The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. Make sure to only include a pure orthogonal matrix without scaling. More...

#include <btMatrix3x3.h>

Public Member Functions
	btMatrix3x3 ()
	No initializaion constructor.
	btMatrix3x3 (const btQuaternion &q)
	Constructor from Quaternion.
	btMatrix3x3 (const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
	Constructor with row major formatting.
SIMD_FORCE_INLINE	btMatrix3x3 (const btMatrix3x3 &other)
	Copy constructor.
SIMD_FORCE_INLINE btMatrix3x3 &	operator= (const btMatrix3x3 &other)
	Assignment Operator.
SIMD_FORCE_INLINE btVector3	getColumn (int i) const
	Get a column of the matrix as a vector.
SIMD_FORCE_INLINE const btVector3 &	getRow (int i) const
	Get a row of the matrix as a vector.
SIMD_FORCE_INLINE btVector3 &	operator[] (int i)
	Get a mutable reference to a row of the matrix as a vector.
SIMD_FORCE_INLINE const btVector3 &	operator[] (int i) const
	Get a const reference to a row of the matrix as a vector.
btMatrix3x3 &	operator*= (const btMatrix3x3 &m)
	Multiply by the target matrix on the right.
btMatrix3x3 &	operator+= (const btMatrix3x3 &m)
	Adds by the target matrix on the right.
btMatrix3x3 &	operator-= (const btMatrix3x3 &m)
	Substractss by the target matrix on the right.
void	setFromOpenGLSubMatrix (const btScalar *m)
	Set from the rotational part of a 4x4 OpenGL matrix.
void	setValue (const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
	Set the values of the matrix explicitly (row major)
void	setRotation (const btQuaternion &q)
	Set the matrix from a quaternion.
void	setEulerYPR (const btScalar &yaw, const btScalar &pitch, const btScalar &roll)
	Set the matrix from euler angles using YPR around YXZ respectively.
void	setEulerZYX (btScalar eulerX, btScalar eulerY, btScalar eulerZ)
	Set the matrix from euler angles YPR around ZYX axes.
void	setIdentity ()
	Set the matrix to the identity.
void	getOpenGLSubMatrix (btScalar *m) const
	Fill the rotational part of an OpenGL matrix and clear the shear/perspective.
void	getRotation (btQuaternion &q) const
	Get the matrix represented as a quaternion.
void	getEulerYPR (btScalar &yaw, btScalar &pitch, btScalar &roll) const
	Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR.
void	getEulerZYX (btScalar &yaw, btScalar &pitch, btScalar &roll, unsigned int solution_number=1) const
	Get the matrix represented as euler angles around ZYX.
btMatrix3x3	scaled (const btVector3 &s) const
	Create a scaled copy of the matrix.
btScalar	determinant () const
	Return the determinant of the matrix.
btMatrix3x3	adjoint () const
	Return the adjoint of the matrix.
btMatrix3x3	absolute () const
	Return the matrix with all values non negative.
btMatrix3x3	transpose () const
	Return the transpose of the matrix.
btMatrix3x3	inverse () const
	Return the inverse of the matrix.
btMatrix3x3	transposeTimes (const btMatrix3x3 &m) const
btMatrix3x3	timesTranspose (const btMatrix3x3 &m) const
SIMD_FORCE_INLINE btScalar	tdotx (const btVector3 &v) const
SIMD_FORCE_INLINE btScalar	tdoty (const btVector3 &v) const
SIMD_FORCE_INLINE btScalar	tdotz (const btVector3 &v) const
void	diagonalize (btMatrix3x3 &rot, btScalar threshold, int maxSteps)
	diagonalizes this matrix by the Jacobi method.
btScalar	cofac (int r1, int c1, int r2, int c2) const
	Calculate the matrix cofactor.
void	serialize (struct btMatrix3x3Data &dataOut) const
void	serializeFloat (struct btMatrix3x3FloatData &dataOut) const
void	deSerialize (const struct btMatrix3x3Data &dataIn)
void	deSerializeFloat (const struct btMatrix3x3FloatData &dataIn)
void	deSerializeDouble (const struct btMatrix3x3DoubleData &dataIn)
Static Public Member Functions
static const btMatrix3x3 &	getIdentity ()

Detailed Description

The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. Make sure to only include a pure orthogonal matrix without scaling.

