btTransformUtil Class Reference

Utils related to temporal transforms. More...

#include <btTransformUtil.h>

List of all members.

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 38 of file btTransformUtil.h.

---

Member Function Documentation

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

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

Definition at line 121 of file btTransformUtil.h.

References btSqrt(), btQuaternion::getAngle(), btTransform::getBasis(), btMatrix3x3::getRotation(), btMatrix3x3::inverse(), len(), btQuaternion::normalize(), and SIMD_EPSILON.

Referenced by calculateVelocity().

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

Definition at line 97 of file btTransformUtil.h.

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

Referenced by calculateVelocityQuaternion().

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

Definition at line 112 of file btTransformUtil.h.

References angle(), calculateDiffAxisAngle(), and btTransform::getOrigin().

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

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

Definition at line 82 of file btTransformUtil.h.

References angle(), and calculateDiffAxisAngleQuaternion().

Referenced by btConvexSeparatingDistanceUtil::updateSeparatingDistance().

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

Definition at line 43 of file btTransformUtil.h.

References ANGULAR_MOTION_THRESHOLD, btCos(), btSin(), fAngle, btTransform::getOrigin(), btTransform::getRotation(), btQuaternion::normalize(), btTransform::setOrigin(), and btTransform::setRotation().

Referenced by ATTRIBUTE_ALIGNED64(), btContinuousConvexCollision::calcTimeOfImpact(), btRigidBody::internalWritebackVelocity(), btRigidBody::predictIntegratedTransform(), btConeTwistConstraint::solveConstraintObsolete(), and btDiscreteDynamicsWorld::synchronizeSingleMotionState().

---

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

• btTransformUtil.h