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csTransform Class Reference
[Geometry utilities]

A class which defines a transformation from one coordinate system to another. More...

#include <transfrm.h>

Inheritance diagram for csTransform:

csReversibleTransform csOrthoTransform List of all members.

Public Methods

 csTransform ()
 Initialize with the identity transformation.

 csTransform (const csMatrix3 &other2this, const csVector3 &origin_pos)
 Initialize with the given transformation.

void Identity ()
 Reset this transform to the identity transform.

bool IsIdentity () const
 Returns true if this transform is an identity transform.

const csMatrix3 & GetO2T () const
 Get 'other' to 'this' transformation matrix.

const csVector3 & GetO2TTranslation () const
 Get 'world' to 'this' translation.

const csVector3 & GetOrigin () const
 Get origin of transformed coordinate system.

virtual void SetO2T (const csMatrix3 &m)
 Set 'other' to 'this' transformation matrix.

virtual void SetO2TTranslation (const csVector3 &v)
 Set 'world' to 'this' translation.

void SetOrigin (const csVector3 &v)
 Set origin of transformed coordinate system.

void Translate (const csVector3 &v)
 Move the 'other' to 'this' translation by a specified amount.

csVector3 Other2This (const csVector3 &v) const
 Transform vector in 'other' space v to a vector in 'this' space.

csVector3 Other2ThisRelative (const csVector3 &v) const
 Convert vector v in 'other' space to a vector in 'this' space.

csPlane3 Other2This (const csPlane3 &p) const
 Convert a plane in 'other' space to 'this' space.

csPlane3 Other2ThisRelative (const csPlane3 &p) const
 Convert a plane in 'other' space to 'this' space.

void Other2This (const csPlane3 &p, const csVector3 &point, csPlane3 &result) const
 Convert a plane in 'other' space to 'this' space.

csSphere Other2This (const csSphere &s) const
 Convert a sphere in 'other' space to 'this' space.


Static Public Methods

csTransform GetReflect (const csPlane3 &pl)
 Return a transform that represents a mirroring across a plane.


Protected Attributes

csMatrix3 m_o2t
 Transformation matrix from 'other' space to 'this' space.

csVector3 v_o2t
 Location of the origin for 'this' space.


Friends

csVector3 operator * (const csVector3 &v, const csTransform &t)
 Apply a transformation to a 3D vector.

csVector3 operator * (const csTransform &t, const csVector3 &v)
 Apply a transformation to a 3D vector.

csVector3 & operator *= (csVector3 &v, const csTransform &t)
 Apply a transformation to a 3D vector.

csPlane3 operator * (const csPlane3 &p, const csTransform &t)
 Apply a transformation to a Plane.

csPlane3 operator * (const csTransform &t, const csPlane3 &p)
 Apply a transformation to a Plane.

csPlane3 & operator *= (csPlane3 &p, const csTransform &t)
 Apply a transformation to a Plane.

csSphere operator * (const csSphere &p, const csTransform &t)
 Apply a transformation to a sphere.

csSphere operator * (const csTransform &t, const csSphere &p)
 Apply a transformation to a sphere.

csSphere & operator *= (csSphere &p, const csTransform &t)
 Apply a transformation to a sphere.

csMatrix3 operator * (const csMatrix3 &m, const csTransform &t)
 Multiply a matrix with the transformation matrix.

csMatrix3 operator * (const csTransform &t, const csMatrix3 &m)
 Multiply a matrix with the transformation matrix.

csMatrix3 & operator *= (csMatrix3 &m, const csTransform &t)
 Multiply a matrix with the transformation matrix.

csTransform operator * (const csTransform &t1, const csReversibleTransform &t2)
 Combine two transforms, rightmost first.

Detailed Description

A class which defines a transformation from one coordinate system to another.

The two coordinate systems are refered to as 'other' and 'this'. The transform defines a transformation from 'other' to 'this'.

Definition at line 43 of file transfrm.h.

Constructor & Destructor Documentation

csTransform::csTransform (    )  [inline]
 

Initialize with the identity transformation.

