API functions that utilize the Matrix4d class are grouped here. For details of the class, including member functions, see Matrix4d. Click here to return to the main page. More...

Classes
class	Matrix4d

Functions
void	Matrix4d::loadIdentity ()
void	Matrix4d::translatef (const double &x, const double &y, const double &z)
void	Matrix4d::translatev (const vec3d &v)
void	Matrix4d::rotateX (const double &ang)
void	Matrix4d::rotateY (const double &ang)
void	Matrix4d::rotateZ (const double &ang)
void	Matrix4d::rotate (const double &angle, const vec3d &axis)
void	Matrix4d::rotatealongX (const vec3d &dir1)
void	Matrix4d::zeroTranslations ()
void	Matrix4d::affineInverse ()
void	Matrix4d::scale (const double &scale)
void	Matrix4d::scalex (const double &scalex)
void	Matrix4d::scaley (const double &scaley)
void	Matrix4d::scalez (const double &scalez)
void	Matrix4d::flipx ()
void	Matrix4d::matMult (const Matrix4d &m)
void	Matrix4d::postMult (const Matrix4d &m)
void	Matrix4d::initMat (const Matrix4d &m)
void	Matrix4d::loadXZRef ()
void	Matrix4d::loadXYRef ()
void	Matrix4d::loadYZRef ()
void	Matrix4d::mirrory ()
vec3d	Matrix4d::xform (const vec3d &in) const
void	Matrix4d::xformvec (std::vector< vec3d > &in) const
void	Matrix4d::xformmat (std::vector< std::vector< vec3d > > &in) const
vec3d	Matrix4d::xformnorm (const vec3d &in) const
void	Matrix4d::xformnormvec (std::vector< vec3d > &in) const
void	Matrix4d::xformnormmat (std::vector< std::vector< vec3d > > &in) const
vec3d	Matrix4d::getAngles () const
vec3d	Matrix4d::getArcballAngles () const
vec3d	Matrix4d::getTranslation () const
void	Matrix4d::buildXForm (const vec3d &pos, const vec3d &rot, const vec3d &cent_rot)
void	Matrix4d::getBasis (vec3d &xdir, vec3d &ydir, vec3d &zdir) const
void	Matrix4d::setBasis (const vec3d &xdir, const vec3d &ydir, const vec3d &zdir)
void	Matrix4d::getRotationAxis (vec3d &axis_dir, vec3d &axis_pnt, double &angle_out) const
void	Matrix4d::toQuat (double &qw_out, double &qx_out, double &qy_out, double &qz_out, double &tx_out, double &ty_out, double &tz_out) const

Detailed Description

Class Documentation

◆ Matrix4d

class Matrix4d

Matrix4d is typically used to perform rotations, translations, scaling, projections, and other transformations in 3D space.

Definition at line 22 of file Matrix4d.h.

Public Member Functions
void	loadIdentity ()
void	print (const std::string &header="")
void	translatef (const double &x, const double &y, const double &z)
void	translatev (const vec3d &v)
void	rotateX (const double &ang)
void	rotateY (const double &ang)
void	rotateZ (const double &ang)
void	rotate (const double &angle, const vec3d &axis)
void	rotatealongX (const vec3d &dir1)
void	zeroTranslations ()
void	affineInverse ()
void	scale (const double &scale)
void	scalex (const double &scalex)
void	scaley (const double &scaley)
void	scalez (const double &scalez)
void	flipx ()
void	getMat (double *m) const
void	matMult (const double *m)
void	postMult (const double *m)
void	matMult (const Matrix4d &m)
void	postMult (const Matrix4d &m)
void	initMat (const double *m)
void	initMat (const Matrix4d &m)
void	mult (const double in[4], double out[4]) const
double *	data ()
const double *	const_data () const
void	loadXZRef ()
void	loadXYRef ()
void	loadYZRef ()
void	mirrory ()
vec3d	xform (const vec3d &in) const
void	xformvec (std::vector< vec3d > &in) const
void	xformmat (std::vector< std::vector< vec3d > > &in) const
vec3d	xformnorm (const vec3d &in) const
void	xformnormvec (std::vector< vec3d > &in) const
void	xformnormmat (std::vector< std::vector< vec3d > > &in) const
vec3d	getAngles () const
vec3d	getArcballAngles () const
vec3d	getTranslation () const
void	buildXForm (const vec3d &pos, const vec3d &rot, const vec3d &cent_rot)
void	getBasis (vec3d &xdir, vec3d &ydir, vec3d &zdir) const
void	setBasis (const vec3d &xdir, const vec3d &ydir, const vec3d &zdir)
void	getRotationAxis (vec3d &axis_dir, vec3d &axis_pnt, double &angle_out) const
void	toQuat (double &qw_out, double &qx_out, double &qy_out, double &qz_out, double &tx_out, double &ty_out, double &tz_out) const
Static Public Member Functions
static void	setIdentity (double *m)
Private Attributes
double	mat [16]

Member Function Documentation

◆ const_data()

const double * Matrix4d::const_data ( ) const

inline

Definition at line 590 of file Matrix4d.h.

