Blender
V3.3
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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) |
Utils related to temporal transforms.
Definition at line 29 of file btTransformUtil.h.
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inlinestatic |
floating point inaccuracy can lead to w component > 1..., which breaks
Definition at line 124 of file btTransformUtil.h.
References angle(), btMatrix3x3, btSqrt(), btVector3, btQuaternion::getAngle(), len, btQuaternion::normalize(), and SIMD_EPSILON.
Referenced by calculateVelocity().
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inlinestatic |
Definition at line 100 of file btTransformUtil.h.
References angle(), btSqrt(), btVector3, btQuaternion::getAngle(), btQuaternion::inverse(), len, btQuaternion::nearest(), and SIMD_EPSILON.
Referenced by calculateVelocityQuaternion().
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inlinestatic |
Definition at line 115 of file btTransformUtil.h.
References angle(), btVector3, and calculateDiffAxisAngle().
Referenced by btContinuousConvexCollision::calcTimeOfImpact(), btCollisionWorld::convexSweepTest(), btRigidBody::saveKinematicState(), and solveConstraintObsolete().
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inlinestatic |
Definition at line 84 of file btTransformUtil.h.
References angle(), btVector3, and calculateDiffAxisAngleQuaternion().
Referenced by btConvexSeparatingDistanceUtil::updateSeparatingDistance().
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inlinestatic |
Definition at line 32 of file btTransformUtil.h.
References ANGULAR_MOTION_THRESHOLD, btCos(), btSin(), btSqrt(), btVector3, fAngle, btQuaternion::length2(), btQuaternion::safeNormalize(), btQuaternion::setRotation(), and SIMD_EPSILON.
Referenced by btContinuousConvexCollision::calcTimeOfImpact(), btDeformableMultiBodyDynamicsWorld::positionCorrection(), btRigidBody::predictIntegratedTransform(), solveConstraintObsolete(), synchronizeSingleMotionState(), and writebackVelocityAndTransform().