#include <Matrix4.h>
Inheritance diagram for Physsim::Matrix4:
Public Member Functions | |
| Matrix4 () | |
| Default constructor. | |
| Matrix4 (const Matrix4 &source) | |
| Copy constructor. | |
| Matrix4 (const MatrixNN &source) | |
| Copy constructor. | |
| Matrix4 (const MatrixN &source) | |
| Copy constructor. | |
| Matrix4 (const boost::shared_array< Real > array) | |
| Constructs a matrix from an array. | |
| Matrix4 (const AAngle *a) | |
| Constructs a 4x4 homogeneous transformation matrix from a axis-angle representation (for rotation) and zero translation. | |
| Matrix4 (const Matrix3 *m) | |
| Constructs a 4x4 homogeneous transformation matrix from a rotation matrix and zero translation. | |
| Matrix4 (const Quat *q) | |
| Constructs a 4x4 homogeneous transformation matrix from a unit quaternion (for rotation) and zero translation. | |
| Matrix4 (const AAngle *a, const Vector3 *v) | |
| Constructs a 4x4 homogeneous transformation matrix from a axis-angle representation and a translation vector. | |
| Matrix4 (const Matrix3 *m, const Vector3 *v) | |
| Constructs a 4x4 homogeneous transformation matrix from a rotation matrix and translation vector. | |
| Matrix4 (const Quat *q, const Vector3 *v) | |
| Constructs a 4x4 homogeneous transformation matrix from a unit quaternion and translation vector. | |
| Matrix4 (const Vector3 *v) | |
| Constructs a 4x4 homogeneous transformation matrix using identity orientation and a translation vector. | |
| Matrix4 (Real m00, Real m01, Real m02, Real m03, Real m10, Real m11, Real m12, Real m13, Real m20, Real m21, Real m22, Real m23, Real m30, Real m31, Real m32, Real m33) | |
| Constructs a matrix from 16 values. | |
| bool | epsilon_equals (const Matrix4 &m, Real epsilon) const |
| Determines whether the transformation matrix represented by this matrix is equal to another (to within numerical tolerance epsilon). | |
| Matrix3 | get_rotation () const |
| Gets rotation and scaling 3x3 submatrix from a 4x4 homogeneous transform. | |
| void | get_rotation (Matrix3 *m) const |
| Gets rotation and scaling 3x3 submatrix from a 4x4 homogeneous transform. | |
| Vector3 | get_translation () const |
| Gets the translation component of a 4x4 homogeneous transform. | |
| void | invert_transform () |
| Special method for inverting a 4x4 transformation matrix. | |
| void | get_translation (boost::shared_array< Real > array) const |
| Gets the translation component of a 4x4 homogeneous transform. | |
| void | get_translation (Vector3 &v) const |
| Gets the translation component of a 4x4 homogeneous transform. | |
| void | get_translation (Real &x, Real &y, Real &z) const |
| Gets the translation component of a 4x4 homogeneous transform. | |
| void | set (boost::shared_array< const Real > array) |
| Sets the matrix using an array of Real values. | |
| void | set (const AAngle *a, const Vector3 *v) |
| void | set (const Matrix3 *m, const Vector3 *v) |
| Sets the matrix to be a 4x4 homogeneous transform from a rotation matrix and translation vector. | |
| void | set (const Quat *q, const Vector3 *v) |
| Sets the matrix to be a 4x4 homogeneous transform from a unit quaternion and translation vector. | |
| void | set_rotation (const AAngle *a) |
| Sets the rotation component of a 4x4 homogeneous transform from the given axis-angle representation. | |
| void | set_rotation (const Quat *q) |
| Sets the rotation and scaling component of a 4x4 homogeneous transform from the given quaternion. | |
| void | set_rotation (const Matrix3 *m) |
| Sets the rotation component of a 4x4 homogeneous transform from the given rotation matrix. | |
| void | set_translation (Real x, Real y, Real z) |
| Sets the translation component of a 4x4 homogeneous transform. | |
