Changeset 2430 for code/branches/physics/src/bullet/LinearMath/btTransform.h

Timestamp:

Dec 13, 2008, 11:45:51 PM (15 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/LinearMath/btTransform.h (modified) (20 diffs)

code/branches/physics/src/bullet/LinearMath/btTransform.h

@@ -22 +22 @@
 
 
-///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.
+/**@brief 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. */
 class btTransform {
         
@@ -29 +29 @@
 public:
         
-        
+  /**@brief No initialization constructor */
         btTransform() {}
-
+  /**@brief Constructor from btQuaternion (optional btVector3 )
+   * @param q Rotation from quaternion 
+   * @param c Translation from Vector (default 0,0,0) */
         explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
                 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
@@ -38 +40 @@
         {}
 
+  /**@brief Constructor from btMatrix3x3 (optional btVector3)
+   * @param b Rotation from Matrix 
+   * @param c Translation from Vector default (0,0,0)*/
         explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
                 const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
@@ -43 +48 @@
                 m_origin(c)
         {}
-
+  /**@brief Copy constructor */
         SIMD_FORCE_INLINE btTransform (const btTransform& other)
                 : m_basis(other.m_basis),
@@ -49 +54 @@
         {
         }
-
+  /**@brief Assignment Operator */
         SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
         {
@@ -58 +63 @@
 
 
+  /**@brief Set the current transform as the value of the product of two transforms
+   * @param t1 Transform 1
+   * @param t2 Transform 2
+   * This = Transform1 * Transform2 */
                 SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
                         m_basis = t1.m_basis * t2.m_basis;
@@ -70 +79 @@
                 */
 
-
+/**@brief Return the transform of the vector */
         SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
         {
@@ -78 +87 @@
         }
 
+  /**@brief Return the transform of the vector */
         SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
         {
@@ -83 +93 @@
         }
 
+  /**@brief Return the transform of the btQuaternion */
+        SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
+        {
+                return getRotation() * q;
+        }
+
+  /**@brief Return the basis matrix for the rotation */
         SIMD_FORCE_INLINE btMatrix3x3&       getBasis()          { return m_basis; }
+  /**@brief Return the basis matrix for the rotation */
         SIMD_FORCE_INLINE const btMatrix3x3& getBasis()    const { return m_basis; }
 
+  /**@brief Return the origin vector translation */
         SIMD_FORCE_INLINE btVector3&         getOrigin()         { return m_origin; }
+  /**@brief Return the origin vector translation */
         SIMD_FORCE_INLINE const btVector3&   getOrigin()   const { return m_origin; }
 
+  /**@brief Return a quaternion representing the rotation */
         btQuaternion getRotation() const { 
                 btQuaternion q;
@@ -96 +117 @@
         
         
+  /**@brief Set from an array 
+   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
         void setFromOpenGLMatrix(const btScalar *m)
         {
@@ -102 +125 @@
         }
 
+  /**@brief Fill an array representation
+   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
         void getOpenGLMatrix(btScalar *m) const 
         {
@@ -111 +136 @@
         }
 
+  /**@brief Set the translational element
+   * @param origin The vector to set the translation to */
         SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
         { 
@@ -119 +146 @@
 
 
-
+  /**@brief Set the rotational element by btMatrix3x3 */
         SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
         { 
@@ -125 +152 @@
         }
 
+  /**@brief Set the rotational element by btQuaternion */
         SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
         {
@@ -131 +159 @@
 
 
-
+  /**@brief Set this transformation to the identity */
         void setIdentity()
         {
@@ -138 +166 @@
         }
 
-        
+  /**@brief Multiply this Transform by another(this = this * another) 
+   * @param t The other transform */
         btTransform& operator*=(const btTransform& t) 
         {
@@ -146 +175 @@
         }
 
+  /**@brief Return the inverse of this transform */
         btTransform inverse() const
         { 
@@ -152 +182 @@
         }
 
+  /**@brief Return the inverse of this transform times the other transform
+   * @param t The other transform 
+   * return this.inverse() * the other */
         btTransform inverseTimes(const btTransform& t) const;  
 
+  /**@brief Return the product of this transform and the other */
         btTransform operator*(const btTransform& t) const;
 
+  /**@brief Return an identity transform */
         static btTransform      getIdentity()
         {
@@ -164 +199 @@
         
 private:
-
+  ///Storage for the rotation
         btMatrix3x3 m_basis;
+  ///Storage for the translation
         btVector3   m_origin;
 };
@@ -192 +228 @@
 }
 
+/**@brief Test if two transforms have all elements equal */
 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
 {