49 static void setIdentity(
double* m );
79 void translatef(
const double &x,
const double &y,
const double &z );
81 void translatev(
const vec3d &v );
198 void rotatealongX(
const vec3d & dir1 );
200 void zeroTranslations();
271 void getMat(
double* m )
const;
272 void matMult(
const double* m );
273 void postMult(
const double* m );
275 void postMult(
const Matrix4d & m );
278 void initMat(
const double* m );
280 void mult(
const double in[4],
double out[4] )
const;
396 void xformvec( std::vector < vec3d > & in )
const;
398 void xformnormvec( std::vector < vec3d > & in )
const;
431 vec3d getTranslation()
const;
444 void setBasis(
const vec3d &xdir,
const vec3d &ydir,
const vec3d &zdir );
446 void toQuat(
double &qw,
double &qx,
double &qy,
double &qz,
double &tx,
double &ty,
double &tz )
const;
void rotate(const double &angle, const vec3d &axis)
void rotateX(const double &ang)
void rotateY(const double &ang)
vec3d xform(const vec3d &in) const
void buildXForm(const vec3d &pos, const vec3d &rot, const vec3d ¢_rot)
void scale(const double &scale)
void rotateZ(const double &ang)
void translatef(const double &x, const double &y, const double &z)
double angle(const vec3d &a, const vec3d &b)