Definition at line 55 of file transfrm.h.

csTransform::csTransform (  const csMatrix3 &    other2this,
const csVector3 &    origin_pos
)  [inline]
 

Initialize with the given transformation.

The transformation is given as a 3x3 matrix and a vector. The transformation is defined to mean T=M*(O-V) with T the vector in 'this' space, O the vector in 'other' space, M the transformation matrix and V the transformation vector.

Definition at line 64 of file transfrm.h.

Member Function Documentation

const csMatrix3& csTransform::GetO2T (    )  const [inline]
 

Get 'other' to 'this' transformation matrix.

This is the 3x3 matrix M from the transform equation T=M*(O-V).

Definition at line 101 of file transfrm.h.

Referenced by csOrthoTransform::csOrthoTransform().

const csVector3& csTransform::GetO2TTranslation (    )  const [inline]
 

Get 'world' to 'this' translation.

This is the vector V from the transform equation T=M*(O-V). This is equivalent to calling GetOrigin().

Definition at line 108 of file transfrm.h.

Referenced by csOrthoTransform::csOrthoTransform().

const csVector3& csTransform::GetOrigin (    )  const [inline]
 

Get origin of transformed coordinate system.

This is equivalent to calling GetO2TTranslation().

Definition at line 114 of file transfrm.h.

csTransform csTransform::GetReflect (  const csPlane3 &    pl )  [static]
 

Return a transform that represents a mirroring across a plane.

This function will return a csTransform which represents a reflection across the plane pl.

void csTransform::Identity (    )  [inline]
 

Reset this transform to the identity transform.

Definition at line 70 of file transfrm.h.

bool csTransform::IsIdentity (    )  const [inline]
 

Returns true if this transform is an identity transform.

This tests all fields so don't call this before every operation.

Definition at line 80 of file transfrm.h.

References csMatrix3::m11, csMatrix3::m12, csMatrix3::m13, csMatrix3::m21, csMatrix3::m22, csMatrix3::m23, csMatrix3::m31, csMatrix3::m32, csMatrix3::m33, csVector3::x, csVector3::y, and csVector3::z.

csSphere csTransform::Other2This (  const csSphere &    s )  const
 

Convert a sphere in 'other' space to 'this' space.

void csTransform::Other2This (  const csPlane3 &    p,
const csVector3 &    point,
csPlane3 &    result
)  const
 

Convert a plane in 'other' space to 'this' space.

This is an optimized version for which a point on the new plane is known (point). The result is stored in 'result'. If 'p' is expressed as (N,D) (with N a vector for the A,B,C components of 'p') then this will return a new plane in 'result' which looks like (M*N,-(M*N)*point).

csPlane3 csTransform::Other2This (  const csPlane3 &    p )  const
 

Convert a plane in 'other' space to 'this' space.

If 'p' is expressed as (N,D) (with N a vector for the A,B,C components of 'p') then this will return a new plane which looks like (M*N,D+(M*N)*(M*V)).

csVector3 csTransform::Other2This (  const csVector3 &    v )  const [inline]
 

Transform vector in 'other' space v to a vector in 'this' space.

This is the basic transform function. This will calculate and return M*(v-V).

Definition at line 147 of file transfrm.h.

csPlane3 csTransform::Other2ThisRelative (  const csPlane3 &    p )  const
 

Convert a plane in 'other' space to 'this' space.

This version ignores translation. If 'p' is expressed as (N,D) (with N a vector for the A,B,C components of 'p') then this will return a new plane which looks like (M*N,D).

csVector3 csTransform::Other2ThisRelative (  const csVector3 &    v )  const [inline]
 

Convert vector v in 'other' space to a vector in 'this' space.

Use the origin of 'other' space. This will calculate and return M*v (so the translation or V of this transform is ignored).

Definition at line 157 of file transfrm.h.

virtual void csTransform::SetO2T (  const csMatrix3 &    m )  [inline, virtual]
 

Set 'other' to 'this' transformation matrix.

This is the 3x3 matrix M from the transform equation T=M*(O-V).

Reimplemented in csReversibleTransform, and csOrthoTransform.

