A rigid-body transformation. More...

#include <primitives.h>

Public Member Functions
	RigidTransform (const RigidTransform &)

	RigidTransform (const Matrix3 &, const Vector3 &)

	RigidTransform (const Vector3 &, const Vector3 &, const Vector3 &, const Vector3 &)

	RigidTransform (const Matrix4 &)

bool	operator== (const RigidTransform &) const

bool	operator!= (const RigidTransform &) const

const RigidTransform &	operator= (const RigidTransform &)

void	*operator=** (const RigidTransform &)

void	*operator=** (const Matrix3 &)

void	operator+= (const Vector3 &)

void	operator-= (const Vector3 &)

	operator Matrix4 () const

void	compose (const RigidTransform &a, const RigidTransform &b)
	this(v) = a(b(v))

void	composeInverseA (const RigidTransform &a, const RigidTransform &b)
	this(v) = a^-1(b(v))

void	composeInverseB (const RigidTransform &a, const RigidTransform &b)

void	mul (const RigidTransform &a, const RigidTransform &b)
	mul = compose

void	mulInverseA (const RigidTransform &a, const RigidTransform &b)

void	mulInverseB (const RigidTransform &a, const RigidTransform &b)

void	setIdentity ()

void	set (const RigidTransform &)

void	set (const Matrix3 &, const Vector3 &)

void	set (const Vector3 &x, const Vector3 &y, const Vector3 &z, const Vector3 &trans)

void	set (const Matrix4 &)

void	setRotate (const Matrix3 &)
	sets the xform to just rotate

void	setTranslate (const Vector3 &)
	sets the xform to just translate

void	setRotation (const Matrix3 &)

void	setTranslation (const Vector3 &)

void	setInverse (const RigidTransform &)

void	setRotated (const RigidTransform &a, const Matrix3 &r)

void	setShifted (const RigidTransform &a, const Vector3 &v)

void	get (RigidTransform &) const

void	get (Matrix3 &, Vector3 &) const

void	get (Vector3 &x, Vector3 &y, Vector3 &z, Vector3 &trans) const

void	get (Matrix4 &) const

void	getRotation (Matrix3 &) const

void	getTranslation (Vector3 &) const

void	getInverse (RigidTransform &)

void	inplaceInverse ()

void	inplaceRotate (const Matrix3 &)

void	inplaceShift (const Vector3 &)

bool	isIdentity (Real eps=Zero) const

bool	isValid (Real eps=Epsilon) const
	true if the matrix is orthogonal

bool	Read (File &)

bool	Write (File &) const

vector operators
void	mul (const Vector3 &a, Vector3 &out) const
	= mulPoint

void	mul (const Vector4 &a, Vector3 &out) const

void	mulPoint (const Vector3 &a, Vector3 &out) const

void	mulVector (const Vector3 &a, Vector3 &out) const

void	mulInverse (const Vector3 &a, Vector3 &out) const
	= mulPointInverse

void	mulInverse (const Vector4 &a, Vector3 &out) const

void	mulPointInverse (const Vector3 &a, Vector3 &out) const

void	mulVectorInverse (const Vector3 &a, Vector3 &out) const

Public Attributes
Matrix3	R

Vector3	t

Detailed Description

A rigid-body transformation.

A linear transformation of the form T(t)*R where R is an orthogonal (rotation) matrix, and T(t) is a translation by the vector t.

The property that R is orthogonal is assumed to be user-maintained.

This representation has the following properties:
1) $R^{-1} = R^t$
2) $ R*T(t) = T(R*t)*R $ .

Therefore, many operations are more efficient than representing the transformation as a 4x4 homogeneous matrix.

The documentation for this class was generated from the following files:

math3d/primitives.h
primitives.cpp

Public Member Functions

Public Attributes

Detailed Description