Class SBDTypeSpatialTransform#

ClassList > SBDTypeSpatialTransform

This class describes spatial transforms. More...

#include "SBDTypeSpatialTransform.hpp"

Inherited by the following classes: SBDTypeSymmetryTransform

Public Attributes#

Type	Name
SBMatrix33 *	orientation The pointer to the orientation of the spatial transform.
SBPosition3 *	position The pointer to the position of the spatial transform.
SBVector3 *	scale The pointer to the scale of the spatial transform.

Public Static Attributes#

Type	Name
const SBDTypeSpatialTransform	identity The identity spatial transform.
const SBDTypeSpatialTransform	zero The zero spatial transform.

Public Functions#

Type	Name
	SBDTypeSpatialTransform () Constructs an identity transform.
	SBDTypeSpatialTransform (const SBDTypeSpatialTransform & transform) Copy constructor.
	SBDTypeSpatialTransform (SBDTypeSpatialTransform && transform) Move constructor.
	SBDTypeSpatialTransform (const SBPosition3 & position) Constructs a transform from a `position` vector, the orientation matrix is set to identity.
	SBDTypeSpatialTransform (const SBMatrix33 & orientation) Constructs a transform from an `orientation` matrix, the position vector is set to zero.
	SBDTypeSpatialTransform (const SBMatrix33 & orientation, const SBPosition3 & position) Constructs a transform from an `orientation` matrix and a`position` vector.
	SBDTypeSpatialTransform (const SBMatrix33 & orientation, const SBPosition3 & position, const SBVector3 & scale) Constructs a transform from an `orientation` matrix, a`position` vector and a`scale` .
void	computeOpenGLMatrix (float mat) const Stores the OpenGL matrix corresponding to this transform in `mat` .
void	computeOpenGLMatrix (double mat) const Stores the OpenGL matrix corresponding to this transform in `mat` .
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.
SBVector3	getE5 () const Returns the scale vector.
void	inverse (SBDTypeSpatialTransform & inverse) const Stores the inverse of this transform in `inverse` .
SBDTypeSpatialTransform	inverse () const Returns 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	inverseTransformVelocity (const SBVelocity6 & motionA, SBVelocity6 & motionB) const Transforms the spatial velocity `velocityA` into the spatial velocity`velocityB` by applying the__inverse of this transform.
virtual bool	isSerializable () const Returns `true` __
bool	operator!= (const SBDTypeSpatialTransform & transform) const Returns `true` if and only if this transform is not equal to`transform` .
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) Copy assignment.
SBDTypeSpatialTransform &	operator= (SBDTypeSpatialTransform && transform) Move assignment.
bool	operator== (const SBDTypeSpatialTransform & transform) const Returns `true` if and only if this transform is equal to`transform` .
void	print () const Prints the spatial 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.
virtual void	serialize (SBCSerializer * serializer, const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER) const Serializes the spatial transform.
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` .
void	setE5 (const SBVector3 & p) Sets the scale vector to `p` .
void	setIdentity () Sets this transform to identity.
void	transformAcceleration (const SBAcceleration6 & accelerationA, SBAcceleration6 & accelerationB) const Transforms the spatial acceleration `accelerationA` into the spatial acceleration`accelerationB` .
void	transformForce (const SBForce6 & forceA, SBForce6 & forceB) const Transforms the spatial force `forceA` into the spatial force`forceB` .
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` .
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	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` .
virtual void	unserialize (SBCSerializer * serializer, const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER) Unserializes the spatial transform.
	~SBDTypeSpatialTransform () Destroys the spatial transform.

Public Static Functions#

Type	Name
SBDTypeSpatialTransform	fromAlignment (const SBVector< SBPosition3 > & fromPositionVector, const SBVector< SBPosition3 > & toPositionVector, SBQuantity::length & preRMSD, SBQuantity::length & postRMSD) Returns the transform that transforms the positions in `fromPositionVector` into the positions in`toPositionVector` as best as possible.

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: SAMSON's unit system

Public Attributes Documentation#

variable orientation#

The pointer to the orientation of the spatial transform.

SBMatrix33* SBDTypeSpatialTransform::orientation;

variable position#

The pointer to the position of the spatial transform.

SBPosition3* SBDTypeSpatialTransform::position;

variable scale#

The pointer to the scale of the spatial transform.

