AffineTrans< T > Class Template Reference

#include <Rotation.h>

List of all members.

Public Member Functions
	AffineTrans (void)
virtual	~AffineTrans (void)
void	initComponents (void)
void	setup (void)
void	set (Vector< T > s, Quaternion< T > q, Vector< T > t, bool inv=false)
void	free (void)
void	clear (void)
void	dup (AffineTrans a)
void	computeMatrix (bool with_scale=true)
void	computeComponents (void)
void	initShift (void)
void	initScale (void)
void	initRotate (void)
void	setShift (T x, T y, T z)
void	setScale (T x, T y, T z)
void	setRotate (T s, T x, T y, T z)
void	addShift (T x, T y, T z)
void	addScale (T x, T y, T z)
void	addRotate (T s, T x, T y, T z)
Vector< T >	getShift (void)
Vector< T >	getScale (void)
Quaternion< T >	getRotate (void)
Matrix< T >	getMatrix (void)
Matrix< T >	getRotMatrix (void)
AffineTrans< T >	getInvAffine (void)
bool	isSetComponents (void)
bool	isSetShift (void)
bool	isSetScale (void)
bool	isSetRotate (void)
bool	isNormal (void)
Vector< T >	execMatrixTrans (Vector< T > v)
Vector< T >	execTrans (Vector< T > v)
Vector< T >	execInvTrans (Vector< T > v)
Vector< T >	execRotateScale (Vector< T > v)
Vector< T >	execInvRotateScale (Vector< T > v)
Vector< T >	execShift (Vector< T > v)
Vector< T >	execInvShift (Vector< T > v)
Vector< T >	execScale (Vector< T > v)
Vector< T >	execInvScale (Vector< T > v)
Vector< T >	execRotate (Vector< T > v)
Vector< T >	execInvRotate (Vector< T > v)
T *	execTrans (T *v)
T *	execInvTrans (T *v)
T *	execRotateScale (T *v)
T *	execInvRotateScale (T *v)
T *	execShift (T *v)
T *	execInvShift (T *v)
T *	execScale (T *v)
T *	execInvScale (T *v)
T *	execRotate (T *v)
T *	execInvRotate (T *v)
Public Attributes
Matrix< T >	matrix
Vector< T >	shift
Vector< T >	scale
Quaternion< T >	rotate
bool	isInverse

---

Detailed Description

template<typename T = double>
class jbxl::AffineTrans< T >

アフィン変換 拡大縮小，回転，平行移動（のみ）

変換の合成：A*B => Bの変換 -> Aの変換

Definition at line 283 of file Rotation.h.

---

Constructor & Destructor Documentation

AffineTrans

(

void

)

[inline]

Definition at line 295 of file Rotation.h.

{ setup();}

virtual ~AffineTrans

(

void

)

[inline, virtual]

Definition at line 296 of file Rotation.h.

{}

---

Member Function Documentation

void addRotate	(	T	s,
		T	x,
		T	y,
		T	z
	)			[inline]

Definition at line 319 of file Rotation.h.

{ Quaternion<T> q(s, x, y, z); rotate = q*rotate;}

void addScale	(	T	x,
		T	y,
		T	z
	)			[inline]

Definition at line 318 of file Rotation.h.

{ scale.x *= x; scale.y *= y; scale.z *= z;}

void addShift	(	T	x,
		T	y,
		T	z
	)			[inline]

Definition at line 317 of file Rotation.h.

{ shift.x += x; shift.y += y; shift.z += z;}

void clear

(

void

)

[inline]

Definition at line 303 of file Rotation.h.

{ initComponents(); matrix.clear();}

void computeComponents

(

void

)

[inline]

Definition at line 1727 of file Rotation.h.

References Matrix< T >::element(), Matrix< T >::free(), AffineTrans< T >::getRotMatrix(), AffineTrans< T >::isInverse, AffineTrans< T >::isNormal(), AffineTrans< T >::rotate, AffineTrans< T >::scale, and AffineTrans< T >::shift.

