btTransformUtil Class Reference

Utils related to temporal transforms. More...

#include <btTransformUtil.h>

Static Public Member Functions
static void	integrateTransform (const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btTransform &predictedTransform)
static void	calculateVelocityQuaternion (const btVector3 &pos0, const btVector3 &pos1, const btQuaternion &orn0, const btQuaternion &orn1, btScalar timeStep, btVector3 &linVel, btVector3 &angVel)
static void	calculateDiffAxisAngleQuaternion (const btQuaternion &orn0, const btQuaternion &orn1a, btVector3 &axis, btScalar &angle)
static void	calculateVelocity (const btTransform &transform0, const btTransform &transform1, btScalar timeStep, btVector3 &linVel, btVector3 &angVel)
static void	calculateDiffAxisAngle (const btTransform &transform0, const btTransform &transform1, btVector3 &axis, btScalar &angle)

Detailed Description

Utils related to temporal transforms.

Definition at line 29 of file btTransformUtil.h.

Member Function Documentation

calculateDiffAxisAngle()

static void btTransformUtil::calculateDiffAxisAngle ( const btTransform & transform0, const btTransform & transform1, btVector3 & axis, btScalar & angle )

inlinestatic

floating point inaccuracy can lead to w component > 1..., which breaks

Definition at line 124 of file btTransformUtil.h.

References btMatrix3x3, btSqrt(), btVector3, btQuaternion::getAngle(), len, btQuaternion::normalize(), and SIMD_EPSILON.

Referenced by calculateVelocity().

calculateDiffAxisAngleQuaternion()

static void btTransformUtil::calculateDiffAxisAngleQuaternion ( const btQuaternion & orn0, const btQuaternion & orn1a, btVector3 & axis, btScalar & angle )

inlinestatic

Definition at line 100 of file btTransformUtil.h.

References btSqrt(), btVector3, btQuaternion::getAngle(), btQuaternion::inverse(), len, btQuaternion::nearest(), and SIMD_EPSILON.

Referenced by calculateVelocityQuaternion().

calculateVelocity()

static void btTransformUtil::calculateVelocity ( const btTransform & transform0, const btTransform & transform1, btScalar timeStep, btVector3 & linVel, btVector3 & angVel )

inlinestatic

Definition at line 115 of file btTransformUtil.h.

References angle(), and calculateDiffAxisAngle().

Referenced by btContinuousConvexCollision::calcTimeOfImpact(), btCollisionWorld::convexSweepTest(), btRigidBody::saveKinematicState(), and solveConstraintObsolete().

calculateVelocityQuaternion()

static void btTransformUtil::calculateVelocityQuaternion ( const btVector3 & pos0, const btVector3 & pos1, const btQuaternion & orn0, const btQuaternion & orn1, btScalar timeStep, btVector3 & linVel, btVector3 & angVel )

inlinestatic

Definition at line 84 of file btTransformUtil.h.

References angle(), and calculateDiffAxisAngleQuaternion().

Referenced by btConvexSeparatingDistanceUtil::updateSeparatingDistance().

integrateTransform()

static void btTransformUtil::integrateTransform ( const btTransform & curTrans, const btVector3 & linvel, const btVector3 & angvel, btScalar timeStep, btTransform & predictedTransform )

inlinestatic

Definition at line 32 of file btTransformUtil.h.

References ANGULAR_MOTION_THRESHOLD, btCos(), btSin(), btSqrt(), fAngle, btQuaternion::length2(), btQuaternion::safeNormalize(), btQuaternion::setRotation(), and SIMD_EPSILON.

Referenced by btContinuousConvexCollision::calcTimeOfImpact(), btDeformableMultiBodyDynamicsWorld::positionCorrection(), btRigidBody::predictIntegratedTransform(), solveConstraintObsolete(), synchronizeSingleMotionState(), and writebackVelocityAndTransform().

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

• btTransformUtil.h