#include <Matrix4d.h>

Public Member Functions
void	loadIdentity ()

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 ()

void	loadXZRef ()

void	loadXYRef ()

void	loadYZRef ()

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	getTranslation () const

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

void	getBasis (vec3d &xdir, vec3d &ydir, vec3d &zdir)

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

void	toQuat (double &qw, double &qx, double &qy, double &qz, double &tx, double &ty, double &tz) const

Static Public Member Functions
static void	setIdentity (double *m)

Private Attributes
double	mat [16]

Detailed Description

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

Definition at line 19 of file Matrix4d.h.

Member 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

Parameters

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

◆ data()

double * Matrix4d::data ( )

inline

Definition at line 284 of file Matrix4d.h.

◆ 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();
 
m.rotate( PI / 4, vec3d( 0.0, 0.0, 1.0 ) );      // Radians
 
vec3d angles = mat.getAngles();

Returns: Angle measurement between each axis (degrees)

◆ loadIdentity()

void Matrix4d::loadIdentity ( )

Create a 4x4 identity matrix

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

Returns: Identity Matrix4d

◆ 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 ) );

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

◆ 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

◆ 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

Returns: Translated Matrix4d

◆ xform()

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

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 ) );

Parameters

[in] v Transformation vector

Member Data Documentation

◆ mat

double Matrix4d::mat[16]

private

Definition at line 456 of file Matrix4d.h.

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

util/Matrix4d.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Member Function Documentation

◆ affineInverse()

◆ buildXForm()

◆ data()

◆ getAngles()

◆ loadIdentity()

◆ loadXYRef()

◆ loadXZRef()

◆ loadYZRef()

◆ rotate()

◆ rotateX()

◆ rotateY()

◆ rotateZ()

◆ scale()

◆ translatef()

◆ xform()

Member Data Documentation

◆ mat