mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
57 lines
2.7 KiB
C++
Executable File
57 lines
2.7 KiB
C++
Executable File
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_REFERENCEFRAMEHELPER_H
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#define B3_REFERENCEFRAMEHELPER_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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class b3ReferenceFrameHelper {
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public:
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static btVector3 getPointWorldToLocal(const btTransform& localObjectCenterOfMassTransform, const btVector3& point) {
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return localObjectCenterOfMassTransform.inverse() * point; // transforms the point from the world frame into the local frame
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}
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static btVector3 getPointLocalToWorld(const btTransform& localObjectCenterOfMassTransform,const btVector3& point) {
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return localObjectCenterOfMassTransform * point; // transforms the point from the world frame into the local frame
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}
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static btVector3 getAxisWorldToLocal(const btTransform& localObjectCenterOfMassTransform, const btVector3& axis) {
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btTransform local1 = localObjectCenterOfMassTransform.inverse(); // transforms the axis from the local frame into the world frame
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btVector3 zero(0,0,0);
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local1.setOrigin(zero);
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return local1 * axis;
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}
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static btVector3 getAxisLocalToWorld(const btTransform& localObjectCenterOfMassTransform, const btVector3& axis) {
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btTransform local1 = localObjectCenterOfMassTransform; // transforms the axis from the local frame into the world frame
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btVector3 zero(0,0,0);
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local1.setOrigin(zero);
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return local1 * axis;
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}
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static btTransform getTransformWorldToLocal(const btTransform& localObjectCenterOfMassTransform, const btTransform& transform) {
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return localObjectCenterOfMassTransform.inverse() * transform; // transforms the axis from the local frame into the world frame
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}
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static btTransform getTransformLocalToWorld(const btTransform& localObjectCenterOfMassTransform, const btTransform& transform) {
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return localObjectCenterOfMassTransform * transform; // transforms the axis from the local frame into the world frame
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}
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};
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#endif /* B3_REFERENCEFRAMEHELPER_H */
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