Matrix class for rigid transformations (translation, rotation). More...

#include <AffineMatrix4x4.h>

Inheritance diagram for agx::AffineMatrix4x4T< T >:

Public Member Functions
	AffineMatrix4x4T ()=default
	Creates a new matrix, initialized to be an identity matrix.

	AffineMatrix4x4T (const AffineMatrix4x4T &mat)=default

template<typename T2 , std::enable_if_t< std::is_same< T, T2 >::value==0, bool > = false>
	AffineMatrix4x4T (const AffineMatrix4x4T< T2 > &mat)
	Copy constructor.

	AffineMatrix4x4T (const EulerAngles &rotation, const Vec3T< T > &translation=Vec3T< T >())
	Create a matrix from Euler angles.

	AffineMatrix4x4T (const OrthoMatrix3x3 &rotation, const Vec3T< T > &translation=Vec3T< T >())
	Create a matrix from a 3x3 rotation matrix.

	AffineMatrix4x4T (const QuatT< T > &rotation, const Vec3T< T > &translation=Vec3T< T >())
	Create a matrix from a quaternion.

	AffineMatrix4x4T (T a00, T a01, T a02, T a03, T a10, T a11, T a12, T a13, T a20, T a21, T a22, T a23, T a30, T a31, T a32, T a33)
	Create a matrix from 16 T scalars.

	AffineMatrix4x4T (T const *const ptr)
	Create a matrix from a vector of 16 reals.

	~AffineMatrix4x4T ()=default
	Destructor.

Real	at (size_t i, size_t j) const

Vec3T< T >	getInvTranslate () const

AffineMatrix4x4T< T >	inverse () const
	Quick inverse, transpose rotation part, and change sign of translation part.

void	mult (const AffineMatrix4x4T< T > &, const AffineMatrix4x4T< T > &)

void	multSSE (const AffineMatrix4x4T< Real32 > &lhs, const AffineMatrix4x4T< Real32 > &rhs)

void	multSSE (const AffineMatrix4x4T< Real64 > &lhs, const AffineMatrix4x4T< Real64 > &rhs)

void	multSSE (const AffineMatrix4x4T< T > &lhs, const AffineMatrix4x4T< T > &rhs)

bool	operator!= (const AffineMatrix4x4T< T > &m) const

AffineMatrix4x4T< T >	operator* (const AffineMatrix4x4T< T > &m) const

Matrix4x4T< T >	operator* (const Matrix4x4T< T > &m) const

Vec3T< T >	operator* (const Vec3T< T > &v) const

Vec4T< T >	operator* (const Vec4T< T > &v) const

void	operator*= (const AffineMatrix4x4T< T > &other)

AffineMatrix4x4T< T > &	operator= (const AffineMatrix4x4T< T > &rhs)=default

bool	operator== (const AffineMatrix4x4T< T > &m) const

void	postMult (const AffineMatrix4x4T< T > &)

AffineMatrix4x4T< T > &	postMultTranslate (const Vec3T< T > &v)

void	preMult (const AffineMatrix4x4T< T > &)

AffineMatrix4x4T< T > &	preMultTranslate (const Vec3T< T > &v)

AffineMatrix4x4T< T > &	set (const EulerAngles &euler)
	Set the rotational part of the matrix using the specified euler angles and the translational part to 0,0,0.

AffineMatrix4x4T< T > &	set (const OrthoMatrix3x3 &m3)
	Set the rotational part of the matrix using the specified rotation matrix and the translational part to 0,0,0.

AffineMatrix4x4T< T > &	set (const QuatT< T > &q)
	Set the rotational part of the matrix using the specified quaternion and the translational part to 0,0,0.

void	set (Real val, size_t i, size_t j)
	Set the value of element i,j.

AffineMatrix4x4T< T > &	set (T a00, T a01, T a02, T a03, T a10, T a11, T a12, T a13, T a20, T a21, T a22, T a23, T a30, T a31, T a32, T a33)
	Set the entire matrix using values from the 16 elements using the following order:

AffineMatrix4x4T< T > &	set (T const *const ptr)
	Set the entire matrix using values from the array with 16 elements using the following order:

AffineMatrix4x4T< T > &	setIdentity ()
	Set the value of the matrix to the identity matrix.

AffineMatrix4x4T< T > &	setRotate (const EulerAngles &euler)
	Set the rotational part of the matrix using the specified euler angles leaving the translational part untouched.