Definition at line 120 of file transfrm.h.

virtual void csTransform::SetO2TTranslation (  const csVector3 &    v )  [inline, virtual]
 

Set 'world' to 'this' translation.

This is the vector V from the transform equation T=M*(O-V). This is equivalent to calling SetOrigin().

Definition at line 127 of file transfrm.h.

void csTransform::SetOrigin (  const csVector3 &    v )  [inline]
 

Set origin of transformed coordinate system.

This is equivalent to calling SetO2TTranslation().

Definition at line 133 of file transfrm.h.

void csTransform::Translate (  const csVector3 &    v )  [inline]
 

Move the 'other' to 'this' translation by a specified amount.

Basically this will add 'v' to the origin or translation of this transform so that the new transform looks like T=M*(O-(V+v)).

Definition at line 140 of file transfrm.h.

Friends And Related Function Documentation

csTransform operator * (  const csTransform &    t1,
const csReversibleTransform &    t2
)  [friend]
 

Combine two transforms, rightmost first.

Given the following definitions:

  • 't1' expressed as T=t1.M*(O-t1.V)
  • 't2' expressed as T=t2.M*(O-t2.V)
  • t2.Minv is the inverse of t2.M
Then this will return a new transform T=(t1.M*t2.M)*(O-(t2.V+t2.Minv*t1.V)).

Reimplemented in csReversibleTransform.

csMatrix3 operator * (  const csTransform &    t,
const csMatrix3 &    m
)  [friend]
 

Multiply a matrix with the transformation matrix.

This will calculate and return M*m.

csMatrix3 operator * (  const csMatrix3 &    m,
const csTransform &    t
)  [friend]
 

Multiply a matrix with the transformation matrix.

This will calculate and return m*M.

csSphere operator * (  const csTransform &    t,
const csSphere &    p
)  [friend]
 

Apply a transformation to a sphere.

This corresponds exactly to calling t.Other2This(p).

csSphere operator * (  const csSphere &    p,
const csTransform &    t
)  [friend]
 

Apply a transformation to a sphere.

This corresponds exactly to calling t.Other2This(p).

csPlane3 operator * (  const csTransform &    t,
const csPlane3 &    p
)  [friend]
 

Apply a transformation to a Plane.

This corresponds exactly to calling t.Other2This(p).

csPlane3 operator * (  const csPlane3 &    p,
const csTransform &    t
)  [friend]
 

Apply a transformation to a Plane.

This corresponds exactly to calling t.Other2This(p).

csVector3 operator * (  const csTransform &    t,
const csVector3 &    v
)  [friend]
 

Apply a transformation to a 3D vector.

This corresponds exactly to calling t.Other2This (v).

csVector3 operator * (  const csVector3 &    v,
const csTransform &    t
)  [friend]
 

Apply a transformation to a 3D vector.

This corresponds exactly to calling t.Other2This (v).

csMatrix3& operator *= (  csMatrix3 &    m,
const csTransform &    t
)  [friend]
 

Multiply a matrix with the transformation matrix.

This corresponds exactly to m*=M.

csSphere& operator *= (  csSphere &    p,
const csTransform &    t
)  [friend]
 

Apply a transformation to a sphere.

This corresponds exactly to calling p = t.Other2This(p).

csPlane3& operator *= (  csPlane3 &    p,
const csTransform &    t
)  [friend]
 

Apply a transformation to a Plane.

This corresponds exactly to calling p = t.Other2This(p).

csVector3& operator *= (  csVector3 &    v,
const csTransform &    t
)  [friend]
 

Apply a transformation to a 3D vector.

This corresponds exactly to calling v = t.Other2This(v).

Member Data Documentation

csMatrix3 csTransform::m_o2t [protected]
 

Transformation matrix from 'other' space to 'this' space.

Definition at line 47 of file transfrm.h.

Referenced by csOrthoTransform::SetO2T(), and csOrthoTransform::SetT2O().

csVector3 csTransform::v_o2t [protected]
 

Location of the origin for 'this' space.

Definition at line 49 of file transfrm.h.

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