15#ifndef BT_TRANSFORM_UTIL_H
16#define BT_TRANSFORM_UTIL_H
19#define ANGULAR_MOTION_THRESHOLD btScalar(0.5) * SIMD_HALF_PI
36#ifdef QUATERNION_DERIVATIVE
92 angVel = axis * angle / timeStep;
121 angVel = axis * angle / timeStep;
const T & btMax(const T &a, const T &b)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btSqrt(btScalar y)
btScalar btSin(btScalar x)
#define SIMD_FORCE_INLINE
btScalar btCos(btScalar x)
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
btVector3 m_separatingNormal
btScalar m_boundingRadiusB
btScalar m_separatingDistance
btScalar getConservativeSeparatingDistance()
void initSeparatingDistance(const btVector3 &separatingVector, btScalar separatingDistance, const btTransform &transA, const btTransform &transB)
btConvexSeparatingDistanceUtil(btScalar boundingRadiusA, btScalar boundingRadiusB)
btScalar m_boundingRadiusA
void updateSeparatingDistance(const btTransform &transA, const btTransform &transB)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btMatrix3x3 inverse() const
Return the inverse of the matrix.
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
btScalar getAngle() const
Return the angle [0, 2Pi] of rotation represented by this quaternion.
btQuaternion nearest(const btQuaternion &qd) const
btQuaternion & safeNormalize()
btQuaternion inverse() const
Return the inverse of this quaternion.
void setRotation(const btVector3 &axis, const btScalar &_angle)
Set the rotation using axis angle notation.
btQuaternion & normalize()
Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
btVector3 can be used to represent 3D points and vectors.
const btScalar & z() const
Return the z value.
btScalar dot(const btVector3 &v) const
Return the dot product.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
btScalar length2() const
Return the length of the vector squared.
const btScalar & x() const
Return the x value.
const btScalar & y() const
Return the y value.