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Blender V2.61 - r43446
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Blender V2.61 - r43446
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The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. More...
#include <btTransform.h>
Public Member Functions | |
| btTransform () | |
| No initialization constructor. | |
| SIMD_FORCE_INLINE | btTransform (const btQuaternion &q, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0))) |
| Constructor from btQuaternion (optional btVector3 ) | |
| SIMD_FORCE_INLINE | btTransform (const btMatrix3x3 &b, const btVector3 &c=btVector3(btScalar(0), btScalar(0), btScalar(0))) |
| Constructor from btMatrix3x3 (optional btVector3) | |
| SIMD_FORCE_INLINE | btTransform (const btTransform &other) |
| Copy constructor. | |
| SIMD_FORCE_INLINE btTransform & | operator= (const btTransform &other) |
| Assignment Operator. | |
| SIMD_FORCE_INLINE void | mult (const btTransform &t1, const btTransform &t2) |
| Set the current transform as the value of the product of two transforms. | |
| SIMD_FORCE_INLINE btVector3 | operator() (const btVector3 &x) const |
| Return the transform of the vector. | |
| SIMD_FORCE_INLINE btVector3 | operator* (const btVector3 &x) const |
| Return the transform of the vector. | |
| SIMD_FORCE_INLINE btQuaternion | operator* (const btQuaternion &q) const |
| Return the transform of the btQuaternion. | |
| SIMD_FORCE_INLINE btMatrix3x3 & | getBasis () |
| Return the basis matrix for the rotation. | |
| SIMD_FORCE_INLINE const btMatrix3x3 & | getBasis () const |
| Return the basis matrix for the rotation. | |
| SIMD_FORCE_INLINE btVector3 & | getOrigin () |
| Return the origin vector translation. | |
| SIMD_FORCE_INLINE const btVector3 & | getOrigin () const |
| Return the origin vector translation. | |
| btQuaternion | getRotation () const |
| Return a quaternion representing the rotation. | |
| void | setFromOpenGLMatrix (const btScalar *m) |
| Set from an array. | |
| void | getOpenGLMatrix (btScalar *m) const |
| Fill an array representation. | |
| SIMD_FORCE_INLINE void | setOrigin (const btVector3 &origin) |
| Set the translational element. | |
| SIMD_FORCE_INLINE btVector3 | invXform (const btVector3 &inVec) const |
| SIMD_FORCE_INLINE void | setBasis (const btMatrix3x3 &basis) |
| Set the rotational element by btMatrix3x3. | |
| SIMD_FORCE_INLINE void | setRotation (const btQuaternion &q) |
| Set the rotational element by btQuaternion. | |
| void | setIdentity () |
| Set this transformation to the identity. | |
| btTransform & | operator*= (const btTransform &t) |
| Multiply this Transform by another(this = this * another) | |
| btTransform | inverse () const |
| Return the inverse of this transform. | |
| btTransform | inverseTimes (const btTransform &t) const |
| Return the inverse of this transform times the other transform. | |
| btTransform | operator* (const btTransform &t) const |
| Return the product of this transform and the other. | |
| void | serialize (struct btTransformData &dataOut) const |
| void | serializeFloat (struct btTransformFloatData &dataOut) const |
| void | deSerialize (const struct btTransformData &dataIn) |
| void | deSerializeDouble (const struct btTransformDoubleData &dataIn) |
| void | deSerializeFloat (const struct btTransformFloatData &dataIn) |
Static Public Member Functions | |
| static const btTransform & | getIdentity () |
| Return an identity transform. | |
The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes.
Definition at line 34 of file btTransform.h.
| btTransform::btTransform | ( | ) | [inline] |
No initialization constructor.
Definition at line 44 of file btTransform.h.
