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csTransform Class Reference

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

#include <transfrm.h>

Inheritance diagram for csTransform:

Public Methods
	csTransform ()
	Initialize with the identity transformation.
	csTransform (const csMatrix3 &other2this, const csVector3 &origin_pos)
	Initialize with the given transformation. More...
const csMatrix3&	GetO2T () const
	Get 'other' to 'this' transformation matrix. More...
const csVector3&	GetO2TTranslation () const
	Get 'world' to 'this' translation. More...
const csVector3&	GetOrigin () const
	Get origin of transformed coordinate system. More...
virtual void	SetO2T (const csMatrix3 &m)
	Set 'other' to 'this' transformation matrix. More...
virtual void	SetO2TTranslation (const csVector3 &v)
	Set 'world' to 'this' translation. More...
void	SetOrigin (const csVector3 &v)
	Set origin of transformed coordinate system. More...
void	Translate (const csVector3 &v)
	Move the 'other' to 'this' translation by a specified amount. More...
csVector3	Other2This (const csVector3 &v) const
	Transform vector in 'other' space v to a vector in 'this' space. More...
csVector3	Other2ThisRelative (const csVector3 &v) const
	Convert vector v in 'other' space to a vector in 'this' space. More...
csPlane3	Other2This (const csPlane3 &p) const
	Convert a plane in 'other' space to 'this' space. More...
csPlane3	Other2ThisRelative (const csPlane3 &p) const
	Convert a plane in 'other' space to 'this' space. More...
void	Other2This (const csPlane3 &p, const csVector3 &point, csPlane3 &result) const
	Convert a plane in 'other' space to 'this' space. More...
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. More...
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. More...
csVector3	operator * (const csTransform &t, const csVector3 &v)
	Apply a transformation to a 3D vector. More...
csVector3&	operator *= (csVector3 &v, const csTransform &t)
	Apply a transformation to a 3D vector. More...
csPlane3	operator * (const csPlane3 &p, const csTransform &t)
	Apply a transformation to a Plane. More...
csPlane3	operator * (const csTransform &t, const csPlane3 &p)
	Apply a transformation to a Plane. More...
csPlane3&	operator *= (csPlane3 &p, const csTransform &t)
	Apply a transformation to a Plane. More...
csSphere	operator * (const csSphere &p, const csTransform &t)
	Apply a transformation to a sphere. More...
csSphere	operator * (const csTransform &t, const csSphere &p)
	Apply a transformation to a sphere. More...
csSphere&	operator *= (csSphere &p, const csTransform &t)
	Apply a transformation to a sphere. More...
csMatrix3	operator * (const csMatrix3 &m, const csTransform &t)
	Multiply a matrix with the transformation matrix. More...
csMatrix3	operator * (const csTransform &t, const csMatrix3 &m)
	Multiply a matrix with the transformation matrix. More...
csMatrix3&	operator *= (csMatrix3 &m, const csTransform &t)
	Multiply a matrix with the transformation matrix. More...
csTransform	operator * (const csTransform &t1, const csReversibleTransform &t2)
	Combine two transforms, rightmost first. More...

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'.

Constructor & Destructor Documentation

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.

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).

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().

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

Get origin of transformed coordinate system.
This is equivalent to calling GetO2TTranslation().

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::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).

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).

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 csCamera, csReversibleTransform, and csOrthoTransform.

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().
Reimplemented in csCamera.

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

Set origin of transformed coordinate system.
This is equivalent to calling SetO2TTranslation().

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)).

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).

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

transfrm.h

csTransform Class Reference

Public Methods

Static Public Methods

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation