A class to store a 3D affine transform matrix and provide operations upon. More...

#include <AffineTransformMatrix.h>

Public Member Functions
	AffineTransformMatrix ()
virtual	~AffineTransformMatrix ()
void	TakeMatrixApart (void)
	Calculate rx,ry,rz,tx,ty,tz and sx,sy,sz from the matrix.
void	PutMatrixTogether (void)
	Calculate the matrix from rx,ry,rz,tx,ty,tz and sx,sy,sz.
wxString	ToString ()
	Generate a string containing the matrix.
void	FromString (wxString const &string)
	Setup the matrix from a string.
AffineTransformMatrix &	operator= (const AffineTransformMatrix &b)
void	Set (AffineTransformMatrix const &b)
	Copies a matrix by inserting a given matrix into a.
AffineTransformMatrix &	operator*= (const AffineTransformMatrix &b)
	Overloaded operator to allow correct multiplication of two matrices.
const AffineTransformMatrix	operator* (const AffineTransformMatrix &b) const
	Overloaded operator to allow correct multiplication of two matrices.
AffineTransformMatrix &	operator/= (const AffineTransformMatrix &b)
	Overloaded operator to allow correct division of two matrices.
const AffineTransformMatrix	operator/ (const AffineTransformMatrix &b) const
Vector3	GetCenter (void) const
	Returns the center point of the matrix.
void	SetIdentity ()
	Resets the matrix to the identity matrix.
const AffineTransformMatrix	Inverse () const
	Inverts the matrix.
void	TranslateGlobal (double const &x, double const &y, double const &z)
	Translate matrix in the global coordinate system.
void	TranslateLocal (double const &x, double const &y, double const &z)
	Translate matrix in the local, rotated coordinate system.
void	ScaleGlobal (double const &x, double const &y, double const &z)
	Scale matrix in the global coordinate system.
Vector3	Transform (Vector3 const &v) const
	Apply the transformation matrix on a given vector.
Vector3	TransformNoShift (Vector3 const &v) const
	Apply the transformation matrix on a given vector without shifting the vector.
Static Public Member Functions
static AffineTransformMatrix	Identity ()
	Function returning an identity matrix.
static AffineTransformMatrix	RotateAroundVector (Vector3 const &vector, double const &phi)
	Rotation around a given vector.
static AffineTransformMatrix	RotateInterwoven (double const &x, double const &y, double const &z)
	An interwoven rotation.
static AffineTransformMatrix	RotateXY (int const &x, int const &y, double const &scale)
	Rotation by mouse.
static AffineTransformMatrix	RotateXYZ (double const &x, double const &y, double const &z)
	Rotation by the Z,Y,X rule.
Public Attributes
double	a [16]
	The transformation matrix.
double	rx
double	ry
double	rz
	Rotation after taking the matrix apart.
double	tx
double	ty
double	tz
	Translation after taking the matrix apart.
double	sx
double	sy
double	sz
	Scaling after taking the matrix apart.
bool	linkScaling
	Force uniform scaling.

Detailed Description

A class to store a 3D affine transform matrix and provide operations upon.

 #include "AffineTransformMatrix.h"

This class stores and manages a 4x4 matrix. This matrix is organized the same way, the transformation matrices of OpenGL are:

R11 R12 R13 Tx
R21 R22 R23 Ty
R31 R32 R33 Tz
0 0 0 1

Where R is responsible for rotation and scaling and T for translation. The vector a is organized as follows:

0 4 8 12
1 5 9 13
2 6 10 14
3 7 11 15

Right handed coordinate system:
X to the right of the screen
Y to the top of the screen
Z towards the viewer

Constructor & Destructor Documentation

AffineTransformMatrix::AffineTransformMatrix ( )

AffineTransformMatrix::~AffineTransformMatrix ( ) [virtual]

Member Function Documentation

void AffineTransformMatrix::FromString ( wxString const & string )

Setup the matrix from a string.

Vector3 AffineTransformMatrix::GetCenter ( void ) const

Returns the center point of the matrix.

AffineTransformMatrix AffineTransformMatrix::Identity ( ) [static]

Function returning an identity matrix.

const AffineTransformMatrix AffineTransformMatrix::Inverse ( ) const

Inverts the matrix.