Referenced by AffineTrans< T >::getInvAffine().

{
    T sx, sy, sz; 
    sx = sy = sz = (T)0.0;
    if (!isInverse) {
        for (int i=1; i<=3; i++) {
            sx += matrix.element(i,1)*matrix.element(i,1);
            sy += matrix.element(i,2)*matrix.element(i,2);
            sz += matrix.element(i,3)*matrix.element(i,3);
        }
    }
    else {
        for (int i=1; i<=3; i++) {
            sx += matrix.element(1,i)*matrix.element(1,i);
            sy += matrix.element(2,i)*matrix.element(2,i);
            sz += matrix.element(3,i)*matrix.element(3,i);
        }
    }
    sx = (T)sqrt(sx); 
    sy = (T)sqrt(sy); 
    sz = (T)sqrt(sz); 
    if (!isNormal()) return;

    scale.set(sx, sy, sz);

    //
    Matrix<T> mt = getRotMatrix();
    if (!isInverse) {
        for (int i=1; i<=3; i++) {
            mt.element(i,1) /= sx;
            mt.element(i,2) /= sy;
            mt.element(i,3) /= sz;
        }
    }
    else {
        for (int i=1; i<=3; i++) {
            mt.element(1,i) /= sx;
            mt.element(2,i) /= sy;
            mt.element(3,i) /= sz;
        }
    }
    rotate = RotMatrix2Quaternion<T>(mt);    
    mt.free();

    //
    if (!isInverse) {
        shift.set(matrix.element(1,4), matrix.element(2,4), matrix.element(3,4));
    }
    else {
        Vector<T> sh(matrix.element(1,4)/sx, matrix.element(2,4)/sy, matrix.element(3,4)/sz);
        shift = rotate.execInvRotate(sh);
    }

    return;
}

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void computeMatrix

(

bool

with_scale = true

)

[inline]

Definition at line 1692 of file Rotation.h.

References Matrix< T >::element(), Matrix< T >::free(), AffineTrans< T >::rotate, AffineTrans< T >::scale, and AffineTrans< T >::shift.

Referenced by ColladaXML::addCenterScene(), ColladaXML::addScene(), and AffineTrans< T >::execMatrixTrans().

{
    Matrix<T> sz(2, 3, 3);
    if (with_scale) {
        sz.element(1,1) = scale.x;
        sz.element(2,2) = scale.y;
        sz.element(3,3) = scale.z;
    }
    else {
        sz.element(1,1) = (T)1.0;
        sz.element(2,2) = (T)1.0;
        sz.element(3,3) = (T)1.0;
    }
    
    matrix.clear();
    Matrix<T> mt = rotate.getRotMatrix()*sz;
    for (int j=1; j<=3; j++) { 
        for (int i=1; i<=3; i++) { 
            matrix.element(i, j) = mt.element(i, j);
        }
    }
    sz.free();
    mt.free();

    matrix.element(1,4) = shift.x;
    matrix.element(2,4) = shift.y;
    matrix.element(3,4) = shift.z;
    matrix.element(4,4) = (T)1.0;

    return;
}

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void dup

(

AffineTrans< T >

a

)

[inline]

Definition at line 1621 of file Rotation.h.

References AffineTrans< T >::dup(), and AffineTrans< T >::matrix.

Referenced by AffineTrans< T >::dup(), jbxl::newAffineTrans(), and MeshObjectData::setAffineTrans().

{
    *this = a;
    matrix.dup(a.matrix);

    return;
}

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T* execInvRotate

(

T *

v

)

[inline]

Definition at line 370 of file Rotation.h.

{ return VectorInvRotation(v, rotate);}

Vector<T> execInvRotate

(

Vector< T >

v

)

[inline]

Definition at line 352 of file Rotation.h.

{ return VectorInvRotation(v, rotate);}

T* execInvRotateScale

(

T *

v

)

[inline]

Definition at line 362 of file Rotation.h.