| void | set_translation (boost::shared_array< Real > array) |
| Sets the translation component of a 4x4 homogeneous transform from the given 3-D array. | |
| void | set_translation (const Vector3 &v) |
| Sets the translation componet of a 4x4 homogeneous transform from the given 3-D vector. | |
| void | operator= (const Matrix4 &source) |
| virtual void | operator= (const MatrixN &source) |
| Sets this matrix to that of another. | |
| virtual void | operator= (const MatrixNN &source) |
| Matrix4 | operator * (const Matrix4 &m) const |
| Matrix4 | operator * (Real scalar) const |
| Multiplies this matrix by a scalar. | |
| Matrix4 | operator/ (Real scalar) const |
| Vector3 | operator * (const Vector3 &v) const |
| Multiplies a 4x4 matrix by a 3D (4D homogeneous) vector. | |
Static Public Member Functions | |
| static bool | epsilon_equals (const Matrix4 &m1, const Matrix4 &m2, Real epsilon) |
| Determines whether the transformation matrix represented by two matrices are equal (to within numerical tolerance epsilon). | |
| static Matrix4 | interpolate (const Matrix4 &m1, const Matrix4 &m2, Real t) |
| Interpolates between two 4x4 transforms using spherical linear interpolation. | |
| static void | to_inventor_matrix (const Matrix4 &src, SbMatrix &tgt) |
| Copies this matrix to a OpenInventor SbMatrix object. | |
| static void | from_inventor_matrix (const SbMatrix &src, Matrix4 &tgt) |
| Copies an OpenInventor SbMatrix to a Physsim Matrix4. | |
| static Matrix4 | invert_transform (const Matrix4 &m) |
| Special method for inverting a 4x4 transformation matrix. | |
| static bool | valid_transform (const Matrix4 &m) |
| Determines whether the specified transform is valid. | |
This transformation matrix supports rotation and translation; scaling is not currently supported. The underlying data is stored in a column-major (e.g., the element at row 1, column 0 is element "1") though the transform itself is non-OpenGL style (i.e., translation is in the fourth column).
| Matrix4::Matrix4 | ( | ) |
Default constructor.
Sets matrix to the identity matrix
| Matrix4::Matrix4 | ( | const boost::shared_array< Real > | array | ) |
Constructs a matrix from an array.
| array | an array of 16 Real values in row-major format |
| Matrix4::Matrix4 | ( | Real | m00, | |
| Real | m01, | |||
| Real | m02, | |||
| Real | m03, | |||
| Real | m10, | |||
| Real | m11, | |||
| Real | m12, | |||
| Real | m13, | |||
| Real | m20, | |||
| Real | m21, | |||
| Real | m22, | |||
| Real | m23, | |||
| Real | m30, | |||
| Real | m31, | |||
| Real | m32, | |||
| Real | m33 | |||
| ) |
Constructs a matrix from 16 values.
The resulting matrix will appear as follows:
m00 m01 m02 m03
m10 m11 m12 m13
m20 m21 m22 m23
m30 m31 m32 m33
Interpolates between two 4x4 transforms using spherical linear interpolation.
| T1 | the matrix to use when t=0 | |
| T2 | the matrix to use when t=1 | |
| t | a real value in the interval [0,1] |
| void Matrix4::get_translation | ( | boost::shared_array< Real > | array | ) | const |
Gets the translation component of a 4x4 homogeneous transform.
| array | a 3-dimensional (or larger) array |
| void Matrix4::get_translation | ( | Real & | x, | |
| Real & | y, | |||
| Real & | z | |||
| ) | const |
Gets the translation component of a 4x4 homogeneous transform.
The values for x, y, and z are overwritten with the output.
| void Matrix4::set | ( | boost::shared_array< const Real > | array | ) |
Sets the matrix using an array of Real values.
| array | an array of 16 Real values in row-major format |
Sets the matrix to be a 4x4 homogeneous transform from a rotation matrix and translation vector.
Sets the matrix to be a 4x4 homogeneous transform from a unit quaternion and translation vector.
1.5.1