com.bulletphysics.linearmath
Class MatrixUtil

java.lang.Object
  extended by com.bulletphysics.linearmath.MatrixUtil

public class MatrixUtil
extends java.lang.Object


Constructor Summary
MatrixUtil()
           
 
Method Summary
static void absolute(javax.vecmath.Matrix3f mat)
           
static void getOpenGLSubMatrix(javax.vecmath.Matrix3f mat, float[] m)
           
static void getRotation(javax.vecmath.Matrix3f mat, javax.vecmath.Quat4f dest)
           
static void invert(javax.vecmath.Matrix3f mat)
           
static void scale(javax.vecmath.Matrix3f dest, javax.vecmath.Matrix3f mat, javax.vecmath.Vector3f s)
           
static void setEulerZYX(javax.vecmath.Matrix3f mat, float eulerX, float eulerY, float eulerZ)
          setEulerZYX
static void setFromOpenGLSubMatrix(javax.vecmath.Matrix3f mat, float[] m)
           
static void setRotation(javax.vecmath.Matrix3f dest, javax.vecmath.Quat4f q)
           
static void transposeTransform(javax.vecmath.Vector3f dest, javax.vecmath.Vector3f vec, javax.vecmath.Matrix3f mat)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

MatrixUtil

public MatrixUtil()
Method Detail

scale

public static void scale(javax.vecmath.Matrix3f dest,
                         javax.vecmath.Matrix3f mat,
                         javax.vecmath.Vector3f s)

absolute

public static void absolute(javax.vecmath.Matrix3f mat)

setFromOpenGLSubMatrix

public static void setFromOpenGLSubMatrix(javax.vecmath.Matrix3f mat,
                                          float[] m)

getOpenGLSubMatrix

public static void getOpenGLSubMatrix(javax.vecmath.Matrix3f mat,
                                      float[] m)

setEulerZYX

public static void setEulerZYX(javax.vecmath.Matrix3f mat,
                               float eulerX,
                               float eulerY,
                               float eulerZ)
setEulerZYX

Parameters:
euler - a const reference to a btVector3 of euler angles These angles are used to produce a rotation matrix. The euler angles are applied in ZYX order. I.e a vector is first rotated about X then Y and then Z

transposeTransform

public static void transposeTransform(javax.vecmath.Vector3f dest,
                                      javax.vecmath.Vector3f vec,
                                      javax.vecmath.Matrix3f mat)

setRotation

public static void setRotation(javax.vecmath.Matrix3f dest,
                               javax.vecmath.Quat4f q)

getRotation

public static void getRotation(javax.vecmath.Matrix3f mat,
                               javax.vecmath.Quat4f dest)

invert

public static void invert(javax.vecmath.Matrix3f mat)