AffineMatrix4x4T< T > &	setRotate (const OrthoMatrix3x3 &m3)
	Set the rotational part of the matrix using the specified rotation matrix leaving the translational part untouched.

AffineMatrix4x4T< T > &	setRotate (const QuatT< T > &q)
	Set the rotational part of the matrix using the specified quaternion leaving the translational part untouched.

AffineMatrix4x4T< T > &	setRotate (const Vec3T< T > &from, const Vec3T< T > &to)
	Set the rotational part of the matrix using the specified two vectors.

AffineMatrix4x4T< T > &	setRotate (T angle, const Vec3T< T > &axis)
	Set the rotational part of a matrix which rotate `angle` radians around vector `axis`.

AffineMatrix4x4T< T > &	setRotate (T angle, T x, T y, T z)
	Set the rotational part of a matrix which rotate `angle` radians around vector `x` `y` `z`.

AffineMatrix4x4T< T > &	setRotate (T angle1, const Vec3T< T > &axis1, T angle2, const Vec3T< T > &axis2, T angle3, const Vec3T< T > &axis3)
	Set the rotational part of a matrix which rotate `angle1` radians around vector `axis1` and `angle2` radians around vector `axis2` `angle3` radians around vector `axis3`.

AffineMatrix4x4T< T > &	setTranslate (const Vec3T< T > &t)
	Set the translational part of the matrix using the vector `t`.

AffineMatrix4x4T< T > &	setTranslate (T tx, T ty, T tz)
	Set the translational part of the matrix using the vector `x`, `y`, `z`.

agx::Vec3T< T >	transformPoint (const agx::Vec3T< T > &point) const
	Transforms a (mathematical) point, using both rotation and translation.

agx::Vec3T< T >	transformVector (const agx::Vec3T< T > &vector) const
	Transforms a (mathematical) vector, using only rotation.

Public Member Functions inherited from agx::Matrix4x4T< T >
	Matrix4x4T ()=default
	Creates a new matrix, initialized to be an identity matrix.

	Matrix4x4T (const EulerAngles &rotation, const Vec3T< T > &translation=Vec3T< T >())
	Create a matrix from Euler angles.

	Matrix4x4T (const Matrix4x4T< T > &)=default

template<typename T2 , std::enable_if_t< std::is_same< T, T2 >::value==0, bool > = false>
	Matrix4x4T (const Matrix4x4T< T2 > &mat)
	Copy constructor.

	Matrix4x4T (const OrthoMatrix3x3 &rotation, const Vec3T< T > &translation=Vec3T< T >())
	Create a matrix from a 3x3 rotation matrix.

	Matrix4x4T (const QuatT< T > &rotation, const Vec3T< T > &translation=Vec3T< T >())
	Create a matrix from a quaternion.

	Matrix4x4T (T a00, T a01, T a02, T a03, T a10, T a11, T a12, T a13, T a20, T a21, T a22, T a23, T a30, T a31, T a32, T a33)
	Create a matrix from 16 T scalars.

	Matrix4x4T (T const *const ptr)
	Create a matrix from a vector of 16 reals.

	~Matrix4x4T ()=default
	Destructor.

Matrix4x4T< T > &	addTranslate (const Vec3T< T > &t)

Matrix4x4T< T > &	addTranslate (T tx, T ty, T tz)

void	get (EulerAngles &e) const

void	get (OrthoMatrix3x3 &m3) const

void	get (QuatT< T > &q) const

agx::Vec4T< T >	getCol (size_t col) const

QuatT< T >	getRotate () const

agx::Vec4T< T >	getRow (size_t row) const

Vec3T< T >	getTranslate () const

Matrix4x4T< T >	inverse () const
	Matrix inverse.

bool	isFinite () const

bool	isIdentity () const

bool	isNaN () const

bool	isRigidTransformation () const

void	mult (const Matrix4x4T< T > &, const Matrix4x4T< T > &)

void	multSSE (const Matrix4x4T< Real32 > &lhs, const Matrix4x4T< Real32 > &rhs)

void	multSSE (const Matrix4x4T< Real64 > &lhs, const Matrix4x4T< Real64 > &rhs)

void	multSSE (const Matrix4x4T< T > &lhs, const Matrix4x4T< T > &rhs)

bool	operator!= (const Matrix4x4T< T > &m) const

T &	operator() (size_t row, size_t col)

