com.bulletphysics.linearmath

Class Transform

java.lang.Object

com.bulletphysics.linearmath.Transform

public class Transform
extends Object

Transform represents translation and rotation (rigid transform). Scaling and shearing is not supported.

You can use local shape scaling or UniformScalingShape for static rescaling of collision objects.

Field Summary

Fields

Modifier and Type	Field and Description
Matrix3f	basis Rotation matrix of this Transform.
Vector3f	origin Translation vector of this Transform.

Constructor Summary

Constructors

Constructor and Description
Transform()
Transform(Matrix3f mat)
Transform(Matrix4f mat)
Transform(Transform tr)

Method Summary

Methods

Modifier and Type	Method and Description
boolean	equals(Object obj)
Matrix4f	getMatrix(Matrix4f out)
void	getOpenGLMatrix(float[] m)
Quat4f	getRotation(Quat4f out)
int	hashCode()
void	inverse()
void	inverse(Transform tr)
void	invXform(Vector3f inVec, Vector3f out)
void	mul(Transform tr)
void	mul(Transform tr1, Transform tr2)
void	set(Matrix3f mat)
void	set(Matrix4f mat)
void	set(Transform tr)
void	setFromOpenGLMatrix(float[] m)
void	setIdentity()
void	setRotation(Quat4f q)
void	transform(Vector3f v)

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, toString, wait, wait, wait

Field Detail

basis

public final Matrix3f basis

Rotation matrix of this Transform.

origin

public final Vector3f origin

Translation vector of this Transform.

Constructor Detail

Transform

public Transform()

Transform

public Transform(Matrix3f mat)

Transform

public Transform(Matrix4f mat)

Transform

public Transform(Transform tr)

Method Detail

set

public void set(Transform tr)

set

public void set(Matrix3f mat)

set

public void set(Matrix4f mat)

transform

public void transform(Vector3f v)

setIdentity

public void setIdentity()

inverse

public void inverse()

inverse

public void inverse(Transform tr)

mul

public void mul(Transform tr)

mul

public void mul(Transform tr1,
       Transform tr2)

invXform

public void invXform(Vector3f inVec,
            Vector3f out)

getRotation

public Quat4f getRotation(Quat4f out)

setRotation

public void setRotation(Quat4f q)

setFromOpenGLMatrix

public void setFromOpenGLMatrix(float[] m)

getOpenGLMatrix

public void getOpenGLMatrix(float[] m)

getMatrix

public Matrix4f getMatrix(Matrix4f out)

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object