This class describes spatial transforms. More...

Accessors
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.

static const SBDTypeSpatialTransform	zero
	The zero spatial transform.

static const SBDTypeSpatialTransform	identity
	The identity spatial transform.

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	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`.

Constructors and destructor
	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`.

	~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)
	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`.

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 (float mat[16]) const
	Stores the OpenGL matrix corresponding to this transform in `mat`.

void	computeOpenGLMatrix (double mat[16]) const
	Stores the OpenGL matrix corresponding to this transform in `mat`.

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.

static 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.

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`.

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() [1/2]

void SBDTypeSpatialTransform::computeOpenGLMatrix ( double mat[16] ) 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;

◆ computeOpenGLMatrix() [2/2]

void SBDTypeSpatialTransform::computeOpenGLMatrix ( float mat[16] ) 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;

◆ inverse()

void SBDTypeSpatialTransform::inverse ( SBDTypeSpatialTransform & inverse ) const

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

◆ operator*()

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

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

Accessors

Constructors and destructor

Serialization

Operators