SBVector3* SBDTypeSpatialTransform::scale;

Public Static Attributes Documentation#

variable identity#

The identity spatial transform.

SBDTypeSpatialTransform const SBDTypeSpatialTransform::identity;

variable zero#

The zero spatial transform.

SBDTypeSpatialTransform const SBDTypeSpatialTransform::zero;

Public Functions Documentation#

function SBDTypeSpatialTransform [1/7]#

Constructs an identity transform.

SBDTypeSpatialTransform::SBDTypeSpatialTransform ()

function SBDTypeSpatialTransform [2/7]#

Copy constructor.

SBDTypeSpatialTransform::SBDTypeSpatialTransform (
    const SBDTypeSpatialTransform & transform
)

function SBDTypeSpatialTransform [3/7]#

Move constructor.

SBDTypeSpatialTransform::SBDTypeSpatialTransform (
    SBDTypeSpatialTransform && transform
)

function SBDTypeSpatialTransform [4/7]#

Constructs a transform from a position vector, the orientation matrix is set to identity.

SBDTypeSpatialTransform::SBDTypeSpatialTransform (
    const SBPosition3 & position
)

function SBDTypeSpatialTransform [5/7]#

Constructs a transform from an orientation matrix, the position vector is set to zero.

SBDTypeSpatialTransform::SBDTypeSpatialTransform (
    const SBMatrix33 & orientation
)

function SBDTypeSpatialTransform [6/7]#

Constructs a transform from an orientation matrix and aposition vector.

SBDTypeSpatialTransform::SBDTypeSpatialTransform (
    const SBMatrix33 & orientation,
    const SBPosition3 & position
)

function SBDTypeSpatialTransform [7/7]#

Constructs a transform from an orientation matrix, aposition vector and ascale .

SBDTypeSpatialTransform::SBDTypeSpatialTransform (
    const SBMatrix33 & orientation,
    const SBPosition3 & position,
    const SBVector3 & scale
)

function computeOpenGLMatrix [1/2]#

Stores the OpenGL matrix corresponding to this transform in mat .

void SBDTypeSpatialTransform::computeOpenGLMatrix (
    float mat
) const

Stores the OpenGL matrix corresponding to this transform in mat:

mat[0] = (float)scale->v[0].getValue() * (float)orientation->m[0][0].getValue(); 
mat[1] = (float)scale->v[0].getValue() * (float)orientation->m[1][0].getValue(); 
mat[2] = (float)scale->v[0].getValue() * (float)orientation->m[2][0].getValue(); 
mat[3] = 0.0f;  
mat[4] = (float)scale->v[1].getValue() * (float)orientation->m[0][1].getValue();
mat[5] = (float)scale->v[1].getValue() * (float)orientation->m[1][1].getValue();
mat[6] = (float)scale->v[1].getValue() * (float)orientation->m[2][1].getValue();
mat[7] = 0.0f;
mat[8] = (float)scale->v[2].getValue() * (float)orientation->m[0][2].getValue();
mat[9] = (float)scale->v[2].getValue() * (float)orientation->m[1][2].getValue();
mat[10] = (float)scale->v[2].getValue() * (float)orientation->m[2][2].getValue();
mat[11] = 0.0f;
mat[12] = (float)position->v[0].getValue();
mat[13] = (float)position->v[1].getValue();
mat[14] = (float)position->v[2].getValue();
mat[15] = 1.0f;

function computeOpenGLMatrix [2/2]#

Stores the OpenGL matrix corresponding to this transform in mat .

void SBDTypeSpatialTransform::computeOpenGLMatrix (
    double mat
) const

Stores the OpenGL matrix corresponding to this transform in mat:

mat[0] = scale->v[0].getValue() * orientation->m[0][0].getValue(); 
mat[1] = scale->v[0].getValue() * orientation->m[1][0].getValue(); 
mat[2] = scale->v[0].getValue() * orientation->m[2][0].getValue(); 
mat[3] = 0.0f;  
mat[4] = scale->v[1].getValue() * orientation->m[0][1].getValue();
mat[5] = scale->v[1].getValue() * orientation->m[1][1].getValue();
mat[6] = scale->v[1].getValue() * orientation->m[2][1].getValue();
mat[7] = 0.0f;
mat[8] = scale->v[2].getValue() * orientation->m[0][2].getValue();
mat[9] = scale->v[2].getValue() * orientation->m[1][2].getValue();
mat[10] = scale->v[2].getValue() * orientation->m[2][2].getValue();
mat[11] = 0.0f;
mat[12] = position->v[0].getValue();
mat[13] = position->v[1].getValue();
mat[14] = position->v[2].getValue();
mat[15] = 1.0f;

function getE1#

Returns the first column of the orientation matrix.

SBVector3 SBDTypeSpatialTransform::getE1 () const

function getE2#

Returns the second column of the orientation matrix.

SBVector3 SBDTypeSpatialTransform::getE2 () const

function getE3#

Returns the third column of the orientation matrix.

SBVector3 SBDTypeSpatialTransform::getE3 () const

function getE4#

Returns the position vector.

SBPosition3 SBDTypeSpatialTransform::getE4 () const

function getE5#

Returns the scale vector.

SBVector3 SBDTypeSpatialTransform::getE5 () const

function inverse [1/2]#

Stores the inverse of this transform in inverse .

void SBDTypeSpatialTransform::inverse (
    SBDTypeSpatialTransform & inverse
) const

Note that this function only provides correct results when the scale is uniform.

function inverse [2/2]#

Returns the inverse of this transform.

SBDTypeSpatialTransform SBDTypeSpatialTransform::inverse () const

function inverseTransformAcceleration#

Transforms the spatial acceleration accelerationA into the spatial accelerationaccelerationB by applying the__inverse of this transform.

void SBDTypeSpatialTransform::inverseTransformAcceleration (
    const SBAcceleration6 & motionA,
    SBAcceleration6 & motionB
) const

function inverseTransformVelocity#

Transforms the spatial velocity velocityA into the spatial velocityvelocityB by applying the__inverse of this transform.

void SBDTypeSpatialTransform::inverseTransformVelocity (
    const SBVelocity6 & motionA,
    SBVelocity6 & motionB
) const

function isSerializable#

Returns true __

virtual bool SBDTypeSpatialTransform::isSerializable () const

function operator!=#

Returns true if and only if this transform is not equal totransform .

bool SBDTypeSpatialTransform::operator!= (
    const SBDTypeSpatialTransform & transform
) const

function operator*#

Returns the result of the transformation of position position by this transform.

SBPosition3 SBDTypeSpatialTransform::operator* (
    const SBPosition3 & position
) const

function operator*#

Returns the result of the transformation of spatial velocity velocity by this transform.

SBVelocity6 SBDTypeSpatialTransform::operator* (
    const SBVelocity6 & velocity
) const

function operator*#

Returns the result of the transformation of spatial acceleration acceleration by this transform.

SBAcceleration6 SBDTypeSpatialTransform::operator* (
    const SBAcceleration6 & acceleration
) const

function operator*#

Returns the result of the transformation of spatial force force by this transform.

SBForce6 SBDTypeSpatialTransform::operator* (
    const SBForce6 & force
) const

function operator*#

Returns the product of this transform with the transform transform .

SBDTypeSpatialTransform SBDTypeSpatialTransform::operator* (
    const SBDTypeSpatialTransform & transform
) const

Note that this function only provides correct results when the scales are uniform.

function operator=#

Copy assignment.

SBDTypeSpatialTransform & SBDTypeSpatialTransform::operator= (
    const SBDTypeSpatialTransform & transform
)

function operator=#

Move assignment.

SBDTypeSpatialTransform & SBDTypeSpatialTransform::operator= (
    SBDTypeSpatialTransform && transform
)

function operator==#

Returns true if and only if this transform is equal totransform .

bool SBDTypeSpatialTransform::operator== (
    const SBDTypeSpatialTransform & transform
) const

function print#

Prints the spatial transform.

void SBDTypeSpatialTransform::print () const

function rightMultiply3D#

Stores in result the product ofleftMember and this transform.

void SBDTypeSpatialTransform::rightMultiply3D (
    const SBDTypeSpatialTransform & leftMember,
    SBDTypeSpatialTransform & result
) const

function rightMultiplyInverse3D#

Stores in result the product ofleftMember and the inverse of this transform.

void SBDTypeSpatialTransform::rightMultiplyInverse3D (
    const SBDTypeSpatialTransform & leftMember,
    SBDTypeSpatialTransform & result
) const

function serialize#

Serializes the spatial transform.

virtual void SBDTypeSpatialTransform::serialize (
    SBCSerializer * serializer,
    const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER
) const

function setE1#

Sets the first column of the orientation matrix to v .

void SBDTypeSpatialTransform::setE1 (
    const SBVector3 & v
)

function setE2#

Sets the second column of the orientation matrix to v .

void SBDTypeSpatialTransform::setE2 (
    const SBVector3 & v
)

function setE3#

Sets the third column of the orientation matrix to v .

void SBDTypeSpatialTransform::setE3 (
    const SBVector3 & v
)

function setE4#

Sets the position vector to p .

void SBDTypeSpatialTransform::setE4 (
    const SBPosition3 & p
)

function setE5#

Sets the scale vector to p .

void SBDTypeSpatialTransform::setE5 (
    const SBVector3 & p
)

function setIdentity#

Sets this transform to identity.

void SBDTypeSpatialTransform::setIdentity ()

function transformAcceleration#

Transforms the spatial acceleration accelerationA into the spatial accelerationaccelerationB .

void SBDTypeSpatialTransform::transformAcceleration (
    const SBAcceleration6 & accelerationA,
    SBAcceleration6 & accelerationB
) const

function transformForce#

Transforms the spatial force forceA into the spatial forceforceB .

void SBDTypeSpatialTransform::transformForce (
    const SBForce6 & forceA,
    SBForce6 & forceB
) const

function transformInertia#

Transforms the inertia IA by this spatial transform and stores the result inIB .

void SBDTypeSpatialTransform::transformInertia (
    const SBInertia66 & IA,
    SBInertia66 & IB
) const

function transformInertiaLeft#

Left-multiplies the inertia I by this spatial transform and stores the result inresult .

void SBDTypeSpatialTransform::transformInertiaLeft (
    const SBInertia66 & I,
    SBInertia66 & result
) const

function transformInertiaRight#

Right-multiplies the inertia I by this spatial transform and stores the result inresult .

void SBDTypeSpatialTransform::transformInertiaRight (
    const SBInertia66 & I,
    SBInertia66 & result
) const

function transformInverseInertia#

Transforms the inverse inertia phiA into the inverse inertiaphiB .

void SBDTypeSpatialTransform::transformInverseInertia (
    const SBInverseInertia66 & phiA,
    SBInverseInertia66 & phiB
) const

function transformInverseInertiaLeft#

Left-multiplies the inverse inertia phi by this spatial transform and stores the result inresult .

void SBDTypeSpatialTransform::transformInverseInertiaLeft (
    const SBInverseInertia66 & phi,
    SBInverseInertia66 & result
) const

function transformInverseInertiaRight#

Right-multiplies the inverse inertia phi by this spatial transform and stores the result inresult .

void SBDTypeSpatialTransform::transformInverseInertiaRight (
    const SBInverseInertia66 & phi,
    SBInverseInertia66 & result
) const

function transformInverseInertiaTransposeRight#

Right-multiplies the transpose of the inverse inertia phi by this spatial transform and stores the result inresult .

void SBDTypeSpatialTransform::transformInverseInertiaTransposeRight (
    const SBInverseInertia66 & phi,
    SBInverseInertia66 & result
) const

function transformPoint#

Transforms the point p into the pointresult .

void SBDTypeSpatialTransform::transformPoint (
    const SBPosition3 & p,
    SBPosition3 & result
) const

function transformVelocity#

Transforms the spatial velocity velocityA into the spatial velocityvelocityB .

void SBDTypeSpatialTransform::transformVelocity (
    const SBVelocity6 & velocityA,
    SBVelocity6 & velocityB
) const

function unserialize#

Unserializes the spatial transform.

virtual void SBDTypeSpatialTransform::unserialize (
    SBCSerializer * serializer,
    const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER
)

function ~SBDTypeSpatialTransform#

Destroys the spatial transform.

SBDTypeSpatialTransform::~SBDTypeSpatialTransform ()

Public Static Functions Documentation#

function fromAlignment#

Returns the transform that transforms the positions in fromPositionVector into the positions intoPositionVector as best as possible.

static SBDTypeSpatialTransform SBDTypeSpatialTransform::fromAlignment (
    const SBVector< SBPosition3 > & fromPositionVector,
    const SBVector< SBPosition3 > & toPositionVector,
    SBQuantity::length & preRMSD,
    SBQuantity::length & postRMSD
)