btSpatialTransformationMatrix Struct Reference

#include <btSpatialAlgebra.h>

Public Types
enum	eOutputOperation { None = 0 , Add = 1 , Subtract = 2 }

Public Member Functions
template<typename SpatialVectorType >
void	transform (const SpatialVectorType &inVec, SpatialVectorType &outVec, eOutputOperation outOp=None)
template<typename SpatialVectorType >
void	transformRotationOnly (const SpatialVectorType &inVec, SpatialVectorType &outVec, eOutputOperation outOp=None)
template<typename SpatialVectorType >
void	transformInverse (const SpatialVectorType &inVec, SpatialVectorType &outVec, eOutputOperation outOp=None)
template<typename SpatialVectorType >
void	transformInverseRotationOnly (const SpatialVectorType &inVec, SpatialVectorType &outVec, eOutputOperation outOp=None)
void	transformInverse (const btSymmetricSpatialDyad &inMat, btSymmetricSpatialDyad &outMat, eOutputOperation outOp=None)
template<typename SpatialVectorType >
SpatialVectorType	operator* (const SpatialVectorType &vec)

Public Attributes
btMatrix3x3	m_rotMat
btVector3	m_trnVec

Detailed Description

Definition at line 228 of file btSpatialAlgebra.h.

Member Enumeration Documentation

eOutputOperation

enum btSpatialTransformationMatrix::eOutputOperation

Enumerator
None
Add
Subtract

Definition at line 233 of file btSpatialAlgebra.h.

Member Function Documentation

operator*()

template<typename SpatialVectorType >

SpatialVectorType btSpatialTransformationMatrix::operator* ( const SpatialVectorType & vec )

inline

Definition at line 357 of file btSpatialAlgebra.h.

References transform().

transform()

template<typename SpatialVectorType >

void btSpatialTransformationMatrix::transform ( const SpatialVectorType & inVec, SpatialVectorType & outVec, eOutputOperation outOp = None )

inline

Definition at line 241 of file btSpatialAlgebra.h.

References m_rotMat, m_trnVec, None, and Subtract.

Referenced by calcAccelerationDeltasMultiDof(), computeAccelerationsArticulatedBodyAlgorithmMultiDof(), and operator*().

transformInverse() [1/2]

void btSpatialTransformationMatrix::transformInverse ( const btSymmetricSpatialDyad & inMat, btSymmetricSpatialDyad & outMat, eOutputOperation outOp = None )

inline

Definition at line 328 of file btSpatialAlgebra.h.

References btMatrix3x3, btSymmetricSpatialDyad::m_bottomLeftMat, m_rotMat, btSymmetricSpatialDyad::m_topLeftMat, btSymmetricSpatialDyad::m_topRightMat, m_trnVec, None, and Subtract.

transformInverse() [2/2]

template<typename SpatialVectorType >

void btSpatialTransformationMatrix::transformInverse ( const SpatialVectorType & inVec, SpatialVectorType & outVec, eOutputOperation outOp = None )

inline

Definition at line 285 of file btSpatialAlgebra.h.

References m_rotMat, m_trnVec, None, and Subtract.

Referenced by calcAccelerationDeltasMultiDof(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

transformInverseRotationOnly()

template<typename SpatialVectorType >

void btSpatialTransformationMatrix::transformInverseRotationOnly ( const SpatialVectorType & inVec, SpatialVectorType & outVec, eOutputOperation outOp = None )

inline

Definition at line 307 of file btSpatialAlgebra.h.

References m_rotMat, None, and Subtract.

Referenced by computeAccelerationsArticulatedBodyAlgorithmMultiDof().

transformRotationOnly()

template<typename SpatialVectorType >

void btSpatialTransformationMatrix::transformRotationOnly ( const SpatialVectorType & inVec, SpatialVectorType & outVec, eOutputOperation outOp = None )

inline

Definition at line 263 of file btSpatialAlgebra.h.

References m_rotMat, None, and Subtract.

Referenced by calcAccelerationDeltasMultiDof(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

Member Data Documentation

m_rotMat

btMatrix3x3 btSpatialTransformationMatrix::m_rotMat

Definition at line 230 of file btSpatialAlgebra.h.

Referenced by calcAccelerationDeltasMultiDof(), computeAccelerationsArticulatedBodyAlgorithmMultiDof(), transform(), transformInverse(), transformInverse(), transformInverseRotationOnly(), and transformRotationOnly().

m_trnVec

btVector3 btSpatialTransformationMatrix::m_trnVec

Definition at line 231 of file btSpatialAlgebra.h.

Referenced by calcAccelerationDeltasMultiDof(), computeAccelerationsArticulatedBodyAlgorithmMultiDof(), transform(), transformInverse(), and transformInverse().

---

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

• btSpatialAlgebra.h