The transform used in here is optimized for matrices with 0,0,0,1 in the last row. It would not give the correct results for other matrices,

Returns:: Inverted matrix.

const AffineTransformMatrix AffineTransformMatrix::operator* ( const AffineTransformMatrix & b ) const

Overloaded operator to allow correct multiplication of two matrices.

AffineTransformMatrix & AffineTransformMatrix::operator*= ( const AffineTransformMatrix & b )

Overloaded operator to allow correct multiplication of two matrices.

const AffineTransformMatrix AffineTransformMatrix::operator/ ( const AffineTransformMatrix & b ) const

AffineTransformMatrix & AffineTransformMatrix::operator/= ( const AffineTransformMatrix & b )

Overloaded operator to allow correct division of two matrices.

The division is done by inverting the second matrix and the multiplying both.

AffineTransformMatrix & AffineTransformMatrix::operator= ( const AffineTransformMatrix & b )

void AffineTransformMatrix::PutMatrixTogether ( void )

Calculate the matrix from rx,ry,rz,tx,ty,tz and sx,sy,sz.

AffineTransformMatrix AffineTransformMatrix::RotateAroundVector	(	Vector3 const &	vector,
		double const &	phi
	)		`[static]`

Rotation around a given vector.

Generates a rotation matrix around a given vector.

Parameters:

vector	Axis of rotation.
phi	Angle of rotation.

Returns:: Rotation matrix.

AffineTransformMatrix AffineTransformMatrix::RotateInterwoven	(	double const &	x,
		double const &	y,
		double const &	z
	)		`[static]`

An interwoven rotation.

Generates a rotation matrix around x,y,z. In this case the rotations are interwoven:

Every rotation (around x, around y and around z) is done in infinitesimal small steps. On step around x, one step around y, ...

This results in a rotation as expected from a 6 DOF controller.

AffineTransformMatrix AffineTransformMatrix::RotateXY	(	int const &	x,
		int const &	y,
		double const &	scale
	)		`[static]`

Rotation by mouse.

This function is only a drop in until the RotateByTrackball function works.

Parameters:

x	Movement of mouse in x direction (=xnew-xold).
y	Movement of mouse in y direction (=ynew-yold).
scale	Scaling of the movement.

Returns:: Rotation matrix.

AffineTransformMatrix AffineTransformMatrix::RotateXYZ	(	double const &	x,
		double const &	y,
		double const &	z
	)		`[static]`

Rotation by the Z,Y,X rule.

void AffineTransformMatrix::ScaleGlobal	(	double const &	x,
		double const &	y,
		double const &	z
	)

Scale matrix in the global coordinate system.

void AffineTransformMatrix::Set ( AffineTransformMatrix const & b )

Copies a matrix by inserting a given matrix into a.

Parameters:

matrix The matrix to copy.

void AffineTransformMatrix::SetIdentity ( )

Resets the matrix to the identity matrix.

void AffineTransformMatrix::TakeMatrixApart ( void )

Calculate rx,ry,rz,tx,ty,tz and sx,sy,sz from the matrix.

wxString AffineTransformMatrix::ToString ( )

Generate a string containing the matrix.

Vector3 AffineTransformMatrix::Transform ( Vector3 const & v ) const

Apply the transformation matrix on a given vector.

Vector3 AffineTransformMatrix::TransformNoShift ( Vector3 const & v ) const

Apply the transformation matrix on a given vector without shifting the vector.

void AffineTransformMatrix::TranslateGlobal	(	double const &	x,
		double const &	y,
		double const &	z
	)

Translate matrix in the global coordinate system.

void AffineTransformMatrix::TranslateLocal	(	double const &	x,
		double const &	y,
		double const &	z
	)

Translate matrix in the local, rotated coordinate system.

Member Data Documentation

double AffineTransformMatrix::a[16]

The transformation matrix.

bool AffineTransformMatrix::linkScaling

Force uniform scaling.

double AffineTransformMatrix::rx

double AffineTransformMatrix::ry

double AffineTransformMatrix::rz

Rotation after taking the matrix apart.

double AffineTransformMatrix::sx

double AffineTransformMatrix::sy

double AffineTransformMatrix::sz

Scaling after taking the matrix apart.

double AffineTransformMatrix::tx

double AffineTransformMatrix::ty

double AffineTransformMatrix::tz

Translation after taking the matrix apart.

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

GenericCAM/src/3D/AffineTransformMatrix.h
GenericCAM/src/3D/AffineTransformMatrix.cpp

AffineTransformMatrix Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation