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 ) More...
SIMD_FORCE_INLINE	btTransform (const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0)))
	Constructor from btMatrix3x3 (optional btVector3) More...
SIMD_FORCE_INLINE	btTransform (const btTransform &other)
	Copy constructor. More...
SIMD_FORCE_INLINE btTransform &	operator= (const btTransform &other)
	Assignment Operator. More...
SIMD_FORCE_INLINE void	mult (const btTransform &t1, const btTransform &t2)
	Set the current transform as the value of the product of two transforms. More...
SIMD_FORCE_INLINE btVector3	operator() (const btVector3 &x) const
	Return the transform of the vector. More...
SIMD_FORCE_INLINE btVector3	operator* (const btVector3 &x) const
	Return the transform of the vector. More...
SIMD_FORCE_INLINE btQuaternion	operator* (const btQuaternion &q) const
	Return the transform of the btQuaternion. More...
SIMD_FORCE_INLINE btMatrix3x3 &	getBasis ()
	Return the basis matrix for the rotation. More...
SIMD_FORCE_INLINE btVector3 &	getOrigin ()
	Return the origin vector translation. More...
btQuaternion	getRotation () const
	Return a quaternion representing the rotation. More...
void	setFromOpenGLMatrix (const btScalar *m)
	Set from an array. More...
void	getOpenGLMatrix (btScalar *m) const
	Fill an array representation. More...
SIMD_FORCE_INLINE void	setOrigin (const btVector3 &origin)
	Set the translational element. More...
SIMD_FORCE_INLINE btVector3	invXform (const btVector3 &inVec) const
SIMD_FORCE_INLINE void	setBasis (const btMatrix3x3 &basis)
	Set the rotational element by btMatrix3x3. More...
SIMD_FORCE_INLINE void	setRotation (const btQuaternion &q)
	Set the rotational element by btQuaternion. More...
void	setIdentity ()
	Set this transformation to the identity. More...
btTransform &	operator*= (const btTransform &t)
	Multiply this Transform by another(this = this * another) More...
btTransform	inverse () const
	Return the inverse of this transform. More...
btTransform	inverseTimes (const btTransform &t) const
	Return the inverse of this transform times the other transform. More...
btTransform	operator* (const btTransform &t) const
	Return the product of this transform and the other. More...
static const btTransform &	getIdentity ()
	Return an identity transform. More...
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. More...

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. More...
btVector3	m_origin
	Storage for the translation. More...

Macro Definition Documentation

btTransformData

#define btTransformData   btTransformFloatData

Definition at line 23 of file btTransform.h.

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.

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.

btTransform() [3/3]

SIMD_FORCE_INLINE btTransform

(

const btTransform &

other

)

Copy constructor.

Definition at line 59 of file btTransform.h.

deSerialize()

void deSerialize

(

const struct btTransformData &

dataIn

)

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.

getIdentity()

static 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 m_origin.

Referenced by Freestyle::ViewMapBuilder::FindOccludee().

getRotation()

btQuaternion getRotation

(

)

const

Return a quaternion representing the rotation.

Definition at line 118 of file btTransform.h.

Referenced by operator*().

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.

Referenced by AngularImpulseMatrix(), btSoftBody::appendDeformableAnchor(), BCMatrix::apply_transform(), BKE_tracking_dopesheet_update(), BKE_tracking_tracks_join(), compare_firstlast_putting_undefined_first(), blender::compositor::BlurNode::convert_to_operations(), blender::compositor::DefocusNode::convert_to_operations(), FallbackImpl::createDisplayProcessor(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftColliders::CollideSDF_RD::DoNode(), DRW_view_persmat_get(), DRW_view_viewmat_get(), DRW_view_winmat_get(), EIG_invert_m4_m4(), blender::compositor::FHT(), blender::compositor::FHT2D(), get_modifier_point_weight(), getBaseWorldTransform(), ImpulseMatrix(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), invert_m4_m4(), invert_m4_m4_fallback(), lamp_fetch_transform(), OCIO_createDisplayProcessor(), tracking_dopesheet_channels_sort(), updateCollisionObjectInterpolationWorldTransforms(), and updateCollisionObjectWorldTransforms().

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, t, 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 m_origin.

Referenced by 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 m_origin, and x.

Referenced by DiagSplit::post_split(), and btMultiBodyDynamicsWorld::solveExternalForces().

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().

operator*() [2/3]

btTransform operator*

(

const btTransform &

t

)

const

Return the product of this transform and the other.