T	operator() (size_t row, size_t col) const

Matrix4x4T< T >	operator* (const Matrix4x4T< T > &m) const

Vec3T< T >	operator* (const Vec3T< T > &v) const

Vec4T< T >	operator* (const Vec4T< T > &v) const

void	operator*= (const Matrix4x4T< T > &other)

Matrix4x4T< T > &	operator= (const Matrix4x4T< T > &rhs)=default

bool	operator== (const Matrix4x4T< T > &m) const

void	postMult (const Matrix4x4T< T > &)

Vec3T< T >	postMult (const Vec3T< T > &v) const

Vec4T< T >	postMult (const Vec4T< T > &v) const

Matrix4x4T< T > &	postMultTranslate (const Vec3T< T > &v)

void	preMult (const Matrix4x4T< T > &)

Vec3T< T >	preMult (const Vec3T< T > &v) const

Vec4T< T >	preMult (const Vec4T< T > &v) const

Matrix4x4T< T > &	preMultTranslate (const Vec3T< T > &v)

T *	ptr ()

const T *	ptr () const

Matrix4x4T< T > &	set (const EulerAngles &e)

Matrix4x4T< T > &	set (const OrthoMatrix3x3 &m3)

Matrix4x4T< T > &	set (const QuatT< T > &q)

Matrix4x4T< T > &	set (T a00, T a01, T a02, T a03, T a10, T a11, T a12, T a13, T a20, T a21, T a22, T a23, T a30, T a31, T a32, T a33)

Matrix4x4T< T > &	set (T const *const ptr)

void	setCol (size_t col, const agx::Vec4T< T > &vec)

Matrix4x4T< T > &	setIdentity ()

Matrix4x4T< T > &	setRotate (const EulerAngles &euler)

Matrix4x4T< T > &	setRotate (const OrthoMatrix3x3 &m3)

Matrix4x4T< T > &	setRotate (const QuatT< T > &q)

Matrix4x4T< T > &	setRotate (const Vec3T< T > &from, const Vec3T< T > &to)

Matrix4x4T< T > &	setRotate (T angle, const Vec3T< T > &axis)

Matrix4x4T< T > &	setRotate (T angle, T x, T y, T z)

Matrix4x4T< T > &	setRotate (T angle1, const Vec3T< T > &axis1, T angle2, const Vec3T< T > &axis2, T angle3, const Vec3T< T > &axis3)

void	setRow (size_t row, const agx::Vec4T< T > &vec)
	Set the row of the matrix,.

Matrix4x4T< T > &	setTranslate (const Vec3T< T > &t)

Matrix4x4T< T > &	setTranslate (T tx, T ty, T tz)

Vec3T< T >	transform3x3 (const Vec3T< T > &vIn) const

Vec3T< T > &	transform3x3 (const Vec3T< T > &vIn, Vec3T< T > &vOut) const

Vec3T< T >	transform3x3Inv (const Vec3T< T > &vIn) const

Vec3T< T > &	transform3x3Inv (const Vec3T< T > &vIn, Vec3T< T > &vOut) const

Matrix4x4T< T >	transpose () const

bool	valid () const

Static Public Member Functions
static AffineMatrix4x4T< T >	crossMatrix (const Vec3T< T > &vec)
	Generates a new matrix of a specific type.

static AffineMatrix4x4T< T >	rotate (const EulerAngles &euler)

static AffineMatrix4x4T< T >	rotate (const Vec3T< T > &from, const Vec3T< T > &to)
	Return a matrix which rotate a vector from `from` to `to`.

static AffineMatrix4x4T< T >	rotate (T angle, const Vec3T< T > &axis)
	Return a matrix which rotate `angle` radians around vector `axis`.

static AffineMatrix4x4T< T >	rotate (T angle, T x, T y, T z)
	Return a matrix which rotate `angle` radians around vector [x,y,z].

static AffineMatrix4x4T< T >	rotate (T angle1, const Vec3T< T > &axis1, T angle2, const Vec3T< T > &axis2, T angle3, const Vec3T< T > &axis3)
	Return a matrix which rotate `angle1` radians around vector `axis1` and `angle2` radians around vector `axis2` `angle3` radians around vector `axis3`.

static AffineMatrix4x4T< T >	translate (const Vec3T< T > &dv)
	Return a matrix which translates according to `dv`.

static AffineMatrix4x4T< T >	translate (T x, T y, T z)
	Return a matrix which translates according to vector [x,y,z].