                                { if(!isInverse) return execInvScale(execInvRotate(v));
                                  else           return execInvRotate(execInvScale(v));}

Vector<T> execInvRotateScale

(

Vector< T >

v

)

[inline]

Definition at line 344 of file Rotation.h.

                                              { if(!isInverse) return execInvScale(execInvRotate(v));
                                                else           return execInvRotate(execInvScale(v));}

T* execInvScale

(

T *

v

)

[inline]

Definition at line 368 of file Rotation.h.

{ v[0]/=scale.x; v[1]/=scale.y; v[2]/=scale.z; return v;}

Vector<T> execInvScale

(

Vector< T >

v

)

[inline]

Definition at line 350 of file Rotation.h.

{ return Vector<T>(v.x/scale.x, v.y/scale.y, v.z/scale.z, (T)0.0, Min(v.c, scale.c));}

T* execInvShift

(

T *

v

)

[inline]

Definition at line 366 of file Rotation.h.

{ v[0]-=shift.x; v[1]-=shift.y; v[2]-=shift.z; return v;}

Vector<T> execInvShift

(

Vector< T >

v

)

[inline]

Definition at line 348 of file Rotation.h.

{ return Vector<T>(v.x-shift.x, v.y-shift.y, v.z-shift.z, (T)0.0, Min(v.c, shift.c));}

T* execInvTrans

(

T *

v

)

[inline]

Definition at line 357 of file Rotation.h.

                          { if(!isInverse) return execInvScale(execInvRotate(execInvShift(v)));
                            else           return execInvShift(execInvRotate(execInvScale(v)));}

Vector<T> execInvTrans

(

Vector< T >

v

)

[inline]

Definition at line 339 of file Rotation.h.

                                        { if(!isInverse) return execInvScale(execInvRotate(execInvShift(v)));
                                          else           return execInvShift(execInvRotate(execInvScale(v)));}

Vector< T > execMatrixTrans

(

Vector< T >

v

)

[inline]

Definition at line 1786 of file Rotation.h.

References AffineTrans< T >::computeMatrix(), Matrix< T >::free(), Matrix< T >::mx, Vector< T >::x, Vector< T >::y, and Vector< T >::z.

{
    if (matrix.element(4,4)!=(T)1.0) computeMatrix(true);

    Matrix<T> mv(1, 4);
    mv.mx[0] = v.x;
    mv.mx[1] = v.y;
    mv.mx[2] = v.z;
    mv.mx[3] = (T)1.0;

    Matrix<T> mt = matrix*mv;
    Vector<T> vct;
    vct.x = mt.mx[0];
    vct.y = mt.mx[1];
    vct.z = mt.mx[2];

    mt.free();
    mv.free();
    
    return vct;
}

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T* execRotate

(

T *

v

)

[inline]

Definition at line 369 of file Rotation.h.

{ return VectorRotation(v, rotate);}

Vector<T> execRotate

(

Vector< T >

v

)

[inline]

Definition at line 351 of file Rotation.h.

Referenced by BrepSolidList::addSolid().

{ return VectorRotation(v, rotate);}

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T* execRotateScale

(

T *

v

)

[inline]

Definition at line 360 of file Rotation.h.

                                { if(!isInverse) return execRotate(execScale(v)); 
                                  else           return execScale(execRotate(v));}

Vector<T> execRotateScale

(

Vector< T >

v

)

[inline]

Definition at line 342 of file Rotation.h.

                                              { if(!isInverse) return execRotate(execScale(v)); 
                                                else           return execScale(execRotate(v));}

T* execScale

(

T *

v

)

[inline]

Definition at line 367 of file Rotation.h.

{ v[0]*=scale.x; v[1]*=scale.y; v[2]*=scale.z; return v;}

Vector<T> execScale

(

Vector< T >

v

)

[inline]

Definition at line 349 of file Rotation.h.

