The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes. More...

#include <Transform.h>

Inheritance diagram for tf::Transform:

[legend]

Public Member Functions
void	deSerialize (const struct TransformData &dataIn)

void	deSerializeDouble (const struct TransformDoubleData &dataIn)

void	deSerializeFloat (const struct TransformFloatData &dataIn)

TFSIMD_FORCE_INLINE Matrix3x3 &	getBasis ()
	Return the basis matrix for the rotation. More...

TFSIMD_FORCE_INLINE const Matrix3x3 &	getBasis () const
	Return the basis matrix for the rotation. More...

void	getOpenGLMatrix (tfScalar *m) const
	Fill an array representation. More...

TFSIMD_FORCE_INLINE Vector3 &	getOrigin ()
	Return the origin vector translation. More...

TFSIMD_FORCE_INLINE const Vector3 &	getOrigin () const
	Return the origin vector translation. More...

Quaternion	getRotation () const
	Return a quaternion representing the rotation. More...

Transform	inverse () const
	Return the inverse of this transform. More...

Transform	inverseTimes (const Transform &t) const
	Return the inverse of this transform times the other transform. More...

TFSIMD_FORCE_INLINE Vector3	invXform (const Vector3 &inVec) const

TFSIMD_FORCE_INLINE void	mult (const Transform &t1, const Transform &t2)
	Set the current transform as the value of the product of two transforms. More...

TFSIMD_FORCE_INLINE Vector3	operator() (const Vector3 &x) const
	Return the transform of the vector. More...

TFSIMD_FORCE_INLINE Vector3	operator* (const Vector3 &x) const
	Return the transform of the vector. More...

TFSIMD_FORCE_INLINE Quaternion	operator* (const Quaternion &q) const
	Return the transform of the Quaternion. More...

Transform	operator* (const Transform &t) const
	Return the product of this transform and the other. More...

Transform &	operator*= (const Transform &t)
	Multiply this Transform by another(this = this * another) More...

TFSIMD_FORCE_INLINE Transform &	operator= (const Transform &other)
	Assignment Operator. More...

void	serialize (struct TransformData &dataOut) const

void	serializeFloat (struct TransformFloatData &dataOut) const

TFSIMD_FORCE_INLINE void	setBasis (const Matrix3x3 &basis)
	Set the rotational element by Matrix3x3. More...

void	setFromOpenGLMatrix (const tfScalar *m)
	Set from an array. More...

void	setIdentity ()
	Set this transformation to the identity. More...

TFSIMD_FORCE_INLINE void	setOrigin (const Vector3 &origin)
	Set the translational element. More...

TFSIMD_FORCE_INLINE void	setRotation (const Quaternion &q)
	Set the rotational element by Quaternion. More...

	Transform ()
	No initialization constructor. More...

TFSIMD_FORCE_INLINE	Transform (const Quaternion &q, const Vector3 &c=Vector3(tfScalar(0), tfScalar(0), tfScalar(0)))
	Constructor from Quaternion (optional Vector3 ) More...

TFSIMD_FORCE_INLINE	Transform (const Matrix3x3 &b, const Vector3 &c=Vector3(tfScalar(0), tfScalar(0), tfScalar(0)))
	Constructor from Matrix3x3 (optional Vector3) More...

TFSIMD_FORCE_INLINE	Transform (const Transform &other)
	Copy constructor. More...

Static Public Member Functions
static const Transform &	getIdentity ()
	Return an identity transform. More...

Private Attributes
Matrix3x3	m_basis
	Storage for the rotation. More...

Vector3	m_origin
	Storage for the translation. More...

Detailed Description

The Transform class supports rigid transforms with only translation and rotation and no scaling/shear. It can be used in combination with Vector3, Quaternion and Matrix3x3 linear algebra classes.

Definition at line 31 of file Transform.h.

Constructor & Destructor Documentation

tf::Transform::Transform ( )

inline

No initialization constructor.

Definition at line 41 of file Transform.h.

TFSIMD_FORCE_INLINE tf::Transform::Transform	(	const Quaternion &	q,
		const Vector3 &	c = `Vector3(tfScalar(0), tfScalar(0), tfScalar(0))`
	)

inlineexplicit

Constructor from Quaternion (optional Vector3 )

Parameters

q	Rotation from quaternion
c	Translation from Vector (default 0,0,0)

Definition at line 45 of file Transform.h.

TFSIMD_FORCE_INLINE tf::Transform::Transform	(	const Matrix3x3 &	b,
		const Vector3 &	c = `Vector3(tfScalar(0), tfScalar(0), tfScalar(0))`
	)

inlineexplicit

Constructor from Matrix3x3 (optional Vector3)

Parameters

b	Rotation from Matrix
c	Translation from Vector default (0,0,0)

Definition at line 54 of file Transform.h.

TFSIMD_FORCE_INLINE tf::Transform::Transform ( const Transform & other )

inline

Copy constructor.

Definition at line 60 of file Transform.h.

