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:

• BtUtil.hpp