Definition at line 31 of file btMatrix3x3.h.

Constructor & Destructor Documentation

btMatrix3x3::btMatrix3x3 ( ) [inline]

No initializaion constructor.

Definition at line 38 of file btMatrix3x3.h.

Referenced by absolute(), adjoint(), inverse(), scaled(), timesTranspose(), transpose(), and transposeTimes().

btMatrix3x3::btMatrix3x3 ( const btQuaternion & q ) [inline, explicit]

Constructor from Quaternion.

Definition at line 43 of file btMatrix3x3.h.

References setRotation().

btMatrix3x3::btMatrix3x3	(	const btScalar &	xx,
		const btScalar &	xy,
		const btScalar &	xz,
		const btScalar &	yx,
		const btScalar &	yy,
		const btScalar &	yz,
		const btScalar &	zx,
		const btScalar &	zy,
		const btScalar &	zz
	)		`[inline]`

Constructor with row major formatting.

Definition at line 52 of file btMatrix3x3.h.

References setValue().

SIMD_FORCE_INLINE btMatrix3x3::btMatrix3x3 ( const btMatrix3x3 & other ) [inline]

Copy constructor.

Definition at line 61 of file btMatrix3x3.h.

Member Function Documentation

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::absolute ( ) const

Return the matrix with all values non negative.

Definition at line 617 of file btMatrix3x3.h.

References btFabs(), and btMatrix3x3().

Referenced by btTransformAabb(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_absolute_matrix(), CcdGraphicController::getAabb(), btHeightfieldTerrainShape::getAabb(), btTriangleMeshShape::getAabb(), and btCapsuleShape::getAabb().

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::adjoint ( ) const

Return the adjoint of the matrix.

Definition at line 634 of file btMatrix3x3.h.

References btMatrix3x3(), and cofac().

Referenced by PolarDecompose().

btScalar btMatrix3x3::cofac	(	int	r1,
		int	c1,
		int	r2,
		int	c2
	)		const `[inline]`

Calculate the matrix cofactor.

Parameters:

r1	The first row to use for calculating the cofactor
c1	The first column to use for calculating the cofactor
r1	The second row to use for calculating the cofactor
c1	The second column to use for calculating the cofactor See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details

Definition at line 509 of file btMatrix3x3.h.

Referenced by adjoint(), and inverse().

SIMD_FORCE_INLINE void btMatrix3x3::deSerialize ( const struct btMatrix3x3Data & dataIn )

Definition at line 752 of file btMatrix3x3.h.

References i.

Referenced by btTransform::deSerialize().

SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble ( const struct btMatrix3x3DoubleData & dataIn )

Definition at line 764 of file btMatrix3x3.h.

References i, and btMatrix3x3DoubleData::m_el.

Referenced by btTransform::deSerializeDouble().

SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat ( const struct btMatrix3x3FloatData & dataIn )

Definition at line 758 of file btMatrix3x3.h.

References i, and btMatrix3x3FloatData::m_el.

Referenced by btTransform::deSerializeFloat().

SIMD_FORCE_INLINE btScalar btMatrix3x3::determinant ( ) const

Return the determinant of the matrix.

Definition at line 610 of file btMatrix3x3.h.

References btTriple().

Referenced by PolarDecompose(), and btSoftBody::updatePose().

void btMatrix3x3::diagonalize	(	btMatrix3x3 &	rot,
		btScalar	threshold,
		int	maxSteps
	)		`[inline]`

diagonalizes this matrix by the Jacobi method.

Parameters:

rot	stores the rotation from the coordinate system in which the matrix is diagonal to the original coordinate system, i.e., old_this = rot * new_this * rot^T.
threshold	See iteration
iteration	The iteration stops when all off-diagonal elements are less than the threshold multiplied by the sum of the absolute values of the diagonal, or when maxSteps have been executed.

