Searched refs:getParentToLocalRot (Results 1 – 2 of 2) sorted by relevance
444 const btQuaternion & btMultiBody::getParentToLocalRot(int i) const in getParentToLocalRot() function in btMultiBody455 result = quatRotate(getParentToLocalRot(i).inverse(),result); in localPosToWorld()473 …return quatRotate(getParentToLocalRot(i),worldPosToLocal(getParent(i), world_pos)) - getRVector(i); in worldPosToLocal()481 result = quatRotate(getParentToLocalRot(i).inverse() , result); in localDirToWorld()493 return quatRotate(getParentToLocalRot(i) ,worldDirToLocal(getParent(i), world_dir)); in worldDirToLocal()2407 world_to_local[k+1] = getParentToLocalRot(k) * world_to_local[parent+1]; in forwardKinematics()2452 world_to_local[k+1] = getParentToLocalRot(k) * world_to_local[parent+1]; in updateCollisionObjectWorldTransforms()
264 …const btQuaternion & getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to …