This class implements a 4D transformation matrix encoded as column-major.

#include <CTransform.h>

Public Member Functions
	cTransform ()

	cTransform (const cVector3d &a_pos, const cMatrix3d &a_rot)
	Constructor of cTransform. More...

	cTransform (const cVector3d &a_pos)
	Constructor of cTransform. More...

	cTransform (const cMatrix3d &a_rot)
	Constructor of cTransform. More...

void	setLocalPos (const cVector3d &a_pos)
	This method builds a transformation matrix from a position vector. More...

void	setLocalRot (const cMatrix3d &a_rot)
	This method Builds a transformation matrix from a rotation matrix. More...

void	set (const cVector3d &a_pos, const cMatrix3d &a_rot)
	This method Builds a transformation matrix from a position vector and a rotation matrix. More...

void	set (const double &a_00, const double &a_01, const double &a_02, const double &a_03, const double &a_10, const double &a_11, const double &a_12, const double &a_13, const double &a_20, const double &a_21, const double &a_22, const double &a_23, const double &a_30, const double &a_31, const double &a_32, const double &a_33)
	This method sets values to all elements of this transformation matrix. More...

void	setFrustumMatrix (double a_l, double a_r, double a_b, double a_t, double a_n, double a_f)
	This method creates a frustum matrix. More...

void	setLookAtMatrix (const double a_eyeX, const double a_eyeY, const double a_eyeZ, const double a_centerX, const double a_centerY, const double a_centerZ, const double a_upX, const double a_upY, const double a_upZ)
	This method build a transformation matrix. More...

void	setLookAtMatrix (const cVector3d &a_eye, const cVector3d &a_lookAt, const cVector3d &a_up)
	This method build a transformation matrix. More...

void	setPerspectiveMatrix (const double a_fovy, const double a_aspect, const double a_zNear, const double a_zFar)
	This method builds a perspective matrix. More...

double *	getData ()
	This method returns a pointer to the matrix array in memory. More...

cVector3d	getLocalPos () const
	This method returns the translational component of this matrix. More...

cMatrix3d	getLocalRot () const
	This method returns the rotation component of this matrix. More...

void	copyto (cTransform &a_destination) const
	This method copies all elements of this matrix to another matrix. More...

void	copyfrom (const cTransform &a_source)
	This method copies all elements from another matrix to this one. More...

void	identity ()
	This method builds an identity matrix. More...

void	mul (const cTransform &a_matrix)
	This method left-multiplies this matrix with a transformation matrix passed as argument. More...

void	mulr (const cTransform &a_matrix, cTransform &a_result) const
	This method left-multiplies this matrix with a transformation matrix passed as argument. More...

void	mulr (const cVector3d &a_vector, cVector3d &a_result) const
	This method multiplies this matrix by a vector passed as argument. More...

void	trans ()
	This method computes the transpose of this matrix. More...

void	transr (cTransform &a_result) const
	This method computes the transpose of this matrix. More...

bool	invert ()
	This method computes the inverse of this matrix. More...

std::string	str (const int a_precision)
	This method converts this matrix to a string representation. More...

double &	operator() (const int a_index0, const int a_index1)
	An overloaded () operator. More...

const double &	operator() (const int a_index0, const int a_index1) const
	An overloaded () operator. More...

Public Attributes
double	m [4][4]
	Transformation matrix data. More...

bool	m_flagTransform
	If true then matrix encodes a translation and rotation matrix. If false matrix is represents a general 4x4. More...

Constructor & Destructor Documentation

chai3d::cTransform::cTransform ( )

inline

Default constructor of cTransform.

chai3d::cTransform::cTransform	(	const cVector3d &	a_pos,
		const cMatrix3d &	a_rot
	)

inline

Builds a transformation matrix from a position vector and rotation matrix passed as arguments.

Parameters

a_pos	Position vector.
a_rot	Rotation matrix.

chai3d::cTransform::cTransform ( const cVector3d & a_pos )

inline

Builds a transformation matrix from a position vector passed as argument.