Referenced by inverse(), inverseTimes(), and operator*().
| SIMD_FORCE_INLINE btTransform::btTransform | ( | const btQuaternion & | q, |
| const btVector3 & | c = btVector3(btScalar(0), btScalar(0), btScalar(0)) |
||
| ) | [inline, explicit] |
Constructor from btQuaternion (optional btVector3 )
| q | Rotation from quaternion |
| c | Translation from Vector (default 0,0,0) |
Definition at line 48 of file btTransform.h.
| SIMD_FORCE_INLINE btTransform::btTransform | ( | const btMatrix3x3 & | b, |
| const btVector3 & | c = btVector3(btScalar(0), btScalar(0), btScalar(0)) |
||
| ) | [inline, explicit] |
Constructor from btMatrix3x3 (optional btVector3)
| b | Rotation from Matrix |
| c | Translation from Vector default (0,0,0) |
Definition at line 57 of file btTransform.h.
| SIMD_FORCE_INLINE btTransform::btTransform | ( | const btTransform & | other | ) | [inline] |
Copy constructor.
Definition at line 63 of file btTransform.h.
| SIMD_FORCE_INLINE void btTransform::deSerialize | ( | const struct btTransformData & | dataIn | ) |
Definition at line 282 of file btTransform.h.
References btMatrix3x3::deSerialize().
| SIMD_FORCE_INLINE void btTransform::deSerializeDouble | ( | const struct btTransformDoubleData & | dataIn | ) |
Definition at line 294 of file btTransform.h.
References btMatrix3x3::deSerializeDouble(), btTransformDoubleData::m_basis, and btTransformDoubleData::m_origin.
| SIMD_FORCE_INLINE void btTransform::deSerializeFloat | ( | const struct btTransformFloatData & | dataIn | ) |
Definition at line 288 of file btTransform.h.
References btMatrix3x3::deSerializeFloat(), btTransformFloatData::m_basis, and btTransformFloatData::m_origin.
| SIMD_FORCE_INLINE const btMatrix3x3& btTransform::getBasis | ( | ) | const [inline] |
Return the basis matrix for the rotation.
Definition at line 116 of file btTransform.h.
| SIMD_FORCE_INLINE btMatrix3x3& btTransform::getBasis | ( | ) | [inline] |
Return the basis matrix for the rotation.
Definition at line 114 of file btTransform.h.
Referenced by btSoftBody::appendAngularJoint(), CcdPhysicsController::ApplyForce(), CcdPhysicsController::ApplyTorque(), GIM_AABB::appy_transform(), ATTRIBUTE_ALIGNED16(), b2CollidePolygons(), btAdjustInternalEdgeContacts(), btCompareTransformsEqual(), btHinge2Constraint::btHinge2Constraint(), btTransformAabb(), btUniversalConstraint::btUniversalConstraint(), btGeneric6DofConstraint::buildAngularJacobian(), btGeneric6DofConstraint::buildJacobian(), btConeTwistConstraint::buildJacobian(), btGeneric6DofConstraint::buildLinearJacobian(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_full_invert(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_homogenic(), btConeTwistConstraint::calcAngleInfo(), btConeTwistConstraint::calcAngleInfo2(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), btSubsimplexConvexCast::calcTimeOfImpact(), btGeneric6DofConstraint::calculateAngleInfo(), btTransformUtil::calculateDiffAxisAngle(), btGeneric6DofConstraint::calculateLinearInfo(), btConvexTriangleMeshShape::calculatePrincipalAxisTransform(), btSliderConstraint::calculateTransforms(), capsuleCapsuleDistance(), btSoftBody::checkContact(), btConvexPlaneCollisionAlgorithm::collideSingleContact(), CcdPhysicsEnvironment::createConstraint(), btRaycastVehicle::debugDraw(), btDiscreteDynamicsWorld::debugDrawConstraint(), btIDebugDraw::drawCapsule(), btIDebugDraw::drawCone(), btIDebugDraw::drawCylinder(), btIDebugDraw::drawSphere(), btIDebugDraw::drawTransform(), EdgeSeparation(), FindIncidentEdge(), FindMaxSeparation(), GIM_TRIANGLE::get_triangle_transform(), btHeightfieldTerrainShape::getAabb(), btTriangleMeshShape::getAabb(), btCapsuleShape::getAabb(), btConvexInternalShape::getAabbSlow(), btUniformScalingShape::getAabbSlow(), btBoxBoxDetector::getClosestPoints(), SphereTriangleDetector::getClosestPoints(), btGjkPairDetector::getClosestPointsNonVirtual(), btRaycastVehicle::getForwardVector(), btConeTwistConstraint::getInfo2NonVirtual(), btSliderConstraint::getInfo2NonVirtual(), CcdPhysicsController::GetTransformFromMotionState(), DefaultMotionState::getWorldOrientation(), BlenderBulletMotionState::getWorldTransform(), gim_inertia_add_transformed(), gjkepa2_impl::Initialize(), btKinematicCharacterController::jump(), btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(), btCollisionWorld::objectQuerySingle(), operator==(), CcdPhysicsEnvironment::processFhSprings(), btCollisionWorld::rayTestSingle(), CcdPhysicsController::RelativeRotate(), CcdPhysicsController::RelativeTranslate(), resolveSingleBilateral(), CcdPhysicsController::SetAngularVelocity(), btGeneric6DofSpringConstraint::setAxis(), btGeneric6DofConstraint::setAxis(), btUniversalConstraint::setAxis(), btGeneric6DofConstraint::setLinearLimits(), CcdPhysicsController::SetLinearVelocity(), DefaultMotionState::setWorldOrientation(), btSoftColliders::ClusterBase::SolveContact(), SupportVertexCallback::SupportVertexCallback(), CcdPhysicsController::SynchronizeMotionStates(), btSliderConstraint::testAngLimits(), btSoftBody::transform(), btSoftBody::updateClusters(), btRaycastVehicle::updateFriction(), btRaycastVehicle::updateVehicle(), and btRaycastVehicle::updateWheelTransformsWS().
| static const btTransform& btTransform::getIdentity | ( | ) | [inline, static] |
Return an identity transform.
Definition at line 205 of file btTransform.h.
References btMatrix3x3::getIdentity().
Referenced by btGImpactCompoundShape::calculateLocalInertia(), btSoftColliders::CollideCL_SS::Process(), btSoftColliders::CollideCL_RS::Process(), and btSoftBody::Body::xform().
| void btTransform::getOpenGLMatrix | ( | btScalar * | m | ) | const [inline] |
Fill an array representation.
| m | A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation |
Definition at line 141 of file btTransform.h.
References btMatrix3x3::getOpenGLSubMatrix().
| SIMD_FORCE_INLINE const btVector3& btTransform::getOrigin | ( | ) | const [inline] |
Return the origin vector translation.
Definition at line 121 of file btTransform.h.
| SIMD_FORCE_INLINE btVector3& btTransform::getOrigin | ( | ) | [inline] |
Return the origin vector translation.
Definition at line 119 of file btTransform.h.
Referenced by ATTRIBUTE_ALIGNED16(), btCompareTransformsEqual(), btSingleSweepCallback::btSingleSweepCallback(), btTransformAabb(), btConeTwistConstraint::buildJacobian(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_full_invert(), GIM_BOX_BOX_TRANSFORM_CACHE::calc_from_homogenic(), btGeneric6DofConstraint::calcAnchorPos(), btGjkEpaPenetrationDepthSolver::calcPenDepth(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), btContinuousConvexCollision::calcTimeOfImpact(), btSubsimplexConvexCast::calcTimeOfImpact(), btGjkConvexCast::calcTimeOfImpact(), btGeneric6DofConstraint::calculateLinearInfo(), btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(), btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(), btSliderConstraint::calculateTransforms(), btTransformUtil::calculateVelocity(), capsuleCapsuleDistance(), btCollisionWorld::convexSweepTest(), btRaycastVehicle::debugDraw(), btDiscreteDynamicsWorld::debugDrawConstraint(), btSoftBody::defaultCollisionHandler(), btSoftColliders::CollideSDF_RS::DoNode(), btIDebugDraw::drawCapsule(), btIDebugDraw::drawCone(), btIDebugDraw::drawCylinder(), btIDebugDraw::drawSphere(), btIDebugDraw::drawTransform(), btGeneric6DofConstraint::get_limit_motor_info2(), btHeightfieldTerrainShape::getAabb(), btEmptyShape::getAabb(), btCapsuleShape::getAabb(), btHinge2Constraint::getAnchor(), btUniversalConstraint::getAnchor(), btHinge2Constraint::getAnchor2(), btUniversalConstraint::getAnchor2(), btSliderConstraint::getAncorInB(), btBoxBoxDetector::getClosestPoints(), SphereTriangleDetector::getClosestPoints(), btGjkPairDetector::getClosestPointsNonVirtual(), btConeTwistConstraint::getInfo2NonVirtual(), btSliderConstraint::getInfo2NonVirtual(), CcdPhysicsController::getPosition(), WrapperVehicle::GetWheelPosition(), DefaultMotionState::getWorldPosition(), gim_inertia_add_transformed(), btConvexSeparatingDistanceUtil::initSeparatingDistance(), btTransformUtil::integrateTransform(), btDiscreteDynamicsWorld::integrateTransforms(), inverseTimes(), btCollisionWorld::objectQuerySingle(), operator==(), btSoftRigidDynamicsWorld::rayTestSingle(), btCollisionWorld::rayTestSingle(), CcdPhysicsController::RelativeTranslate(), CcdPhysicsController::setPosition(), CcdPhysicsController::setWorldOrientation(), BlenderBulletMotionState::setWorldTransform(), btConeTwistConstraint::solveConstraintObsolete(), btSoftColliders::ClusterBase::SolveContact(), CcdPhysicsController::SynchronizeMotionStates(), WrapperVehicle::SyncWheels(), and btConvexSeparatingDistanceUtil::updateSeparatingDistance().
| btQuaternion btTransform::getRotation | ( | ) | const [inline] |
Return a quaternion representing the rotation.
Definition at line 124 of file btTransform.h.
References btMatrix3x3::getRotation().
Referenced by btConeTwistConstraint::calcAngleInfo2(), btCollisionWorld::convexSweepTest(), WrapperVehicle::GetWheelOrientationQuaternion(), DefaultMotionState::getWorldOrientation(), btConvexSeparatingDistanceUtil::initSeparatingDistance(), btTransformUtil::integrateTransform(), operator*(), btConeTwistConstraint::setMotorTarget(), BlenderBulletMotionState::setWorldTransform(), WrapperVehicle::SyncWheels(), and btConvexSeparatingDistanceUtil::updateSeparatingDistance().
| btTransform btTransform::inverse | ( | ) | const [inline] |
Return the inverse of this transform.
Definition at line 190 of file btTransform.h.
References btTransform(), and btMatrix3x3::transpose().
Referenced by btPerturbedContactResult::addContactPoint(), btSoftBody::appendAngularJoint(), btSoftBody::appendLinearJoint(), ATTRIBUTE_ALIGNED16(), btHinge2Constraint::btHinge2Constraint(), btUniversalConstraint::btUniversalConstraint(), btConeTwistConstraint::calcAngleInfo2(), btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(), btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(), btConvexPlaneCollisionAlgorithm::collideSingleContact(), CcdPhysicsEnvironment::createConstraint(), GIM_TREE_TREE_COLLIDER< BOX_SET_CLASS0, BOX_SET_CLASS1 >::find_collision(), btSliderConstraint::getAncorInA(), btDefaultMotionState::getWorldTransform(), btGImpactCollisionAlgorithm::gimpact_vs_concave(), btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(), btCollisionWorld::objectQuerySingle(), btCompoundCollisionAlgorithm::processCollision(), btCollisionWorld::rayTestSingle(), btGeneric6DofSpringConstraint::setAxis(), btGeneric6DofConstraint::setAxis(), btUniversalConstraint::setAxis(), btConeTwistConstraint::setMotorTarget(), and btConeTwistConstraint::solveConstraintObsolete().
| SIMD_FORCE_INLINE btTransform btTransform::inverseTimes | ( | const btTransform & | t | ) | const |
Return the inverse of this transform times the other transform.
| t | The other transform return this.inverse() * the other |
Definition at line 232 of file btTransform.h.
References btTransform(), getOrigin(), and btMatrix3x3::transposeTimes().