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 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 m_origin, and t.

operator=()

SIMD_FORCE_INLINE btTransform& operator=

(

const btTransform &

other

)

Assignment Operator.

Definition at line 65 of file btTransform.h.

References m_origin.

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.

serialize()

void serialize

(

struct btTransformData &

dataOut

)

const

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.

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 m_origin.

setRotation()

SIMD_FORCE_INLINE void setRotation

(

const btQuaternion &

q

)

Set the rotational element by btQuaternion.

Definition at line 160 of file btTransform.h.

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 btCollisionWorld::addCollisionObject(), btSoftBody::appendDeformableAnchor(), b2CollidePolygons(), btAdjustInternalEdgeContacts(), btComputeGjkEpaPenetration(), btCreateCompoundFromGimpactShape(), btHinge2Constraint(), btUniversalConstraint(), calc_from_homogenic(), calcAngleInfo2(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), btContinuousConvexCollision::calcTimeOfImpact(), btGjkConvexCast::calcTimeOfImpact(), btSubsimplexConvexCast::calcTimeOfImpact(), calculateLocalInertia(), calculatePrincipalAxisTransform(), btCompoundCollisionAlgorithm::calculateTimeOfImpact(), btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(), btSoftBody::checkContact(), btSoftBody::checkDeformableContact(), btSoftBody::checkDeformableFaceContact(), btGImpactCollisionAlgorithm::collide_sat_triangles(), btConvexPlaneCollisionAlgorithm::collideSingleContact(), btCollisionWorldImporter::convertAllObjects(), btCollisionWorldImporter::convertCollisionShape(), btCollisionWorld::convexSweepTest(), createPredictiveContactsInternal(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), debugDrawConstraint(), btCollisionWorld::debugDrawObject(), btMultiBodyDynamicsWorld::debugDrawWorld(), btSoftBody::defaultCollisionHandler(), btSparseSdf< CELLSIZE >::DistanceToShape(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftColliders::CollideSDF_RS::DoNode(), btSoftColliders::CollideSDF_RD::DoNode(), btIDebugDraw::drawCapsule(), btIDebugDraw::drawSphere(), btGImpactCompoundShape::CompoundPrimitiveManager::get_primitive_box(), getBaseWorldTransform(), getBoundingSphere(), btGImpactMeshShapePart::getChildTransform(), btGImpactMeshShape::getChildTransform(), btBoxBoxDetector::getClosestPoints(), SphereTriangleDetector::getClosestPoints(), btGjkPairDetector::getClosestPointsNonVirtual(), btRaycastVehicle::getForwardVector(), getIdentity(), getInfo2Internal(), getInfo2InternalUsingFrameOffset(), getInfo2NonVirtual(), btSoftBody::getRigidTransform(), btSphereBoxCollisionAlgorithm::getSphereDistance(), btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_concave(), btGImpactCollisionAlgorithm::gimpact_vs_gimpact(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(), btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(), btSimpleDynamicsWorld::integrateTransforms(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), integrateTransformsInternal(), MyInternalTriangleIndexCallback::internalProcessTriangleIndex(), inverse(), inverseTimes(), make_constraint_transforms(), btCollisionWorld::objectQuerySingleInternal(), btDeformableMultiBodyDynamicsWorld::positionCorrection(), btCompoundLeafCallback::Process(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), btCompoundCollisionAlgorithm::processCollision(), btCompoundCompoundCollisionAlgorithm::processCollision(), btConvexConvexAlgorithm::processCollision(), btConvexPlaneCollisionAlgorithm::processCollision(), btSoftBodyTriangleCallback::processTriangle(), btSoftBody::PSolve_Anchors(), 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(), recoverFromPenetration(), btCollisionWorld::refreshBroadphaseProxy(), btSoftBody::rotate(), setAxis(), btSoftBodyTriangleCallback::setTimeStepAndCounters(), setUpVector(), btGjkEpaSolver2::SignedDistance(), solveConstraintObsolete(), stepDown(), stepForwardAndStrafe(), stepUp(), synchronizeSingleMotionState(), btSoftBody::transformTo(), btSoftBody::translate(), btCollisionWorld::updateAabbs(), btSimpleDynamicsWorld::updateAabbs(), updateCollisionObjectInterpolationWorldTransforms(), updateCollisionObjectWorldTransforms(), btRaycastVehicle::updateFriction(), 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 getOpenGLMatrix(), getOrigin(), inverse(), inverseTimes(), invXform(), mult(), operator()(), operator*=(), operator=(), setFromOpenGLMatrix(), setIdentity(), and setOrigin().