Parameters

a_pos Position vector.

chai3d::cTransform::cTransform ( const cMatrix3d & a_rot )

inline

Build transformation matrix from a rotation matrix passed as argument.

Parameters

a_rot Rotation matrix.

Member Function Documentation

void chai3d::cTransform::setLocalPos ( const cVector3d & a_pos )

inline

This method builds a transformation matrix from a position vector a_pos passed as argument.

Parameters

a_pos Position vector.

void chai3d::cTransform::setLocalRot ( const cMatrix3d & a_rot )

inline

This method Builds a transformation matrix from a rotation matrix a_rot passed as argument.

Parameters

a_rot Rotation matrix.

void chai3d::cTransform::set	(	const cVector3d &	a_pos,
		const cMatrix3d &	a_rot
	)

inline

This method Builds a transformation matrix from a position vector a_pos and a rotation matrix a_rot passed as arguments.

Parameters

a_pos	Position vector.
a_rot	Rotation matrix.

void chai3d::cTransform::set	(	const double &	a_00,
		const double &	a_01,
		const double &	a_02,
		const double &	a_03,
		const double &	a_10,
		const double &	a_11,
		const double &	a_12,
		const double &	a_13,
		const double &	a_20,
		const double &	a_21,
		const double &	a_22,
		const double &	a_23,
		const double &	a_30,
		const double &	a_31,
		const double &	a_32,
		const double &	a_33
	)

inline

This method sets values passed as arguments to all elements of this transformation matrix.

Parameters

a_00	Matrix element (0,0).
a_01	Matrix element (0,1).
a_02	Matrix element (0,2).
a_03	Matrix element (0,3).
a_10	Matrix element (1,0).
a_11	Matrix element (1,1).
a_12	Matrix element (1,2).
a_13	Matrix element (1,3).
a_20	Matrix element (2,0).
a_21	Matrix element (2,1).
a_22	Matrix element (2,2).
a_23	Matrix element (2,3).
a_30	Matrix element (3,0).
a_31	Matrix element (3,1).
a_32	Matrix element (3,2).
a_33	Matrix element (3,3).

void chai3d::cTransform::setFrustumMatrix	(	double	a_l,
		double	a_r,
		double	a_b,
		double	a_t,
		double	a_n,
		double	a_f
	)

inline

This method creates a frustum matrix, as defined by the OpenGL glFrustum() function.

Parameters

a_l	Specifies the coordinate for the left clipping plane.
a_r	Specifies the coordinate for the right plane.
a_b	Specifies the coordinate for the bottom and top horizontal clipping plane.
a_t	Specifies the coordinate for the top horizontal clipping plane.
a_n	Specifies the distance to the near depth clipping plane. Distance must be positive.
a_f	Specifies the distance to the far depth clipping plane. Distance must be positive.

void chai3d::cTransform::setLookAtMatrix	(	const double	a_eyeX,
		const double	a_eyeY,
		const double	a_eyeZ,
		const double	a_centerX,
		const double	a_centerY,
		const double	a_centerZ,
		const double	a_upX,
		const double	a_upY,
		const double	a_upZ
	)

inline

This method build a transformation matrix, according to the OpenGL gluLookAt() function.

Parameters

a_eyeX	Specifies the position of the eye point.
a_eyeY	Specifies the position of the eye point.
a_eyeZ	Specifies the position of the eye point.
a_centerX	Specifies the position of the reference point.
a_centerY	Specifies the position of the reference point.
a_centerZ	Specifies the position of the reference point.
a_upX	Specifies the direction of the up vector.
a_upY	Specifies the direction of the up vector.
a_upZ	Specifies the direction of the up vector.

void chai3d::cTransform::setLookAtMatrix	(	const cVector3d &	a_eye,
		const cVector3d &	a_lookAt,
		const cVector3d &	a_up
	)

inline

This method build a transformation matrix, according to the OpenGL gluLookAt() function.