Note that this matrix is assumed to be symmetric.

Definition at line 421 of file btMatrix3x3.h.

References btFabs(), btSqrt(), cos(), i, max, p, setIdentity(), SIMD_EPSILON, sin(), and step().

Referenced by btConvexTriangleMeshShape::calculatePrincipalAxisTransform().

SIMD_FORCE_INLINE btVector3 btMatrix3x3::getColumn ( int i ) const [inline]

Get a column of the matrix as a vector.

Parameters:

i	Column number 0 indexed

Definition at line 78 of file btMatrix3x3.h.

Referenced by btGeneric6DofConstraint::buildJacobian(), btConeTwistConstraint::calcAngleInfo(), btConeTwistConstraint::calcAngleInfo2(), btGeneric6DofConstraint::calculateAngleInfo(), btSliderConstraint::calculateTransforms(), capsuleCapsuleDistance(), btDiscreteDynamicsWorld::debugDrawConstraint(), btSliderConstraint::getInfo2NonVirtual(), btConeTwistConstraint::getInfo2NonVirtual(), btGeneric6DofConstraint::setLinearLimits(), btSliderConstraint::testAngLimits(), and btRaycastVehicle::updateFriction().

void btMatrix3x3::getEulerYPR	(	btScalar &	yaw,
		btScalar &	pitch,
		btScalar &	roll
	)		const `[inline]`

Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR.

Parameters:

yaw	Yaw around Y axis
pitch	Pitch around X axis
roll	around Z axis

Definition at line 279 of file btMatrix3x3.h.

References btAsin(), btAtan2(), btFabs(), SIMD_HALF_PI, and SIMD_PI.

void btMatrix3x3::getEulerZYX	(	btScalar &	yaw,
		btScalar &	pitch,
		btScalar &	roll,
		unsigned int	solution_number = `1`
	)		const `[inline]`

Get the matrix represented as euler angles around ZYX.

Parameters:

yaw	Yaw around X axis
pitch	Pitch around Y axis
roll	around X axis
solution_number	Which solution of two possible solutions ( 1 or 2) are possible values

Definition at line 308 of file btMatrix3x3.h.

References btAsin(), btAtan2(), btCos(), btFabs(), and SIMD_PI.

static const btMatrix3x3& btMatrix3x3::getIdentity ( ) [inline, static]

Definition at line 213 of file btMatrix3x3.h.

Referenced by btTransform::getIdentity().

void btMatrix3x3::getOpenGLSubMatrix ( btScalar * m ) const [inline]

Fill the rotational part of an OpenGL matrix and clear the shear/perspective.

Parameters:

m	The array to be filled

Definition at line 223 of file btMatrix3x3.h.

Referenced by btTransform::getOpenGLMatrix(), DefaultMotionState::getWorldOrientation(), and CcdPhysicsController::SynchronizeMotionStates().

void btMatrix3x3::getRotation ( btQuaternion & q ) const [inline]

Get the matrix represented as a quaternion.

Parameters:

q	The quaternion which will be set

Definition at line 241 of file btMatrix3x3.h.

References btSqrt(), i, and trace.

Referenced by btTransformUtil::calculateDiffAxisAngle(), btTransform::getRotation(), and CcdPhysicsController::SynchronizeMotionStates().

SIMD_FORCE_INLINE const btVector3& btMatrix3x3::getRow ( int i ) const [inline]

Get a row of the matrix as a vector.

Parameters:

i	Row number 0 indexed

Definition at line 86 of file btMatrix3x3.h.

References btFullAssert, and i.

Referenced by GIM_AABB::appy_transform(), and btCompareTransformsEqual().

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::inverse ( ) const

Return the inverse of the matrix.

Definition at line 642 of file btMatrix3x3.h.

References btFullAssert, btMatrix3x3(), co, and cofac().