{ return Vector<T>(v.x*scale.x, v.y*scale.y, v.z*scale.z, (T)0.0, Min(v.c, scale.c));}

T* execShift

(

T *

v

)

[inline]

Definition at line 365 of file Rotation.h.

{ v[0]+=shift.x; v[1]+=shift.y; v[2]+=shift.z; return v;}

Vector<T> execShift

(

Vector< T >

v

)

[inline]

Definition at line 347 of file Rotation.h.

{ return Vector<T>(v.x+shift.x, v.y+shift.y, v.z+shift.z, (T)0.0, Min(v.c, shift.c));}

T* execTrans

(

T *

v

)

[inline]

Definition at line 355 of file Rotation.h.

                          { if(!isInverse) return execShift(execRotate(execScale(v))); 
                            else           return execScale(execRotate(execShift(v)));}

Vector<T> execTrans

(

Vector< T >

v

)

[inline]

Definition at line 337 of file Rotation.h.

Referenced by BrepSolidList::addSolid().

                                        { if(!isInverse) return execShift(execRotate(execScale(v))); 
                                          else           return execScale(execRotate(execShift(v)));}

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void free

(

void

)

[inline]

Definition at line 302 of file Rotation.h.

Referenced by ColladaXML::addCenterScene(), ColladaXML::addScene(), and jbxl::freeAffineTrans().

{ initComponents(); matrix.free();}

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AffineTrans< T > getInvAffine

(

void

)

[inline]

Definition at line 1653 of file Rotation.h.

References AffineTrans< T >::computeComponents(), Matrix< T >::element(), Matrix< T >::free(), AffineTrans< T >::isInverse, AffineTrans< T >::isNormal(), AffineTrans< T >::matrix, AffineTrans< T >::rotate, AffineTrans< T >::scale, and AffineTrans< T >::shift.

{
    AffineTrans<T> affine;
    if (!isNormal()) return affine;

    Matrix<T> rsz(2, 3, 3);
    rsz.element(1,1) = (T)1.0/scale.x;
    rsz.element(2,2) = (T)1.0/scale.y;
    rsz.element(3,3) = (T)1.0/scale.z;

    Matrix<T> rmt = rsz*(~rotate).getRotMatrix();
    
    affine.matrix.element(4,4) = (T)1.0;
    for (int j=1; j<=3; j++) { 
        for (int i=1; i<=3; i++) { 
            affine.matrix.element(i,j) = rmt.element(i,j);
        }
    }
    rsz.free();
    rmt.free();

    Matrix<T> rst(2, 4, 4);
    rst.element(1,1) = rst.element(2,2) = rst.element(3,3) = rst.element(4,4) = (T)1.0;
    rst.element(1,4) = -shift.x;
    rst.element(2,4) = -shift.y;
    rst.element(3,4) = -shift.z;

    affine.matrix = affine.matrix*rst;
    affine.isInverse = !isInverse;
    affine.computeComponents();

    rst.free();

    return affine;
}

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Matrix<T> getMatrix

(

void

)

[inline]

Definition at line 324 of file Rotation.h.

{ return matrix;}

Quaternion<T> getRotate

(

void

)

[inline]

Definition at line 323 of file Rotation.h.

{ return rotate;}

Matrix< T > getRotMatrix

(

void

)

[inline]

Definition at line 1632 of file Rotation.h.

References Matrix< T >::element(), Matrix< T >::init(), and AffineTrans< T >::rotate.

Referenced by AffineTrans< T >::computeComponents().

{
    Matrix<T> mt;

    if (matrix.element(4,4)==(T)1.0) {
        mt.init(2, 3, 3);
        for (int j=1; j<=3; j++) { 
            for (int i=1; i<=3; i++) { 
                mt.element(i, j) = matrix.element(i, j);
            }
        }
    }
    else {
        mt = rotate.getRotMatrix();
    }
    return mt;
}

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Vector<T> getScale

(

void

)

[inline]

Definition at line 322 of file Rotation.h.

{ return scale;}

Vector<T> getShift

(

void

)

[inline]

Definition at line 321 of file Rotation.h.