◆ data()

double * Matrix4d::data ( )

inline

Definition at line 585 of file Matrix4d.h.

Member Data Documentation

◆ mat

double Matrix4d::mat[16]

private

Definition at line 1134 of file Matrix4d.h.

Function Documentation

◆ affineInverse()

void Matrix4d::affineInverse ( )

Perform an affine transform on the Matrix4d

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadIdentity();
 
m.rotateY( 10.0 );
m.rotateX( 20.0 );
m.rotateZ( 30.0 );
 
vec3d c = m.xform( vec3d( 1.0, 1.0, 1.0 ) );
 
m.affineInverse();

◆ buildXForm()

void Matrix4d::buildXForm	(	const vec3d &	pos,
		const vec3d &	rot,
		const vec3d &	cent_rot )

Translate the Matrix4d to a given position and rotate it a about a given center of rotation

Matrix4d m;
 
m.loadIdentity();
 
m.buildXForm( vec3d( 1.0, 0.0, 0.0 ), vec3d( 0.0, 0.0, 90.0 ), vec3d( 0.0, 0.0, 0.0 ) );
 
vec3d p = m.xform( vec3d( 1.0, 0.0, 0.0 ) );
 
if ( abs( p.y() - 1.0 ) > 1e-9 )                     { Print( "ERROR: buildXForm" ); __failure++; }
 
if ( abs( p.x() - 1.0 ) > 1e-9 )                     { Print( "ERROR: buildXForm" ); __failure++; }

See also: translatev, rotate

Parameters

[in]	pos	Position to translate to
[in]	rot	Angle of rotation (degrees)
[in]	cent_rot	Center of rotation

◆ flipx()

void Matrix4d::flipx ( )

Flip the matrix about the YZ plane, negating X.

See also: loadYZRef

◆ getAngles()

vec3d Matrix4d::getAngles ( ) const

Calculate the Matrix4d's angles between the X, Y and Z axes

Matrix4d mat;
float PI = 3.14;
 
mat.loadIdentity();
 
mat.rotate( PI / 4, vec3d( 0.0, 0.0, 1.0 ) );      // Radians
 
vec3d angles = mat.getAngles();

Returns: Angle measurement between each axis (degrees)

◆ getArcballAngles()

vec3d Matrix4d::getArcballAngles ( ) const

Get the rotation as the arcball angles the GUI trackball uses.

See also: getAngles

Returns: vec3d Arcball angles

◆ getBasis()

void Matrix4d::getBasis	(	vec3d &	xdir,
		vec3d &	ydir,
		vec3d &	zdir ) const

Get the three axis directions of the matrix. The vec3d passed in are filled in rather than returned.

See also: setBasis

Parameters

[out]	xdir	vec3d X axis direction
[out]	ydir	vec3d Y axis direction
[out]	zdir	vec3d Z axis direction

◆ getRotationAxis()

void Matrix4d::getRotationAxis	(	vec3d &	axis_dir,
		vec3d &	axis_pnt,
		double &	angle_out ) const

Reduce the matrix to a single rotation about an axis: the direction of the axis, a point on it, and the angle turned through in radians.

See also: toQuat, getAngles

Parameters

[out]	axis_dir	vec3d Direction of the rotation axis
[out]	axis_pnt	vec3d A point on the rotation axis
[out]	angle_out	double Angle turned through, in radians

◆ getTranslation()

vec3d Matrix4d::getTranslation ( ) const

Get the translation part of the matrix.

See also: translatev, zeroTranslations

Returns: vec3d Translation

◆ initMat()

void Matrix4d::initMat ( const Matrix4d & m )

Copy another matrix into this one, replacing whatever was here.