Parameters

a_eye	Specifies the position of the eye point.
a_lookAt	Specifies the position of the reference point.
a_up	Specifies the direction of the up vector.

void chai3d::cTransform::setPerspectiveMatrix	(	const double	a_fovy,
		const double	a_aspect,
		const double	a_zNear,
		const double	a_zFar
	)

inline

This method builds a perspective matrix, according to the OpenGL gluPerspective() function.

Parameters

a_fovy	Specifies the field of view angle, in degrees, in the y direction.
a_aspect	Specifies the aspect ratio that determines the field of view in the x direction. The aspect ratio is the ratio of x (width) to y (height).
a_zNear	Specifies the distance from the viewer to the near clipping plane (always positive).
a_zFar	Specifies the distance from the viewer to the far clipping plane (always positive).

double* chai3d::cTransform::getData ( )

inline

This method returns a pointer to the matrix array in memory.

Returns: Pointer to data array.

cVector3d chai3d::cTransform::getLocalPos ( ) const

inline

This method returns the translational component of this matrix.

Returns: Position vector.

cMatrix3d chai3d::cTransform::getLocalRot ( ) const

inline

This method returns the rotation component of this matrix.

Returns: Rotation matrix.

void chai3d::cTransform::copyto ( cTransform & a_destination ) const

inline

This method copies all elements of this matrix to another matrix a_destination passed as argument.

a_destination = this

Parameters

a_destination Destination matrix.

void chai3d::cTransform::copyfrom ( const cTransform & a_source )

inline

This method copies all elements of a matrix a_source passed as argument to this one.

this = a_source

Parameters

a_source Source matrix.

void chai3d::cTransform::identity ( )

inline

This method builds an identity matrix with ones on the main diagonal and zeros elsewhere.

void chai3d::cTransform::mul ( const cTransform & a_matrix )

inline

This method left-multiplies this matrix with a transformation matrix a_matrix passed as argument.
The result of this operation is stored in this matrix overwriting previous values.

this = this * a_matrix

Parameters

a_matrix Input matrix.

void chai3d::cTransform::mulr	(	const cTransform &	a_matrix,
		cTransform &	a_result
	)		const

inline

This method left-multiplies this matrix with a transformation matrix a_matrix passed as argument.
The result of this operation is stored in matrix a_result passed as second argument.

a_result = this * a_matrix

Parameters

a_matrix	Input matrix.
a_result	Result matrix.

void chai3d::cTransform::mulr	(	const cVector3d &	a_vector,
		cVector3d &	a_result
	)		const

inline

This method multiplies this matrix by a vector a_vector passed as argument.
The result of this operation is stored in vector a_result passed as second argument.

a_result = this * a_matrix

Parameters

a_vector	Input vector.
a_result	Matrix where the result is stored.

void chai3d::cTransform::trans ( )

inline

This method computes the transpose of this matrix.
The result of this operation is stored in this matrix overwriting previous values.

void chai3d::cTransform::transr ( cTransform & a_result ) const

inline

This method computes the transpose of this matrix.
The result of this operation is stored in the result matrix a_result matrix passed as argument.

Parameters

a_result Output matrix.

bool chai3d::cTransform::invert ( )

inline

This method computes the inverse of this matrix.
If the operation succeeds, the result is stored in this matrix.

Returns: true if operation succeeds, false otherwise.

std::string chai3d::cTransform::str ( const int a_precision )

inline

This method converts this matrix to a string representation. The output springs displays the three column vectors of matrix.
The number of digits after the decimal point are set by argument a_precision.

Parameters

a_precision Number of digits.

Returns: Converted matrix in string format.

double& chai3d::cTransform::operator()	(	const int	a_index0,
		const int	a_index1
	)

inline

const double& chai3d::cTransform::operator()	(	const int	a_index0,
		const int	a_index1
	)		const

inline

Member Data Documentation

double chai3d::cTransform::m[4][4]

bool chai3d::cTransform::m_flagTransform

The documentation for this struct was generated from the following file:

CTransform.h

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation