Index: code/branches/physics/src/bullet/LinearMath/btTransform.h
===================================================================
--- code/branches/physics/src/bullet/LinearMath/btTransform.h	(revision 2192)
+++ code/branches/physics/src/bullet/LinearMath/btTransform.h	(revision 2430)
@@ -22,6 +22,6 @@
 
 
-///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 {
 	
@@ -29,7 +29,9 @@
 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))) 
@@ -38,4 +40,7 @@
 	{}
 
+  /**@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)))
@@ -43,5 +48,5 @@
 		m_origin(c)
 	{}
-
+  /**@brief Copy constructor */
 	SIMD_FORCE_INLINE btTransform (const btTransform& other)
 		: m_basis(other.m_basis),
@@ -49,5 +54,5 @@
 	{
 	}
-
+  /**@brief Assignment Operator */
 	SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
 	{
@@ -58,4 +63,8 @@
 
 
+  /**@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;
@@ -70,5 +79,5 @@
 		*/
 
-
+/**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
 	{
@@ -78,4 +87,5 @@
 	}
 
+  /**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
 	{
@@ -83,10 +93,21 @@
 	}
 
+  /**@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;
@@ -96,4 +117,6 @@
 	
 	
+  /**@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)
 	{
@@ -102,4 +125,6 @@
 	}
 
+  /**@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 
 	{
@@ -111,4 +136,6 @@
 	}
 
+  /**@brief Set the translational element
+   * @param origin The vector to set the translation to */
 	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
 	{ 
@@ -119,5 +146,5 @@
 
 
-
+  /**@brief Set the rotational element by btMatrix3x3 */
 	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
 	{ 
@@ -125,4 +152,5 @@
 	}
 
+  /**@brief Set the rotational element by btQuaternion */
 	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
 	{
@@ -131,5 +159,5 @@
 
 
-
+  /**@brief Set this transformation to the identity */
 	void setIdentity()
 	{
@@ -138,5 +166,6 @@
 	}
 
-	
+  /**@brief Multiply this Transform by another(this = this * another) 
+   * @param t The other transform */
 	btTransform& operator*=(const btTransform& t) 
 	{
@@ -146,4 +175,5 @@
 	}
 
+  /**@brief Return the inverse of this transform */
 	btTransform inverse() const
 	{ 
@@ -152,8 +182,13 @@
 	}
 
+  /**@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()
 	{
@@ -164,6 +199,7 @@
 	
 private:
-
+  ///Storage for the rotation
 	btMatrix3x3 m_basis;
+  ///Storage for the translation
 	btVector3   m_origin;
 };
@@ -192,4 +228,5 @@
 }
 
+/**@brief Test if two transforms have all elements equal */
 SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
 {