Static Public Member Functions inherited from agx::Matrix4x4T< T >
static Matrix4x4T< T >	crossMatrix (const Vec3T< T > &vec)
	Generates a new matrix of a specific type.

static Matrix4x4T< T >	rotate (const Vec3T< T > &from, const Vec3T< T > &to)

static Matrix4x4T< T >	rotate (T angle, const Vec3T< T > &axis)

static Matrix4x4T< T >	rotate (T angle, T x, T y, T z)

static Matrix4x4T< T >	rotate (T angle1, const Vec3T< T > &axis1, T angle2, const Vec3T< T > &axis2, T angle3, const Vec3T< T > &axis3)

static Matrix4x4T< T >	translate (const Vec3T< T > &dv)

static Matrix4x4T< T >	translate (T x, T y, T z)

Protected Member Functions
bool	invert (const AffineMatrix4x4T< T > &rhs)

Protected Member Functions inherited from agx::Matrix4x4T< T >
bool	invert (const Matrix4x4T< T > &mat)

Additional Inherited Members
Public Types inherited from agx::Matrix4x4T< T >
typedef T	Type

Static Protected Member Functions inherited from agx::Matrix4x4T< T >
static void	multSSE32Implementation (Real32 out, const Real32 lhs, const Real32 *rhs)

static void	multSSE64Implementation (Real64 out, const Real64 lhs, const Real64 *rhs)

Protected Attributes inherited from agx::Matrix4x4T< T >
T	m_data [4][4] = {{1,0,0,0}, {0,1,0,0}, {0,0,1,0}, {0,0,0,1}}

Detailed Description

template<typename T>
class agx::AffineMatrix4x4T< T >

Matrix class for rigid transformations (translation, rotation).

Translations are stored in the last row. The last column will be assumed to be [0 0 0 1]' in all operations, even if it is set to something else. The submatrix containing the first three rows and columns contains the rotational part and is assumed to be orthonormal.

Definition at line 51 of file AffineMatrix4x4.h.

Constructor & Destructor Documentation

◆ AffineMatrix4x4T() [1/8]

template<typename T >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T ( )

default

Creates a new matrix, initialized to be an identity matrix.

◆ AffineMatrix4x4T() [2/8]

template<typename T >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T ( const AffineMatrix4x4T< T > & mat )

default

◆ AffineMatrix4x4T() [3/8]

template<typename T >

template<typename T2 , std::enable_if_t< std::is_same< T, T2 >::value==0, bool > >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T ( const AffineMatrix4x4T< T2 > & mat )

explicit

Copy constructor.

Definition at line 415 of file AffineMatrix4x4.h.

◆ AffineMatrix4x4T() [4/8]

template<typename T >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T ( T const *const ptr )

explicit

Create a matrix from a vector of 16 reals.

Definition at line 430 of file AffineMatrix4x4.h.

◆ AffineMatrix4x4T() [5/8]

template<typename T >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T	(	const QuatT< T > &	rotation,
		const Vec3T< T > &	translation = `Vec3T<T>()`
	)

explicit

Create a matrix from a quaternion.

Definition at line 437 of file AffineMatrix4x4.h.

◆ AffineMatrix4x4T() [6/8]

template<typename T >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T	(	const EulerAngles &	rotation,
		const Vec3T< T > &	translation = `Vec3T<T>()`
	)

explicit

Create a matrix from Euler angles.

Definition at line 447 of file AffineMatrix4x4.h.

◆ AffineMatrix4x4T() [7/8]

template<typename T >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T	(	const OrthoMatrix3x3 &	rotation,
		const Vec3T< T > &	translation = `Vec3T<T>()`
	)

explicit

Create a matrix from a 3x3 rotation matrix.

Definition at line 442 of file AffineMatrix4x4.h.

◆ AffineMatrix4x4T() [8/8]

template<typename T >

agx::AffineMatrix4x4T< T >::AffineMatrix4x4T	(	T	a00,
		T	a01,
		T	a02,
		T	a03,
		T	a10,
		T	a11,
		T	a12,
		T	a13,
		T	a20,
		T	a21,
		T	a22,
		T	a23,
		T	a30,
		T	a31,
		T	a32,
		T	a33
	)

Create a matrix from 16 T scalars.

Definition at line 421 of file AffineMatrix4x4.h.

References agxAssert, and agx::Matrix4x4T< T >::isRigidTransformation().

