RobWorkProject  23.9.11-
Static Public Member Functions | List of all members
BtUtil Class Reference

Utility functions that allows easy conversion between Bullet and RobWork types. More...

#include <BtUtil.hpp>

Static Public Member Functions

static btVector3 makeBtVector (const rw::math::Vector3D<> &v3d)
 Create a Bullet vector from a RobWork vector. More...
 
static rw::math::Vector3D toVector3D (const btVector3 &v)
 Create a RobWork vector from a Bullet vector. More...
 
static btTransform makeBtTransform (const rw::math::Transform3D<> &t3d)
 Create a Bullet transform from a RobWork transform. More...
 
static rw::math::Transform3D toTransform3D (const btVector3 &v, const btQuaternion &q)
 Create a RobWork transform from a Bullet vector and quaternion. More...
 

Detailed Description

Utility functions that allows easy conversion between Bullet and RobWork types.

Member Function Documentation

◆ makeBtTransform()

static btTransform makeBtTransform ( const rw::math::Transform3D<> &  t3d)
static

Create a Bullet transform from a RobWork transform.

Parameters
t3d[in] the RobWork transform.
Returns
the Bullet transform.

◆ makeBtVector()

static btVector3 makeBtVector ( const rw::math::Vector3D<> &  v3d)
static

Create a Bullet vector from a RobWork vector.

Parameters
v3d[in] the RobWork vector.
Returns
the Bullet vector.

◆ toTransform3D()

static rw::math::Transform3D toTransform3D ( const btVector3 &  v,
const btQuaternion &  q 
)
static

Create a RobWork transform from a Bullet vector and quaternion.

Parameters
v[in] the Bullet vector.
q[in] the Bullet quaternion.
Returns
the RobWork transform.

◆ toVector3D()

static rw::math::Vector3D toVector3D ( const btVector3 &  v)
static

Create a RobWork vector from a Bullet vector.

Parameters
v[in] the Bullet vector.
Returns
the RobWork vector.

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