See also: matMult, postMult

Parameters

[in] m Matrix4d Matrix to copy

◆ loadIdentity()

void Matrix4d::loadIdentity ( )

Create a 4x4 identity matrix

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
m.loadIdentity();

◆ loadXYRef()

void Matrix4d::loadXYRef ( )

Load an identy Matrix4d and set the Z coordinate of the diagonal (index 10) to -1

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadXYRef();
 
vec3d b = m.xform( vec3d( 1, 2, 3 ) );

◆ loadXZRef()

void Matrix4d::loadXZRef ( )

Load an identy Matrix4d and set the Y coordinate of the diagonal (index 5) to -1

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadXZRef();
 
vec3d b = m.xform( vec3d( 1, 2, 3 ) );

◆ loadYZRef()

void Matrix4d::loadYZRef ( )

Load an identy Matrix4d and set the X coordinate of the diagonal (index 0) to -1

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadYZRef();
 
vec3d b = m.xform( vec3d( 1, 2, 3 ) );

◆ matMult()

void Matrix4d::matMult ( const Matrix4d & m )

Multiply this matrix by another, this * m, and keep the result.

See also: postMult, initMat

Parameters

[in] m Matrix4d Matrix to multiply by

◆ mirrory()

void Matrix4d::mirrory ( )

Transform the Matrix4d by the given vector

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadIdentity();
 
vec3d a = m.xform( vec3d( 1.0, 2.0, 3.0 ) );

◆ postMult()

void Matrix4d::postMult ( const Matrix4d & m )

Multiply another matrix by this one, m * this, and keep the result. The other order from matMult.

See also: matMult, initMat

Parameters

[in] m Matrix4d Matrix to multiply by

◆ rotate()

void Matrix4d::rotate	(	const double &	angle,
		const vec3d &	axis )

Rotate the Matrix4d about an arbitrary axis

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
float PI = 3.14;
 
m.loadIdentity();
 
m.rotate( PI / 4, vec3d( 0.0, 0.0, 1.0 ) );      // Radians

Parameters

[in]	angle	Angle of rotation (rad)
[in]	axis	Vector to rotate about

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◆ rotatealongX()

void Matrix4d::rotatealongX ( const vec3d & dir1 )

Rotate the matrix so that its X axis points along a given direction.

Parameters

[in] dir1 vec3d Direction the X axis should point along

◆ rotateX()

void Matrix4d::rotateX ( const double & ang )

Rotate the Matrix4d about the X axis

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadIdentity();
 
m.rotateX( 90.0 );

Parameters

[in] ang Angle of rotation (degrees)

◆ rotateY()

void Matrix4d::rotateY ( const double & ang )

Rotate the Matrix4d about the Y axis

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadIdentity();
 
m.rotateY( 90.0 );

Parameters

[in] ang Angle of rotation (degrees)

◆ rotateZ()

void Matrix4d::rotateZ ( const double & ang )

Rotate the Matrix4d about the Z axis

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadIdentity();
 
m.rotateZ( 90.0 );

Parameters

[in] ang Angle of rotation (degrees)

◆ scale()

void Matrix4d::scale ( const double & scale )

Multiply the Matrix4d by a scalar value

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadXZRef();
 
m.scale( 10.0 );

Parameters

[in] scale Value to scale by

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◆ scalex()

void Matrix4d::scalex ( const double & scalex )

Scale the matrix along X alone. Unlike scale, which scales all three axes together.

See also: scale

Parameters

[in] scalex double Scale factor for X

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◆ scaley()

void Matrix4d::scaley ( const double & scaley )

Scale the matrix along Y alone. Unlike scale, which scales all three axes together.

See also: scale

Parameters

[in] scaley double Scale factor for Y

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◆ scalez()

void Matrix4d::scalez ( const double & scalez )

Scale the matrix along Z alone. Unlike scale, which scales all three axes together.

See also: scale

Parameters

[in] scalez double Scale factor for Z

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◆ setBasis()

void Matrix4d::setBasis	(	const vec3d &	xdir,
		const vec3d &	ydir,
		const vec3d &	zdir )

Set the rotation of the matrix from three axis directions.

See also: getBasis

Parameters

[in]	xdir	vec3d X axis direction
[in]	ydir	vec3d Y axis direction
[in]	zdir	vec3d Z axis direction

◆ toQuat()

void Matrix4d::toQuat	(	double &	qw_out,
		double &	qx_out,
		double &	qy_out,
		double &	qz_out,
		double &	tx_out,
		double &	ty_out,
		double &	tz_out ) const

Decompose the matrix into a rotation quaternion and a translation.