Referenced by btContinuousConvexCollision::calcTimeOfImpact(), SphereTriangleDetector::getClosestPoints(), gjkepa2_impl::Initialize(), and btCollisionWorld::rayTestSingle().
| SIMD_FORCE_INLINE btVector3 btTransform::invXform | ( | const btVector3 & | inVec | ) | const |
Definition at line 225 of file btTransform.h.
References btMatrix3x3::transpose().
Referenced by btBridgedManifoldResult::addContactPoint(), btManifoldResult::addContactPoint(), btSoftBody::checkContact(), btSphereBoxCollisionAlgorithm::getSphereDistance(), and btSphereBoxCollisionAlgorithm::getSpherePenetration().
| SIMD_FORCE_INLINE void btTransform::mult | ( | const btTransform & | t1, |
| const btTransform & | t2 | ||
| ) | [inline] |
Set the current transform as the value of the product of two transforms.
Definition at line 81 of file btTransform.h.
| SIMD_FORCE_INLINE btVector3 btTransform::operator() | ( | const btVector3 & | x | ) | const [inline] |
| SIMD_FORCE_INLINE btVector3 btTransform::operator* | ( | const btVector3 & | x | ) | const [inline] |
Return the transform of the vector.
Definition at line 102 of file btTransform.h.
| SIMD_FORCE_INLINE btQuaternion btTransform::operator* | ( | const btQuaternion & | q | ) | const [inline] |
Return the transform of the btQuaternion.
Definition at line 108 of file btTransform.h.
References getRotation().
| SIMD_FORCE_INLINE btTransform btTransform::operator* | ( | const btTransform & | t | ) | const |
Return the product of this transform and the other.
Definition at line 240 of file btTransform.h.
References btTransform().
| btTransform& btTransform::operator*= | ( | const btTransform & | t | ) | [inline] |
Multiply this Transform by another(this = this * another)
| t | The other transform |
Definition at line 182 of file btTransform.h.
| SIMD_FORCE_INLINE btTransform& btTransform::operator= | ( | const btTransform & | other | ) | [inline] |
Assignment Operator.
Definition at line 69 of file btTransform.h.
| SIMD_FORCE_INLINE void btTransform::serialize | ( | struct btTransformData & | dataOut | ) | const |
Definition at line 269 of file btTransform.h.
References btMatrix3x3::serialize().
| SIMD_FORCE_INLINE void btTransform::serializeFloat | ( | struct btTransformFloatData & | dataOut | ) | const |
Definition at line 275 of file btTransform.h.
References btTransformFloatData::m_basis, btTransformFloatData::m_origin, and btMatrix3x3::serializeFloat().
Referenced by btGeneric6DofConstraint::serialize(), btConeTwistConstraint::serialize(), and btSliderConstraint::serialize().
| SIMD_FORCE_INLINE void btTransform::setBasis | ( | const btMatrix3x3 & | basis | ) | [inline] |
Set the rotational element by btMatrix3x3.
Definition at line 161 of file btTransform.h.
Referenced by CcdPhysicsController::forceWorldTransform(), btConvexConvexAlgorithm::processCollision(), CcdPhysicsController::RelativeRotate(), CcdPhysicsController::setWorldOrientation(), btSoftBody::updateClusters(), and btRaycastVehicle::updateWheelTransform().
| void btTransform::setFromOpenGLMatrix | ( | const btScalar * | m | ) | [inline] |
Set from an array.
| m | A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation |
Definition at line 133 of file btTransform.h.
References btMatrix3x3::setFromOpenGLSubMatrix().
Referenced by plSetOpenGLMatrix().
| void btTransform::setIdentity | ( | ) | [inline] |
Set this transformation to the identity.
Definition at line 174 of file btTransform.h.
References btMatrix3x3::setIdentity().
