template<typename real>
class sofa::defaulttype::StdRigidTypes< 3, real >
Degrees of freedom of 3D rigid bodies. Orientations are modeled using quaternions. 
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| static constexpr const CPos & | getCPos (const Coord &c) | 
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| static constexpr void | setCPos (Coord &c, const CPos &v) | 
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| static constexpr const CRot & | getCRot (const Coord &c) | 
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| static constexpr void | setCRot (Coord &c, const CRot &v) | 
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| static constexpr const DPos & | getDPos (const Deriv &d) | 
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| static constexpr void | setDPos (Deriv &d, const DPos &v) | 
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| static constexpr const DRot & | getDRot (const Deriv &d) | 
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| static constexpr void | setDRot (Deriv &d, const DRot &v) | 
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| static constexpr void | set (Coord &c, T x, T y, T z) | 
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| static constexpr void | get (T &x, T &y, T &z, const Coord &c) | 
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| static constexpr void | set (Deriv &c, T x, T y, T z, T rx, T ry, T rz) | 
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| static constexpr void | add (Coord &c, T x, T y, T z) | 
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| static constexpr void | set (Deriv &c, T x, T y, T z) | 
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| static constexpr void | get (T &x, T &y, T &z, const Deriv &c) | 
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| static constexpr void | add (Deriv &c, T x, T y, T z) | 
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| static constexpr const char * | Name () | 
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| static Deriv | randomDeriv (Real minMagnitude, Real maxMagnitude) | 
|  | Return a Deriv with random value. Each entry with magnitude smaller than the given value.  More... 
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| static Deriv | coordDifference (const Coord &c1, const Coord &c2) | 
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| static Coord | interpolate (const type::vector< Coord > &ancestors, const type::vector< Real > &coefs) | 
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| static Deriv | interpolate (const type::vector< Deriv > &ancestors, const type::vector< Real > &coefs) | 
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| static constexpr Coord | inverse (const Coord &c) | 
|  | inverse rigid transform  More... 
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| static constexpr Coord | mult (const Coord &a, const Coord &b) | 
|  | matrix product  More... 
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| static constexpr Vec3 | crosscross (const Vec3 &a, const Vec3 &b, const Vec3 &c) | 
|  | double cross product: a * ( b * c )  More... 
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| static Quat | rotationEuler (Real x, Real y, Real z) | 
|  | create a rotation from Euler angles. For homogeneity with 2D.  More... 
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