Referenced by ATTRIBUTE_ALIGNED16(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_full_invert(), btGeneric6DofConstraint::calculateAngleInfo(), btTransformUtil::calculateDiffAxisAngle(), btGeneric6DofConstraint::calculateLinearInfo(), btSoftBody::initializeClusters(), CcdPhysicsController::RelativeRotate(), btSoftBody::setPose(), and btSoftBody::updateClusters().

SIMD_FORCE_INLINE btMatrix3x3 & btMatrix3x3::operator*= ( const btMatrix3x3 & m )

Multiply by the target matrix on the right.

Parameters:

m	Rotation matrix to be applied Equivilant to this = this * m

Definition at line 528 of file btMatrix3x3.h.

References setValue(), tdotx(), tdoty(), and tdotz().

SIMD_FORCE_INLINE btMatrix3x3 & btMatrix3x3::operator+= ( const btMatrix3x3 & m )

Adds by the target matrix on the right.

Parameters:

m	matrix to be applied Equivilant to this = this + m

Definition at line 537 of file btMatrix3x3.h.

References setValue().

SIMD_FORCE_INLINE btMatrix3x3 & btMatrix3x3::operator-= ( const btMatrix3x3 & m )

Substractss by the target matrix on the right.

Parameters:

m	matrix to be applied Equivilant to this = this - m

Definition at line 593 of file btMatrix3x3.h.

References setValue().

SIMD_FORCE_INLINE btMatrix3x3& btMatrix3x3::operator= ( const btMatrix3x3 & other ) [inline]

Assignment Operator.

Definition at line 68 of file btMatrix3x3.h.

SIMD_FORCE_INLINE const btVector3& btMatrix3x3::operator[] ( int i ) const [inline]

Get a const reference to a row of the matrix as a vector.

Parameters:

i	Row number 0 indexed

Definition at line 102 of file btMatrix3x3.h.

References btFullAssert, and i.

SIMD_FORCE_INLINE btVector3& btMatrix3x3::operator[] ( int i ) [inline]

Get a mutable reference to a row of the matrix as a vector.

Parameters:

i	Row number 0 indexed

Definition at line 94 of file btMatrix3x3.h.

References btFullAssert, and i.

btMatrix3x3 btMatrix3x3::scaled ( const btVector3 & s ) const [inline]

Create a scaled copy of the matrix.

Parameters:

s	Scaling vector The elements of the vector will scale each column

Definition at line 377 of file btMatrix3x3.h.

References btMatrix3x3().

Referenced by gim_inertia_add_transformed(), and btRigidBody::updateInertiaTensor().

SIMD_FORCE_INLINE void btMatrix3x3::serialize ( struct btMatrix3x3Data & dataOut ) const

Definition at line 739 of file btMatrix3x3.h.

References i.

Referenced by btRigidBody::serialize(), and btTransform::serialize().

SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat ( struct btMatrix3x3FloatData & dataOut ) const

Definition at line 745 of file btMatrix3x3.h.

References i, and btMatrix3x3FloatData::m_el.

Referenced by btTransform::serializeFloat().

void btMatrix3x3::setEulerYPR	(	const btScalar &	yaw,
		const btScalar &	pitch,
		const btScalar &	roll
	)		`[inline]`

Set the matrix from euler angles using YPR around YXZ respectively.

Parameters:

yaw	Yaw about Y axis
pitch	Pitch about X axis
roll	Roll about Z axis

Definition at line 173 of file btMatrix3x3.h.

References setEulerZYX().

void btMatrix3x3::setEulerZYX	(	btScalar	eulerX,
		btScalar	eulerY,
		btScalar	eulerZ
	)		`[inline]`

Set the matrix from euler angles YPR around ZYX axes.

Parameters:

eulerX	Roll about X axis
eulerY	Pitch around Y axis
eulerZ	Yaw aboud Z axis

These angles are used to produce a rotation matrix. The euler angles are applied in ZYX order. I.e a vector is first rotated about X then Y and then Z

Todo:: proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code

Definition at line 187 of file btMatrix3x3.h.

References btCos(), btSin(), setValue(), and si.

Referenced by setEulerYPR().

void btMatrix3x3::setFromOpenGLSubMatrix ( const btScalar * m ) [inline]

Set from the rotational part of a 4x4 OpenGL matrix.

Parameters:

m	A pointer to the beginning of the array of scalars

Definition at line 125 of file btMatrix3x3.h.

Referenced by CcdPhysicsController::GetTransformFromMotionState(), CcdPhysicsController::GetWorldOrientation(), BlenderBulletMotionState::getWorldTransform(), btTransform::setFromOpenGLMatrix(), and DefaultMotionState::setWorldOrientation().

void btMatrix3x3::setIdentity ( ) [inline]

Set the matrix to the identity.

Definition at line 206 of file btMatrix3x3.h.

References setValue().

Referenced by diagonalize(), btSoftBody::initDefaults(), PolarDecompose(), btTransform::setIdentity(), btSoftBody::setPose(), and btEigen::system().

void btMatrix3x3::setRotation ( const btQuaternion & q ) [inline]

Set the matrix from a quaternion.

Parameters:

q	The Quaternion to match

Definition at line 153 of file btMatrix3x3.h.

References btFullAssert, simple_enum_gen::d, btQuaternion::length2(), and setValue().

Referenced by btMatrix3x3(), and btTransform::setRotation().

void btMatrix3x3::setValue	(	const btScalar &	xx,
		const btScalar &	xy,
		const btScalar &	xz,
		const btScalar &	yx,
		const btScalar &	yy,
		const btScalar &	yz,
		const btScalar &	zx,
		const btScalar &	zy,
		const btScalar &	zz
	)		`[inline]`

Set the values of the matrix explicitly (row major)

Parameters:

xx	Top left
xy	Top Middle
xz	Top Right
yx	Middle Left
yy	Middle Middle
yz	Middle Right
zx	Bottom Left
zy	Bottom Middle
zz	Bottom Right

Definition at line 142 of file btMatrix3x3.h.

Referenced by ATTRIBUTE_ALIGNED16(), btHinge2Constraint::btHinge2Constraint(), btMatrix3x3(), btUniversalConstraint::btUniversalConstraint(), CcdPhysicsEnvironment::createConstraint(), operator*=(), operator+=(), operator-=(), btGeneric6DofSpringConstraint::setAxis(), btGeneric6DofConstraint::setAxis(), btUniversalConstraint::setAxis(), setEulerZYX(), setIdentity(), and setRotation().

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdotx ( const btVector3 & v ) const [inline]

Definition at line 398 of file btMatrix3x3.h.

Referenced by operator*(), and operator*=().

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdoty ( const btVector3 & v ) const [inline]

Definition at line 402 of file btMatrix3x3.h.

Referenced by operator*(), and operator*=().

SIMD_FORCE_INLINE btScalar btMatrix3x3::tdotz ( const btVector3 & v ) const [inline]

Definition at line 406 of file btMatrix3x3.h.

Referenced by operator*(), and operator*=().

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::timesTranspose ( const btMatrix3x3 & m ) const

Definition at line 669 of file btMatrix3x3.h.

References btMatrix3x3(), and dot().

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transpose ( ) const

Return the transpose of the matrix.

Definition at line 626 of file btMatrix3x3.h.

References btMatrix3x3().

Referenced by btGeneric6DofConstraint::buildAngularJacobian(), btConeTwistConstraint::buildJacobian(), btGeneric6DofConstraint::buildLinearJacobian(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_homogenic(), gim_inertia_add_transformed(), btTransform::inverse(), btTransform::invXform(), PolarDecompose(), resolveSingleBilateral(), btSoftBody::updateClusters(), btRigidBody::updateInertiaTensor(), and btSoftBody::updatePose().

SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transposeTimes ( const btMatrix3x3 & m ) const

Definition at line 654 of file btMatrix3x3.h.

References btMatrix3x3().

Referenced by gjkepa2_impl::Initialize(), and btTransform::inverseTimes().

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

btMatrix3x3.h

btMatrix3x3 Class Reference

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation