appy_transform(), GIM_AABB::appy_transform(), b2CollidePolygons(), btGImpactBvh::boxQueryTrans(), btGImpactQuantizedBvh::boxQueryTrans(), GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, _GIM_BOX_TREE_PROTOTYPE >::boxQueryTrans(), BT_DECLARE_ALIGNED_ALLOCATOR(), btAdjustInternalEdgeContacts(), btCollisionObjectWrapper::btCollisionObjectWrapper(), btCollisionObjectWrapper::btCollisionObjectWrapper(), btCompareTransformsEqual(), btComputeGjkEpaPenetration(), btComputeSupport(), btConeTwistConstraint(), btConeTwistConstraint(), btCreateCompoundFromGimpactShape(), btDefaultMotionState(), btGeneric6DofConstraint(), btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btGeneric6DofSpring2Constraint(), btGeneric6DofSpringConstraint(), btGeneric6DofSpringConstraint(), btHinge2Constraint(), btHingeAccumulatedAngleConstraint(), btHingeAccumulatedAngleConstraint(), btHingeConstraint(), btHingeConstraint(), btPerturbedContactResult::btPerturbedContactResult(), btSingleSweepCallback::btSingleSweepCallback(), btSliderConstraint(), btSliderConstraint(), btTransform(), btTransformAabb(), btTransformAabb(), btTriangleConvexcastCallback::btTriangleConvexcastCallback(), btUniversalConstraint(), calc_from_full_invert(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_full_invert(), calc_from_homogenic(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_homogenic(), calcAngleInfo2(), btConvexPenetrationDepthSolver::calcPenDepth(), btGjkEpaPenetrationDepthSolver::calcPenDepth(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), btContinuousConvexCollision::calcTimeOfImpact(), btConvexCast::calcTimeOfImpact(), btGjkConvexCast::calcTimeOfImpact(), btSubsimplexConvexCast::calcTimeOfImpact(), btTransformUtil::calculateDiffAxisAngle(), calculateJacobi(), calculateLocalInertia(), calculatePrincipalAxisTransform(), calculatePrincipalAxisTransform(), calculateTemporalAabb(), btCompoundCollisionAlgorithm::calculateTimeOfImpact(), btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(), calculateTransforms(), btTransformUtil::calculateVelocity(), capsuleCapsuleDistance(), btSoftBody::checkContact(), btSoftBody::checkDeformableContact(), btSoftBody::checkDeformableFaceContact(), btPolyhedralContactClipping::clipFaceAgainstHull(), btPolyhedralContactClipping::clipHullAgainstHull(), btGImpactCollisionAlgorithm::collide_sat_triangles(), btConvexPlaneCollisionAlgorithm::collideSingleContact(), btCollisionWorldImporter::convertAllObjects(), btCollisionWorldImporter::convertCollisionShape(), btCollisionWorld::convexSweepTest(), convexSweepTest(), btCollisionWorldImporter::createCollisionObject(), createPredictiveContactsInternal(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), DebugDrawcallback::DebugDrawcallback(), debugDrawConstraint(), btCollisionWorld::debugDrawObject(), btMultiBodyDynamicsWorld::debugDrawWorld(), btSoftBody::defaultCollisionHandler(), btGjkEpaSolver2::Distance(), btSparseSdf< CELLSIZE >::DistanceToShape(), btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftColliders::CollideSDF_RS::DoNode(), btIDebugDraw::drawBox(), btIDebugDraw::drawCapsule(), btIDebugDraw::drawCone(), btConvexCast::CastResult::drawCoordSystem(), btIDebugDraw::drawCylinder(), btIDebugDraw::drawPlane(), btIDebugDraw::drawSphere(), btIDebugDraw::drawSphere(), btIDebugDraw::drawTransform(), EdgeSeparation(), btGImpactBvh::find_collision(), btGImpactQuantizedBvh::find_collision(), GIM_TREE_TREE_COLLIDER< BOX_SET_CLASS0, BOX_SET_CLASS1 >::find_collision(), FindIncidentEdge(), FindMaxSeparation(), btPolyhedralContactClipping::findSeparatingAxis(), get_limit_motor_info2(), get_limit_motor_info2(), btPlaneShape::get_plane_equation_transformed(), btGImpactCompoundShape::CompoundPrimitiveManager::get_primitive_box(), GIM_TRIANGLE::get_triangle_transform(), btConvexInternalAabbCachingShape::getAabb(), btGImpactShapeInterface::getAabb(), btPolyhedralConvexAabbCachingShape::getAabb(), btSdfCollisionShape::getAabb(), btSoftBodyCollisionShape::getAabb(), btSoftClusterCollisionShape::getAabb(), btTriangleShapeEx::getAabb(), getAabb(), getAabbNonVirtual(), getAabbSlow(), getAabbSlow(), getAFrame(), getBaseWorldTransform(), getBFrame(), getBoundingSphere(), getCalculatedTransformA(), getCalculatedTransformB(), btRigidBody::getCenterOfMassTransform(), btRaycastVehicle::getChassisWorldTransform(), btGImpactCompoundShape::getChildAabb(), btGImpactMeshShape::getChildAabb(), btGImpactShapeInterface::getChildAabb(), btGImpactCompoundShape::getChildTransform(), btGImpactMeshShape::getChildTransform(), btGImpactMeshShapePart::getChildTransform(), btGImpactShapeInterface::getChildTransform(), getChildTransform(), btBoxBoxDetector::getClosestPoints(), SphereTriangleDetector::getClosestPoints(), btGjkPairDetector::getClosestPointsNonVirtual(), btRaycastVehicle::getForwardVector(), getFrameOffsetA(), getFrameOffsetA(), getFrameOffsetB(), getFrameOffsetB(), getHingeAngle(), getIdentity(), getInfo2(), getInfo2Internal(), getInfo2InternalUsingFrameOffset(), getInfo2NonVirtual(), getInfo2NonVirtual(), getInfo2NonVirtual(), getInfo2NonVirtual(), getInfo2NonVirtual(), getInterpolationWorldTransform(), btConvexInternalAabbCachingShape::getNonvirtualAabb(), btPolyhedralConvexAabbCachingShape::getNonvirtualAabb(), btSoftBody::getRigidTransform(), btSphereBoxCollisionAlgorithm::getSphereDistance(), getTransformA(), GetTransformB(), btRaycastVehicle::getWheelTransformWS(), btCollisionObjectWrapper::getWorldTransform(), btMotionState::getWorldTransform(), getWorldTransform(), getWorldTransform(), getWorldTransform(), gim_inertia_add_transformed(), btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_concave(), btGImpactCollisionAlgorithm::gimpact_vs_gimpact(), btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(), btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(), gjkepa2_impl::Initialize(), btConvexSeparatingDistanceUtil::initSeparatingDistance(), btTransformUtil::integrateTransform(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), btSimpleDynamicsWorld::integrateTransforms(), integrateTransformsInternal(), MyInternalTriangleIndexCallback::internalProcessTriangleIndex(), inverse(), inverseTimes(), make_constraint_transforms(), mult(), MycollideTT(), MyIntersect(), btCollisionWorld::objectQuerySingle(), btCollisionWorld::objectQuerySingleInternal(), operator*(), operator*=(), operator=(), operator==(), GIM_AABB::overlapping_trans_conservative(), overlapping_trans_conservative(), btGjkEpaSolver2::Penetration(), btDeformableMultiBodyDynamicsWorld::positionCorrection(), btRigidBody::predictIntegratedTransform(), btRigidBody::proceedToTransform(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), btCompoundCollisionAlgorithm::processCollision(), btCompoundCompoundCollisionAlgorithm::processCollision(), btConvexConvexAlgorithm::processCollision(), btConvexPlaneCollisionAlgorithm::processCollision(), btSoftBodyTriangleCallback::processTriangle(), project(), btSoftBody::PSolve_Anchors(), btCollisionWorld::rayTestSingle(), btDeformableMultiBodyDynamicsWorld::rayTestSingle(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), btSoftRigidDynamicsWorld::rayTestSingle(), btCollisionWorld::rayTestSingleInternal(), RB_body_get_transform_matrix(), RB_body_new(), RB_body_set_loc_rot(), RB_body_set_mass(), RB_compound_add_child_shape(), RB_constraint_new_6dof(), RB_constraint_new_6dof_spring(), RB_constraint_new_6dof_spring2(), RB_constraint_new_fixed(), RB_constraint_new_hinge(), RB_constraint_new_motor(), RB_constraint_new_piston(), RB_constraint_new_slider(), RB_world_convex_sweep_test(), recalcLocalAabb(), recoverFromPenetration(), btCollisionWorld::refreshBroadphaseProxy(), refreshContactPoints(), btSoftBody::rotate(), setAngularLimits(), setAxis(), setBaseWorldTransform(), btRigidBody::setCenterOfMassTransform(), btGImpactCompoundShape::setChildTransform(), btGImpactMeshShape::setChildTransform(), btGImpactMeshShapePart::setChildTransform(), btGImpactShapeInterface::setChildTransform(), setFrames(), setInterpolationWorldTransform(), setLinearLimits(), setParam(), btSoftBodyTriangleCallback::setTimeStepAndCounters(), setTransformA(), setTransformB(), setUpVector(), btMotionState::setWorldTransform(), setWorldTransform(), setWorldTransform(), setWorldTransform(), btGjkEpaSolver2::SignedDistance(), btGjkEpaSolver2::SignedDistance(), solveConstraintObsolete(), stepDown(), stepForwardAndStrafe(), stepUp(), SupportVertexCallback::SupportVertexCallback(), synchronizeSingleMotionState(), testAngularLimitMotor(), testLimit(), TestSepAxis(), btSoftBody::transform(), btSoftBody::transformTo(), btSoftBody::translate(), btCollisionWorld::updateAabbs(), btSimpleDynamicsWorld::updateAabbs(), updateChildTransform(), updateCollisionObjectInterpolationWorldTransforms(), updateCollisionObjectWorldTransforms(), btRaycastVehicle::updateFriction(), updateRHS(), btConvexSeparatingDistanceUtil::updateSeparatingDistance(), btRaycastVehicle::updateVehicle(), btRaycastVehicle::updateWheelTransformsWS(), writebackVelocityAndTransform(), and btSoftBody::Body::xform().

m_origin

btVector3 m_origin

Storage for the translation.

Definition at line 34 of file btTransform.h.

Referenced by btTransform(), btTransform(), btTransform(), getOpenGLMatrix(), getOrigin(), inverse(), inverseTimes(), invXform(), mult(), operator()(), operator*=(), operator=(), setFromOpenGLMatrix(), setIdentity(), and setOrigin().