{ return shift;}

void initComponents

(

void

)

[inline]

Definition at line 298 of file Rotation.h.

{ initScale(); initRotate(); initShift(); isInverse = false;}

void initRotate

(

void

)

[inline]

Definition at line 311 of file Rotation.h.

{ rotate.init();}

void initScale

(

void

)

[inline]

Definition at line 310 of file Rotation.h.

{ scale.set((T)1.0, (T)1.0, (T)1.0);}

void initShift

(

void

)

[inline]

Definition at line 309 of file Rotation.h.

{ shift.init();}

bool isNormal

(

void

)

[inline]

Definition at line 332 of file Rotation.h.

Referenced by AffineTrans< T >::computeComponents(), and AffineTrans< T >::getInvAffine().

{ if(scale.x>=JBXL_EPS && scale.y>=JBXL_EPS && scale.z>=JBXL_EPS) return true; else return false;}

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bool isSetComponents

(

void

)

[inline]

Definition at line 328 of file Rotation.h.

{ if(isSetShift() || isSetScale() || isSetRotate()) return true; else return false;}

bool isSetRotate

(

void

)

[inline]

Definition at line 331 of file Rotation.h.

{ return (rotate!=Quaternion<T>());}

bool isSetScale

(

void

)

[inline]

Definition at line 330 of file Rotation.h.

{ return (scale !=Vector<T>((T)1.0, (T)1.0, (T)1.0));}

bool isSetShift

(

void

)

[inline]

Definition at line 329 of file Rotation.h.

{ return (shift !=Vector<T>());}

void set	(	Vector< T >	s,
		Quaternion< T >	q,
		Vector< T >	t,
		bool	inv = false
	)			[inline]

Definition at line 301 of file Rotation.h.

Referenced by jbxl::operator*().

{ scale=s; shift=t, rotate=q; isInverse=inv; computeMatrix(true);}

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void setRotate	(	T	s,
		T	x,
		T	y,
		T	z
	)			[inline]

Definition at line 315 of file Rotation.h.

{ rotate.setRotation(s, x, y, z);}

void setScale	(	T	x,
		T	y,
		T	z
	)			[inline]

Definition at line 314 of file Rotation.h.

{ scale.set(x, y, z);}

void setShift	(	T	x,
		T	y,
		T	z
	)			[inline]

Definition at line 313 of file Rotation.h.

{ shift.set(x, y, z);}

void setup

(

void

)

[inline]

Definition at line 300 of file Rotation.h.

{ initComponents(); matrix = Matrix<T>(2, 4, 4);}

---

Member Data Documentation

bool isInverse

Definition at line 292 of file Rotation.h.

Referenced by AffineTrans< T >::computeComponents(), AffineTrans< T >::getInvAffine(), and jbxl::operator*().

Matrix<T> matrix

Definition at line 286 of file Rotation.h.

Referenced by ColladaXML::addCenterScene(), ColladaXML::addScene(), AffineTrans< T >::dup(), and AffineTrans< T >::getInvAffine().

Quaternion<T> rotate

Definition at line 290 of file Rotation.h.

Referenced by AffineTrans< T >::computeComponents(), AffineTrans< T >::computeMatrix(), AffineTrans< T >::getInvAffine(), AffineTrans< T >::getRotMatrix(), and jbxl::operator*().

Vector<T> scale

Definition at line 289 of file Rotation.h.

Referenced by ColladaXML::addScene(), ColladaXML::addTexcrdSource(), AffineTrans< T >::computeComponents(), AffineTrans< T >::computeMatrix(), AffineTrans< T >::getInvAffine(), and jbxl::operator*().

Vector<T> shift

Definition at line 288 of file Rotation.h.

Referenced by AffineTrans< T >::computeComponents(), AffineTrans< T >::computeMatrix(), AffineTrans< T >::getInvAffine(), and jbxl::operator*().

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

• MathLib/Rotation.h