SBDTypeSpatialTransform Class Reference
This class describes spatial transforms. More...
Public Attributes | |
| SBMatrix33 *const | orientation |
| The pointer to the orientation of the spatial transform. | |
| SBPosition3 *const | position |
| The pointer to the position of the spatial transform. | |
Static Public Attributes | |
| static const SBDTypeSpatialTransform | zero |
| The zero spatial transform. | |
| static const SBDTypeSpatialTransform | identity |
| The identity spatial transform. | |
Constructors and destructor | |
| SBDTypeSpatialTransform () | |
| Constructs an identity transform. | |
| SBDTypeSpatialTransform (const SBDTypeSpatialTransform &transform) | |
| Copy constructor. | |
| SBDTypeSpatialTransform (const SBMatrix33 &orientation, const SBPosition3 &position) | |
Constructs a transform from an orientation matrix and a position vector. | |
| ~SBDTypeSpatialTransform () | |
| Destroys the spatial transform. | |
Serialization | |
| virtual bool | isSerializable () const |
| Returns true. | |
| virtual void | serialize (SBCSerializer *serializer, const SBVersionNumber &sdkVersionNumber=SB_SDK_VERSION_NUMBER) const |
| Serializes the spatial transform. | |
| virtual void | unserialize (SBCSerializer *serializer, const SBVersionNumber &sdkVersionNumber=SB_SDK_VERSION_NUMBER) |
| Unserializes the spatial transform. | |
Operators | |
| SBPosition3 | operator* (const SBPosition3 &position) const |
Returns the result of the transformation of position position by this transform. | |
| SBVelocity6 | operator* (const SBVelocity6 &velocity) const |
Returns the result of the transformation of spatial velocity velocity by this transform. | |
| SBAcceleration6 | operator* (const SBAcceleration6 &acceleration) const |
Returns the result of the transformation of spatial acceleration acceleration by this transform. | |
| SBForce6 | operator* (const SBForce6 &force) const |
Returns the result of the transformation of spatial force force by this transform. | |
| SBDTypeSpatialTransform | operator* (const SBDTypeSpatialTransform &transform) const |
Returns the product of this transform with the transform transform. | |
| SBDTypeSpatialTransform & | operator= (const SBDTypeSpatialTransform &transform) |
Sets this transform to transform. | |
| bool | operator== (const SBDTypeSpatialTransform &transform) const |
Returns true if and only if this transform is equal to transform. | |
| bool | operator!= (const SBDTypeSpatialTransform &transform) const |
Returns true if and only if this transform is not equal to transform. | |
Useful functions | |
| void | setIdentity () |
| Sets this transform to identity. | |
| void | computeOpenGLMatrix (double mat[16]) const |
Stores the OpenGL matrix corresponding to this transform in mat. More... | |
| void | inverse (SBDTypeSpatialTransform &inverse) const |
Stores the inverse of this transform in inverse. | |
| SBDTypeSpatialTransform | inverse () const |
| Returns the inverse of this transform. | |
| void | rightMultiply3D (const SBDTypeSpatialTransform &leftMember, SBDTypeSpatialTransform &result) const |
Stores in result the product of leftMember and this transform. | |
| void | rightMultiplyInverse3D (const SBDTypeSpatialTransform &leftMember, SBDTypeSpatialTransform &result) const |
Stores in result the product of leftMember and the inverse of this transform. | |
| void | print () const |
| Prints the spatial transform. | |
Transformations | |
| void | transformPoint (const SBPosition3 &p, SBPosition3 &result) const |
Transforms the point p into the point result. | |
| void | transformVelocity (const SBVelocity6 &velocityA, SBVelocity6 &velocityB) const |
Transforms the spatial velocity velocityA into the spatial velocity velocityB. | |
| void | transformAcceleration (const SBAcceleration6 &accelerationA, SBAcceleration6 &accelerationB) const |
Transforms the spatial acceleration accelerationA into the spatial acceleration accelerationB. | |
| void | inverseTransformVelocity (const SBVelocity6 &motionA, SBVelocity6 &motionB) const |
Transforms the spatial velocity velocityA into the spatial velocity velocityB by applying the inverse of this transform. | |
| void | inverseTransformAcceleration (const SBAcceleration6 &motionA, SBAcceleration6 &motionB) const |
Transforms the spatial acceleration accelerationA into the spatial acceleration accelerationB by applying the inverse of this transform. | |
| void | transformForce (const SBForce6 &forceA, SBForce6 &forceB) const |
Transforms the spatial force forceA into the spatial force forceB. | |
| void | transformInverseInertia (const SBInverseInertia66 &phiA, SBInverseInertia66 &phiB) const |
Transforms the inverse inertia phiA into the inverse inertia phiB. | |
| void | transformInverseInertiaLeft (const SBInverseInertia66 &phi, SBInverseInertia66 &result) const |
Left-multiplies the inverse inertia phi by this spatial transform and stores the result in result. | |
| void | transformInverseInertiaRight (const SBInverseInertia66 &phi, SBInverseInertia66 &result) const |
Right-multiplies the inverse inertia phi by this spatial transform and stores the result in result. | |
| void | transformInverseInertiaTransposeRight (const SBInverseInertia66 &phi, SBInverseInertia66 &result) const |
Right-multiplies the transpose of the inverse inertia phi by this spatial transform and stores the result in result. | |
| void | transformInertia (const SBInertia66 &IA, SBInertia66 &IB) const |
Transforms the inertia IA by this spatial transform and stores the result in IB. | |
| void | transformInertiaLeft (const SBInertia66 &I, SBInertia66 &result) const |
Left-multiplies the inertia I by this spatial transform and stores the result in result. | |
| void | transformInertiaRight (const SBInertia66 &I, SBInertia66 &result) const |
Right-multiplies the inertia I by this spatial transform and stores the result in result. | |
Accessors | |
| SBVector3 | getE1 () const |
| Returns the first column of the orientation matrix. | |
| SBVector3 | getE2 () const |
| Returns the second column of the orientation matrix. | |
| SBVector3 | getE3 () const |
| Returns the third column of the orientation matrix. | |
| SBPosition3 | getE4 () const |
| Returns the position vector. | |
| void | setE1 (const SBVector3 &v) |
Sets the first column of the orientation matrix to v. | |
| void | setE2 (const SBVector3 &v) |
Sets the second column of the orientation matrix to v. | |
| void | setE3 (const SBVector3 &v) |
Sets the third column of the orientation matrix to v. | |
| void | setE4 (const SBPosition3 &p) |
Sets the position vector to p. | |
Detailed Description
This class handles rigid body transforms, and includes some useful functions to treat the transform either as a regular 3D transform (e.g. to transform points) or as a spatial transform (e.g. to transform spatial velocities, spatial accelerations, spatial inertias, etc.). A spatial transform is composed of an orientation part (SBMatrix33) and a position part (SBPosition3).
Short name: SBSpatialTransform
- See also
- The SBDType library
- SBDTypePhysicalVector3
- SBDTypeMatrix33
Member Function Documentation
◆ computeOpenGLMatrix()
| void SBDTypeSpatialTransform::computeOpenGLMatrix | ( | double | mat[16] | ) | const |
Stores the OpenGL matrix corresponding to this transform in mat:
mat[0] = orientation->m[0][0].getValue();
mat[1] = orientation->m[1][0].getValue();
mat[2] = orientation->m[2][0].getValue();
mat[3] = 0;
mat[4] = orientation->m[0][1].getValue();
mat[5] = orientation->m[1][1].getValue();
mat[6] = orientation->m[2][1].getValue();
mat[7] = 0;
mat[8] = orientation->m[0][2].getValue();
mat[9] = orientation->m[1][2].getValue();
mat[10] = orientation->m[2][2].getValue();
mat[11] = 0;
mat[15] = 1;