Referenced by btHinge2Constraint::btHinge2Constraint(), btMinkowskiSumShape::btMinkowskiSumShape(), btRigidBody::btRigidBodyConstructionInfo::btRigidBodyConstructionInfo(), btSingleRayCallback::btSingleRayCallback(), btSoftSingleRayCallback::btSoftSingleRayCallback(), btUniversalConstraint::btUniversalConstraint(), btContinuousConvexCollision::calcTimeOfImpact(), btGjkConvexCast::calcTimeOfImpact(), btConeShape::calculateLocalInertia(), btCapsuleShape::calculateLocalInertia(), btPolyhedralConvexShape::calculateLocalInertia(), btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(), btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(), CcdShapeConstructionInfo::CcdShapeConstructionInfo(), btCollisionWorld::convexSweepTest(), CcdPhysicsEnvironment::CreateConeController(), CcdPhysicsEnvironment::CreateSphereController(), btDiscreteDynamicsWorld::debugDrawConstraint(), btCollisionWorld::debugDrawObject(), DefaultMotionState::DefaultMotionState(), btSparseSdf< 3 >::DistanceToShape(), btIDebugDraw::drawSphere(), btGImpactCompoundShape::CompoundPrimitiveManager::get_primitive_box(), btCollisionShape::getBoundingSphere(), btSoftBody::initDefaults(), btSoftBody::initializeClusters(), btTriangleMeshShape::localGetSupportingVertex(), plAddChildShape(), plCreateRigidBody(), plNearestPoints(), btSoftBody::rotate(), btGeneric6DofSpringConstraint::setAxis(), btGeneric6DofConstraint::setAxis(), btUniversalConstraint::setAxis(), btSoftBodyTriangleCallback::setTimeStepAndCounters(), btConeTwistConstraint::solveConstraintObsolete(), btKinematicCharacterController::stepDown(), btKinematicCharacterController::stepForwardAndStrafe(), btKinematicCharacterController::stepUp(), btSoftBody::translate(), and btKinematicCharacterController::warp().
| SIMD_FORCE_INLINE void btTransform::setOrigin | ( | const btVector3 & | origin | ) | [inline] |
Set the translational element.
| origin | The vector to set the translation to |
Definition at line 152 of file btTransform.h.
Referenced by btHinge2Constraint::btHinge2Constraint(), btSingleRayCallback::btSingleRayCallback(), btSoftSingleRayCallback::btSoftSingleRayCallback(), btUniversalConstraint::btUniversalConstraint(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), btConvexTriangleMeshShape::calculatePrincipalAxisTransform(), CcdPhysicsEnvironment::createConstraint(), CcdPhysicsEnvironment::CreateSphereController(), btDiscreteDynamicsWorld::debugDrawConstraint(), btCollisionWorld::debugDrawObject(), btIDebugDraw::drawSphere(), CcdPhysicsController::forceWorldTransform(), GIM_TRIANGLE::get_triangle_transform(), CcdPhysicsController::GetTransformFromMotionState(), BlenderBulletMotionState::getWorldTransform(), btSoftBody::initializeClusters(), btTransformUtil::integrateTransform(), plAddChildShape(), btKinematicCharacterController::playerStep(), plSetPosition(), btKinematicCharacterController::recoverFromPenetration(), CcdPhysicsController::RelativeTranslate(), btUniversalConstraint::setAxis(), CcdPhysicsController::setPosition(), btSoftBodyTriangleCallback::setTimeStepAndCounters(), CcdPhysicsController::setWorldOrientation(), DefaultMotionState::setWorldPosition(), btKinematicCharacterController::stepDown(), btKinematicCharacterController::stepForwardAndStrafe(), btKinematicCharacterController::stepUp(), btSoftBody::translate(), btSoftBody::updateClusters(), btRaycastVehicle::updateWheelTransform(), and btKinematicCharacterController::warp().
| SIMD_FORCE_INLINE void btTransform::setRotation | ( | const btQuaternion & | q | ) | [inline] |
Set the rotational element by btQuaternion.
Definition at line 167 of file btTransform.h.
References btMatrix3x3::setRotation().
Referenced by btCollisionWorld::convexSweepTest(), btTransformUtil::integrateTransform(), plAddChildShape(), plSetOrientation(), btSoftBody::rotate(), CcdPhysicsController::setOrientation(), and DefaultMotionState::setWorldOrientation().