◆ ~AffineMatrix4x4T()

template<typename T >

agx::AffineMatrix4x4T< T >::~AffineMatrix4x4T ( )

default

Destructor.

Member Function Documentation

◆ at()

template<typename T >

Real agx::AffineMatrix4x4T< T >::at	(	size_t	i,
		size_t	j
	)		const

Returns: the element at i,j.

Definition at line 958 of file AffineMatrix4x4.h.

◆ crossMatrix()

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::crossMatrix ( const Vec3T< T > & vec )

inlinestatic

Generates a new matrix of a specific type.

Definition at line 650 of file AffineMatrix4x4.h.

References agx::Vec3T< T >::x(), agx::Vec3T< T >::y(), and agx::Vec3T< T >::z().

◆ getInvTranslate()

template<typename T >

Vec3T< T > agx::AffineMatrix4x4T< T >::getInvTranslate

Returns: The inverse translation

Definition at line 467 of file AffineMatrix4x4.h.

◆ inverse()

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::inverse

inline

Quick inverse, transpose rotation part, and change sign of translation part.

Returns: the inverse

Definition at line 459 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::invert().

Referenced by agxVehicle::Wheel::attachConstraint(), agxModel::NodeAttachment::createFromWorld(), agxCable::SegmentAttachment::createFromWorld(), agx::inverse< AffineMatrix4x4d >(), agx::inverse< AffineMatrix4x4f >(), agx::Frame::setMatrix(), agx::Frame::setTranslate(), and agx::Frame::transformPointToLocal().

◆ invert()

template<typename T >

bool agx::AffineMatrix4x4T< T >::invert ( const AffineMatrix4x4T< T > & rhs )

protected

Definition at line 870 of file AffineMatrix4x4.h.

References agx::Matrix4x4T< T >::m_data.

Referenced by agx::AffineMatrix4x4T< T >::inverse().

◆ mult()

template<typename T >

void agx::AffineMatrix4x4T< T >::mult	(	const AffineMatrix4x4T< T > &	lhs,
		const AffineMatrix4x4T< T > &	rhs
	)

Definition at line 715 of file AffineMatrix4x4.h.

References AGX_AFFINEMATRIX4X4_INNER_PRODUCT_3, and agx::Matrix4x4T< T >::m_data.

Referenced by agx::AffineMatrix4x4T< T >::operator*().

◆ multSSE() [1/3]

void agx::AffineMatrix4x4T< Real32 >::multSSE	(	const AffineMatrix4x4T< Real32 > &	lhs,
		const AffineMatrix4x4T< Real32 > &	rhs
	)

Definition at line 923 of file AffineMatrix4x4.h.

References agx::mult(), and agx::Matrix4x4T< T >::ptr().

◆ multSSE() [2/3]

void agx::AffineMatrix4x4T< Real64 >::multSSE	(	const AffineMatrix4x4T< Real64 > &	lhs,
		const AffineMatrix4x4T< Real64 > &	rhs
	)

Definition at line 933 of file AffineMatrix4x4.h.

References agx::mult(), and agx::Matrix4x4T< T >::ptr().

◆ multSSE() [3/3]

template<typename T >

void agx::AffineMatrix4x4T< T >::multSSE	(	const AffineMatrix4x4T< T > &	lhs,
		const AffineMatrix4x4T< T > &	rhs
	)

◆ operator!=()

template<typename T >

bool agx::AffineMatrix4x4T< T >::operator!= ( const AffineMatrix4x4T< T > & m ) const

Definition at line 490 of file AffineMatrix4x4.h.

References agx::Matrix4x4T< T >::m_data.

◆ operator*() [1/4]

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::operator* ( const AffineMatrix4x4T< T > & m ) const

inline

Definition at line 815 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::mult().

◆ operator*() [2/4]

template<typename T >

Matrix4x4T< T > agx::AffineMatrix4x4T< T >::operator* ( const Matrix4x4T< T > & m ) const

inline

Definition at line 823 of file AffineMatrix4x4.h.

References agx::Matrix4x4T< T >::mult().

◆ operator*() [3/4]

template<typename T >

Vec3T< T > agx::AffineMatrix4x4T< T >::operator* ( const Vec3T< T > & v ) const

Definition at line 844 of file AffineMatrix4x4.h.