Member Function Documentation

void tf::Transform::deSerialize ( const struct TransformData & dataIn )

void tf::Transform::deSerializeDouble ( const struct TransformDoubleData & dataIn )

void tf::Transform::deSerializeFloat ( const struct TransformFloatData & dataIn )

TFSIMD_FORCE_INLINE Matrix3x3& tf::Transform::getBasis ( )

inline

Return the basis matrix for the rotation.

Definition at line 110 of file Transform.h.

TFSIMD_FORCE_INLINE const Matrix3x3& tf::Transform::getBasis ( ) const

inline

Return the basis matrix for the rotation.

Definition at line 112 of file Transform.h.

static const Transform& tf::Transform::getIdentity ( )

inlinestatic

Return an identity transform.

Definition at line 201 of file Transform.h.

void tf::Transform::getOpenGLMatrix ( tfScalar * m ) const

inline

Fill an array representation.

Parameters

m	A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation

Definition at line 137 of file Transform.h.

TFSIMD_FORCE_INLINE Vector3& tf::Transform::getOrigin ( )

inline

Return the origin vector translation.

Definition at line 115 of file Transform.h.

TFSIMD_FORCE_INLINE const Vector3& tf::Transform::getOrigin ( ) const

inline

Return the origin vector translation.

Definition at line 117 of file Transform.h.

Quaternion tf::Transform::getRotation ( ) const

inline

Return a quaternion representing the rotation.

Definition at line 120 of file Transform.h.

Transform tf::Transform::inverse ( ) const

inline

Return the inverse of this transform.

Definition at line 186 of file Transform.h.

TFSIMD_FORCE_INLINE Transform tf::Transform::inverseTimes ( const Transform & t ) const

Return the inverse of this transform times the other transform.

Parameters

t	The other transform return this.inverse() * the other

Definition at line 228 of file Transform.h.

TFSIMD_FORCE_INLINE Vector3 tf::Transform::invXform ( const Vector3 & inVec ) const

Definition at line 221 of file Transform.h.

TFSIMD_FORCE_INLINE void tf::Transform::mult	(	const Transform &	t1,
		const Transform &	t2
	)

inline

Set the current transform as the value of the product of two transforms.

Parameters

t1	Transform 1
t2	Transform 2 This = Transform1 * Transform2

Definition at line 77 of file Transform.h.

TFSIMD_FORCE_INLINE Vector3 tf::Transform::operator() ( const Vector3 & x ) const

inline

Return the transform of the vector.

Definition at line 90 of file Transform.h.

TFSIMD_FORCE_INLINE Vector3 tf::Transform::operator* ( const Vector3 & x ) const

inline

Return the transform of the vector.

Definition at line 98 of file Transform.h.

TFSIMD_FORCE_INLINE Quaternion tf::Transform::operator* ( const Quaternion & q ) const

inline

Return the transform of the Quaternion.

Definition at line 104 of file Transform.h.

TFSIMD_FORCE_INLINE Transform tf::Transform::operator* ( const Transform & t ) const

Return the product of this transform and the other.

Definition at line 236 of file Transform.h.

Transform& tf::Transform::operator*= ( const Transform & t )

inline

Multiply this Transform by another(this = this * another)

Parameters

t	The other transform

Definition at line 178 of file Transform.h.

TFSIMD_FORCE_INLINE Transform& tf::Transform::operator= ( const Transform & other )

inline

Assignment Operator.

Definition at line 66 of file Transform.h.

TFSIMD_FORCE_INLINE void tf::Transform::serialize ( struct TransformData & dataOut ) const

Definition at line 265 of file Transform.h.

TFSIMD_FORCE_INLINE void tf::Transform::serializeFloat ( struct TransformFloatData & dataOut ) const

Definition at line 271 of file Transform.h.

TFSIMD_FORCE_INLINE void tf::Transform::setBasis ( const Matrix3x3 & basis )

inline

Set the rotational element by Matrix3x3.

Definition at line 157 of file Transform.h.

void tf::Transform::setFromOpenGLMatrix ( const tfScalar * m )

inline

Set from an array.

Parameters

m	A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation

Definition at line 129 of file Transform.h.

void tf::Transform::setIdentity ( )

inline

Set this transformation to the identity.

Definition at line 170 of file Transform.h.

TFSIMD_FORCE_INLINE void tf::Transform::setOrigin ( const Vector3 & origin )

inline

Set the translational element.

Parameters

origin The vector to set the translation to

Definition at line 148 of file Transform.h.

TFSIMD_FORCE_INLINE void tf::Transform::setRotation ( const Quaternion & q )

inline

Set the rotational element by Quaternion.

Definition at line 163 of file Transform.h.

Member Data Documentation

Matrix3x3 tf::Transform::m_basis

private

Storage for the rotation.

Definition at line 34 of file Transform.h.

Vector3 tf::Transform::m_origin

private

Storage for the translation.

Definition at line 36 of file Transform.h.

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

Transform.h

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation