| Bullet Collision Detection & Physics Library
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The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. More...
#include <btTransform.h>

| Public Member Functions | |
| btTransform () | |
| No initialization constructor.  More... | |
| btTransform (const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0))) | |
| Constructor from btQuaternion (optional btVector3 )  More... | |
| btTransform (const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0))) | |
| Constructor from btMatrix3x3 (optional btVector3)  More... | |
| btTransform (const btTransform &other) | |
| Copy constructor.  More... | |
| btTransform & | operator= (const btTransform &other) | 
| Assignment Operator.  More... | |
| void | mult (const btTransform &t1, const btTransform &t2) | 
| Set the current transform as the value of the product of two transforms.  More... | |
| btVector3 | operator() (const btVector3 &x) const | 
| Return the transform of the vector.  More... | |
| btVector3 | operator* (const btVector3 &x) const | 
| Return the transform of the vector.  More... | |
| btQuaternion | operator* (const btQuaternion &q) const | 
| Return the transform of the btQuaternion.  More... | |
| btMatrix3x3 & | getBasis () | 
| Return the basis matrix for the rotation.  More... | |
| const btMatrix3x3 & | getBasis () const | 
| Return the basis matrix for the rotation.  More... | |
| btVector3 & | getOrigin () | 
| Return the origin vector translation.  More... | |
| const btVector3 & | getOrigin () const | 
| 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... | |
| void | setOrigin (const btVector3 &origin) | 
| Set the translational element.  More... | |
| btVector3 | invXform (const btVector3 &inVec) const | 
| void | setBasis (const btMatrix3x3 &basis) | 
| Set the rotational element by btMatrix3x3.  More... | |
| 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... | |
| 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.  More... | |
| Private Attributes | |
| btMatrix3x3 | m_basis | 
| Storage for the rotation.  More... | |
| btVector3 | m_origin | 
| Storage for the translation.  More... | |
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.
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 | inline | 
No initialization constructor.
Definition at line 38 of file btTransform.h.
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 | inlineexplicit | 
Constructor from btQuaternion (optional btVector3 )
| q | Rotation from quaternion | 
| c | Translation from Vector (default 0,0,0) | 
Definition at line 42 of file btTransform.h.
| 
 | inlineexplicit | 
Constructor from btMatrix3x3 (optional btVector3)
| b | Rotation from Matrix | 
| c | Translation from Vector default (0,0,0) | 
Definition at line 52 of file btTransform.h.
| 
 | inline | 
Copy constructor.
Definition at line 59 of file btTransform.h.
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 | inline | 
Definition at line 268 of file btTransform.h.
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 | inline | 
Definition at line 280 of file btTransform.h.
| 
 | inline | 
Definition at line 274 of file btTransform.h.
| 
 | inline | 
Return the basis matrix for the rotation.
Definition at line 108 of file btTransform.h.
| 
 | inline | 
Return the basis matrix for the rotation.
Definition at line 110 of file btTransform.h.
| 
 | inlinestatic | 
Return an identity transform.
Definition at line 197 of file btTransform.h.
| 
 | inline | 
Fill an array representation.
| 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.
| 
 | inline | 
Return the origin vector translation.
Definition at line 113 of file btTransform.h.
| 
 | inline | 
Return the origin vector translation.
Definition at line 115 of file btTransform.h.
| 
 | inline | 
Return a quaternion representing the rotation.
Definition at line 118 of file btTransform.h.
| 
 | inline | 
Return the inverse of this transform.
Definition at line 182 of file btTransform.h.
| 
 | inline | 
Return the inverse of this transform times the other transform.
| t | The other transform return this.inverse() * the other | 
Definition at line 222 of file btTransform.h.
Definition at line 215 of file btTransform.h.
| 
 | inline | 
Set the current transform as the value of the product of two transforms.
| t1 | Transform 1 | 
| t2 | Transform 2 This = Transform1 * Transform2 | 
Definition at line 76 of file btTransform.h.
Return the transform of the vector.
Definition at line 90 of file btTransform.h.
| 
 | inline | 
Return the transform of the btQuaternion.
Definition at line 102 of file btTransform.h.
| 
 | inline | 
Return the product of this transform and the other.
Definition at line 230 of file btTransform.h.
Return the transform of the vector.
Definition at line 96 of file btTransform.h.
| 
 | inline | 
Multiply this Transform by another(this = this * another)
| t | The other transform | 
Definition at line 174 of file btTransform.h.
| 
 | inline | 
Assignment Operator.
Definition at line 65 of file btTransform.h.
| 
 | inline | 
Definition at line 256 of file btTransform.h.
| 
 | inline | 
Definition at line 262 of file btTransform.h.
| 
 | inline | 
Set the rotational element by btMatrix3x3.
Definition at line 154 of file btTransform.h.
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 | inline | 
Set from an array.
| 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.
| 
 | inline | 
Set this transformation to the identity.
Definition at line 166 of file btTransform.h.
| 
 | inline | 
Set the translational element.
| origin | The vector to set the translation to | 
Definition at line 146 of file btTransform.h.
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 | inline | 
Set the rotational element by btQuaternion.
Definition at line 160 of file btTransform.h.
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 | private | 
Storage for the rotation.
Definition at line 32 of file btTransform.h.
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 | private | 
Storage for the translation.
Definition at line 34 of file btTransform.h.
 1.8.16
 1.8.16