See also: getRotationAxis

Parameters

[out]	qw_out	double Scalar part of the rotation quaternion
[out]	qx_out	double X part of the rotation quaternion
[out]	qy_out	double Y part of the rotation quaternion
[out]	qz_out	double Z part of the rotation quaternion
[out]	tx_out	double X translation
[out]	ty_out	double Y translation
[out]	tz_out	double Z translation

◆ translatef()

void Matrix4d::translatef	(	const double &	x,
		const double &	y,
		const double &	z )

Translate the Matrix4d along the given axes values

//==== Test Matrix4d ====//
Matrix4d m();                            // Default Constructor
 
m.loadIdentity();
 
m.translatef( 1.0, 0.0, 0.0 );

Parameters

[in]	x	Translation along the X axis
[in]	y	Translation along the Y axis
[in]	z	Translation along the Z axis

◆ translatev()

void Matrix4d::translatev ( const vec3d & v )

Translate the matrix by a vec3d. The vec3d counterpart of translatef.

See also: translatef, getTranslation

Parameters

[in] v vec3d Translation to apply

◆ xform()

vec3d Matrix4d::xform ( const vec3d & in ) const

Transform a point by the matrix, applying the rotation, the scaling and the translation.

Matrix4d m;
 
m.loadIdentity();
 
m.translatef( 1.0, 2.0, 3.0 );
 
vec3d p = m.xform( vec3d( 0.0, 0.0, 0.0 ) );
 
if ( abs( p.x() - 1.0 ) > 1e-12 )                    { Print( "ERROR: xform" ); __failure++; }

See also: xformnorm, xformvec

Parameters

[in] in vec3d Point to transform

Returns: vec3d Transformed point

◆ xformmat()

void Matrix4d::xformmat ( std::vector< std::vector< vec3d > > & in ) const

Transform a grid of points by the matrix, in place. The two dimensional counterpart of xformvec.

See also: xformvec

Parameters

[in,out] in vector<vector<vec3d>> Grid of points to transform, replaced by the result

◆ xformnorm()

vec3d Matrix4d::xformnorm ( const vec3d & in ) const

Transform a normal vector by the matrix. Unlike xform this leaves the translation out, since a direction has no position.

See also: xform, xformnormvec

Parameters

[in] in vec3d Direction to transform

Returns: vec3d Transformed direction

◆ xformnormmat()

void Matrix4d::xformnormmat ( std::vector< std::vector< vec3d > > & in ) const

Transform a grid of normals by the matrix, in place. The two dimensional counterpart of xformnormvec.

See also: xformnormvec

Parameters

[in,out] in vector<vector<vec3d>> Grid of directions to transform, replaced by the result

◆ xformnormvec()

void Matrix4d::xformnormvec ( std::vector< vec3d > & in ) const

Transform a whole vector of normals by the matrix, in place, leaving the translation out.

See also: xformnorm, xformnormmat

Parameters

[in,out] in vector<vec3d> Directions to transform, replaced by the result

◆ xformvec()

void Matrix4d::xformvec ( std::vector< vec3d > & in ) const

Transform a whole vector of points by the matrix, in place.

See also: xform, xformmat

Parameters

[in,out] in vector<vec3d> Points to transform, replaced by the result

◆ zeroTranslations()

void Matrix4d::zeroTranslations ( )

Clear the translation part of the matrix, leaving the rotation and scaling alone.

See also: getTranslation, translatev

Classes

Functions

Detailed Description

Class Documentation

◆ Matrix4d

Public Member Functions

Static Public Member Functions

Private Attributes

Member Function Documentation

◆ const_data()

◆ data()

Member Data Documentation

◆ mat

Function Documentation

◆ affineInverse()

◆ buildXForm()

◆ flipx()

◆ getAngles()

◆ getArcballAngles()

◆ getBasis()

◆ getRotationAxis()

◆ getTranslation()

◆ initMat()

◆ loadIdentity()

◆ loadXYRef()

◆ loadXZRef()

◆ loadYZRef()

◆ matMult()

◆ mirrory()

◆ postMult()

◆ rotate()

◆ rotatealongX()

◆ rotateX()

◆ rotateY()

◆ rotateZ()

◆ scale()

◆ scalex()

◆ scaley()

◆ scalez()

◆ setBasis()

◆ toQuat()

◆ translatef()

◆ translatev()

◆ xform()

◆ xformmat()

◆ xformnorm()

◆ xformnormmat()

◆ xformnormvec()

◆ xformvec()

◆ zeroTranslations()