◆ operator*() [4/4]

template<typename T >

Vec4T< T > agx::AffineMatrix4x4T< T >::operator* ( const Vec4T< T > & v ) const

Definition at line 850 of file AffineMatrix4x4.h.

◆ operator*=()

template<typename T >

void agx::AffineMatrix4x4T< T >::operator*= ( const AffineMatrix4x4T< T > & other )

Definition at line 832 of file AffineMatrix4x4.h.

◆ operator=()

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::operator= ( const AffineMatrix4x4T< T > & rhs )

default

◆ operator==()

template<typename T >

bool agx::AffineMatrix4x4T< T >::operator== ( const AffineMatrix4x4T< T > & m ) const

Definition at line 483 of file AffineMatrix4x4.h.

References agx::Matrix4x4T< T >::m_data.

◆ postMult()

template<typename T >

void agx::AffineMatrix4x4T< T >::postMult ( const AffineMatrix4x4T< T > & other )

Definition at line 768 of file AffineMatrix4x4.h.

References AGX_AFFINEMATRIX4X4_INNER_PRODUCT_3, AGX_AFFINEMATRIX4X4_SET_ROW, and agx::Matrix4x4T< T >::m_data.

Referenced by agx::Frame::transformVectorToLocal().

◆ postMultTranslate()

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::postMultTranslate ( const Vec3T< T > & v )

Definition at line 802 of file AffineMatrix4x4.h.

◆ preMult()

template<typename T >

void agx::AffineMatrix4x4T< T >::preMult ( const AffineMatrix4x4T< T > & other )

Definition at line 750 of file AffineMatrix4x4.h.

References AGX_AFFINEMATRIX4X4_INNER_PRODUCT_3.

Referenced by agx::operator*(), agx::Frame::transformPointToLocal(), and agx::Frame::transformPointToWorld().

◆ preMultTranslate()

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::preMultTranslate ( const Vec3T< T > & v )

Definition at line 789 of file AffineMatrix4x4.h.

◆ rotate() [1/5]

template<typename T >

static AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::rotate ( const EulerAngles & euler )

static

◆ rotate() [2/5]

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::rotate	(	const Vec3T< T > &	from,
		const Vec3T< T > &	to
	)

inlinestatic

Return a matrix which rotate a vector from from to to.

Parameters

from	- start of rotation
to	- end of rotation

Returns: A new matrix with specified rotation

Definition at line 677 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::setRotate().

◆ rotate() [3/5]

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::rotate	(	T	angle,
		const Vec3T< T > &	axis
	)

inlinestatic

Return a matrix which rotate angle radians around vector axis.

Parameters

angle	- angle in radians
axis	- vector

Returns: A new matrix with specified rotation

Definition at line 693 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::setRotate().

◆ rotate() [4/5]

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::rotate	(	T	angle,
		T	x,
		T	y,
		T	z
	)

inlinestatic

Return a matrix which rotate angle radians around vector [x,y,z].

Parameters

angle	- angle in radians
x	- x element of vector
y	- y element of vector
z	- z element of vector

Returns: A new matrix with specified rotation

Definition at line 685 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::setRotate().

◆ rotate() [5/5]

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::rotate	(	T	angle1,
		const Vec3T< T > &	axis1,
		T	angle2,
		const Vec3T< T > &	axis2,
		T	angle3,
		const Vec3T< T > &	axis3
	)

inlinestatic

Return a matrix which rotate angle1 radians around vector axis1 and angle2 radians around vector axis2 angle3 radians around vector axis3.

Parameters

angle1	- angle in radians
axis1	- vector
angle2	- angle in radians
axis2	- vector
angle3	- angle in radians
axis3	- vector

Returns: A new matrix with specified rotation

Definition at line 701 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::setRotate().

◆ set() [1/6]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::set ( const EulerAngles & euler )

Set the rotational part of the matrix using the specified euler angles and the translational part to 0,0,0.

Parameters

euler - Specified euler angles rotation

Returns: a reference to the modified matrix

◆ set() [2/6]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::set ( const OrthoMatrix3x3 & m3 )

Set the rotational part of the matrix using the specified rotation matrix and the translational part to 0,0,0.

Parameters

m3	- Specified rotation matrix

Returns: a reference to the modified matrix

Definition at line 542 of file AffineMatrix4x4.h.

◆ set() [3/6]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::set ( const QuatT< T > & q )

Set the rotational part of the matrix using the specified quaternion and the translational part to 0,0,0.

Parameters

q	- Specified quaternion

Returns: a reference to the modified matrix

Definition at line 532 of file AffineMatrix4x4.h.

◆ set() [4/6]

template<typename T >

void agx::AffineMatrix4x4T< T >::set	(	Real	val,
		size_t	i,
		size_t	j
	)

Set the value of element i,j.

Definition at line 964 of file AffineMatrix4x4.h.

◆ set() [5/6]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::set	(	T	a00,
		T	a01,
		T	a02,
		T	a03,
		T	a10,
		T	a11,
		T	a12,
		T	a13,
		T	a20,
		T	a21,
		T	a22,
		T	a23,
		T	a30,
		T	a31,
		T	a32,
		T	a33
	)

Set the entire matrix using values from the 16 elements using the following order:

m_data[0][0] = a00; m_data[0][1] = a01; m_data[0][2] = a02; m_data[0][3] = a03;

m_data[1][0] = a04;

etc.

Parameters

a00,a01,a02,a03,a10,a11,a12,a13,a20,a21,a22,a23,a30,a31,a32,a33 - Matrix elements

Returns: a reference to the modified matrix with the new values

Definition at line 521 of file AffineMatrix4x4.h.

References agx::Matrix4x4T< T >::set().

◆ set() [6/6]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::set ( T const *const ptr )

Set the entire matrix using values from the array with 16 elements using the following order:

m_data[0][0] = ptr[0]; m_data[0][1] = ptr[1]; m_data[0][2] = ptr[2]; m_data[0][3] = ptr[3];

m_data[1][0] = ptr[4];

etc.

Parameters

ptr	- pointer to a vector with 16 elements

Returns: reference of the modified matrix with the new values

Definition at line 501 of file AffineMatrix4x4.h.

References agxAssert.

◆ setIdentity()

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setIdentity

Set the value of the matrix to the identity matrix.

Returns: a reference to the modified matrix

Definition at line 638 of file AffineMatrix4x4.h.

◆ setRotate() [1/7]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setRotate ( const EulerAngles & euler )

Set the rotational part of the matrix using the specified euler angles leaving the translational part untouched.

Parameters

euler - Specified euler angles rotation

Returns: a reference to the modified matrix

◆ setRotate() [2/7]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setRotate ( const OrthoMatrix3x3 & m3 )

Set the rotational part of the matrix using the specified rotation matrix leaving the translational part untouched.

Parameters

m3	- Specified rotation matrix

Returns: a reference to the modified matrix

Definition at line 559 of file AffineMatrix4x4.h.

◆ setRotate() [3/7]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setRotate ( const QuatT< T > & q )

Set the rotational part of the matrix using the specified quaternion leaving the translational part untouched.

Parameters

q	- Specified quaternion

Returns: a reference to the modified matrix

Definition at line 551 of file AffineMatrix4x4.h.

References agx::Matrix4x4T< T >::setRotate().

Referenced by agxSDK::getFuturePosition(), and agx::AffineMatrix4x4T< T >::rotate().

◆ setRotate() [4/7]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setRotate	(	const Vec3T< T > &	from,
		const Vec3T< T > &	to
	)

Set the rotational part of the matrix using the specified two vectors.

The resulting rotation will be a rotation matrix which rotates a vector from from to to leaving the translational part untouched.

Parameters

from	- start of rotation
to	- end of rotation

Returns: a reference to the modified matrix

Definition at line 577 of file AffineMatrix4x4.h.

References agx::QuatT< T >::setRotate().

◆ setRotate() [5/7]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setRotate	(	T	angle,
		const Vec3T< T > &	axis
	)

Set the rotational part of a matrix which rotate angle radians around vector axis.

Parameters

angle	- angle in radians
axis	- vector

Returns: A reference to the modified matrix

Definition at line 586 of file AffineMatrix4x4.h.

References agx::QuatT< T >::setRotate().

◆ setRotate() [6/7]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setRotate	(	T	angle,
		T	x,
		T	y,
		T	z
	)

Set the rotational part of a matrix which rotate angle radians around vector x y z.

Parameters

angle	- angle in radians
x,y,z	- vector

Returns: A reference to the modified matrix

Definition at line 595 of file AffineMatrix4x4.h.

References agx::QuatT< T >::setRotate().

◆ setRotate() [7/7]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setRotate	(	T	angle1,
		const Vec3T< T > &	axis1,
		T	angle2,
		const Vec3T< T > &	axis2,
		T	angle3,
		const Vec3T< T > &	axis3
	)

Set the rotational part of a matrix which rotate angle1 radians around vector axis1 and angle2 radians around vector axis2 angle3 radians around vector axis3.

Parameters

angle1	- angle in radians
axis1	- vector
angle2	- angle in radians
axis2	- vector
angle3	- angle in radians
axis3	- vector

Returns: A reference to the modified matrix

Definition at line 604 of file AffineMatrix4x4.h.

References agx::QuatT< T >::setRotate().

◆ setTranslate() [1/2]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setTranslate ( const Vec3T< T > & t )

Set the translational part of the matrix using the vector t.

Parameters

t	- translation vector

Returns: A reference to the modified matrix

Definition at line 617 of file AffineMatrix4x4.h.

Referenced by agxSDK::getFuturePosition(), agx::Frame::transformVectorToLocal(), and agx::AffineMatrix4x4T< T >::translate().

◆ setTranslate() [2/2]

template<typename T >

AffineMatrix4x4T< T > & agx::AffineMatrix4x4T< T >::setTranslate	(	T	tx,
		T	ty,
		T	tz
	)

Set the translational part of the matrix using the vector x, y, z.

Parameters

tx,ty,tz - translation vector

Returns: A reference to the modified matrix

Definition at line 627 of file AffineMatrix4x4.h.

◆ transformPoint()

template<typename T >

agx::Vec3T< T > agx::AffineMatrix4x4T< T >::transformPoint ( const agx::Vec3T< T > & point ) const

Transforms a (mathematical) point, using both rotation and translation.

Definition at line 971 of file AffineMatrix4x4.h.

◆ transformVector()

template<typename T >

agx::Vec3T< T > agx::AffineMatrix4x4T< T >::transformVector ( const agx::Vec3T< T > & vector ) const

Transforms a (mathematical) vector, using only rotation.

Definition at line 977 of file AffineMatrix4x4.h.

◆ translate() [1/2]

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::translate ( const Vec3T< T > & dv )

inlinestatic

Return a matrix which translates according to dv.

Parameters

dv	- translation vector

Returns: A new matrix with specified translation

Definition at line 661 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::setTranslate().

◆ translate() [2/2]

template<typename T >

AffineMatrix4x4T< T > agx::AffineMatrix4x4T< T >::translate	(	T	x,
		T	y,
		T	z
	)

inlinestatic

Return a matrix which translates according to vector [x,y,z].

Parameters

x	- x element of vector
y	- y element of vector
z	- z element of vector

Returns: A new matrix with specified translation

Definition at line 669 of file AffineMatrix4x4.h.

References agx::AffineMatrix4x4T< T >::setTranslate().

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

AffineMatrix4x4.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AffineMatrix4x4T() [1/8]

◆ AffineMatrix4x4T() [2/8]

◆ AffineMatrix4x4T() [3/8]

◆ AffineMatrix4x4T() [4/8]

◆ AffineMatrix4x4T() [5/8]

◆ AffineMatrix4x4T() [6/8]

◆ AffineMatrix4x4T() [7/8]

◆ AffineMatrix4x4T() [8/8]

◆ ~AffineMatrix4x4T()

Member Function Documentation

◆ at()

◆ crossMatrix()

◆ getInvTranslate()

◆ inverse()

◆ invert()

◆ mult()

◆ multSSE() [1/3]

◆ multSSE() [2/3]

◆ multSSE() [3/3]

◆ operator!=()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=()

◆ operator=()

◆ operator==()

◆ postMult()

◆ postMultTranslate()

◆ preMult()

◆ preMultTranslate()

◆ rotate() [1/5]

◆ rotate() [2/5]

◆ rotate() [3/5]

◆ rotate() [4/5]

◆ rotate() [5/5]

◆ set() [1/6]

◆ set() [2/6]

◆ set() [3/6]

◆ set() [4/6]

◆ set() [5/6]

◆ set() [6/6]

◆ setIdentity()

◆ setRotate() [1/7]

◆ setRotate() [2/7]

◆ setRotate() [3/7]

◆ setRotate() [4/7]

◆ setRotate() [5/7]

◆ setRotate() [6/7]

◆ setRotate() [7/7]

◆ setTranslate() [1/2]

◆ setTranslate() [2/2]

◆ transformPoint()

◆ transformVector()

◆ translate() [1/2]

◆ translate() [2/2]