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Mat4D Class Reference

This is a 4-by-4 transform matrix. More...

List of all members.

Classes

class  CRow
class  Row

Public Member Functions

 Mat4D ()
 Mat4D (Mat3D const upper3)
 Mat4D (Mat4D const other)
 Mat4D (double e00, double e01, double e02, double e03, double e10, double e11, double e12, double e13, double e20, double e21, double e22, double e23, double e30, double e31, double e32, double e33)
 Mat4D (Mat3D const upper3, VBase3D const trans)
unsigned int addHash (unsigned int hash)
 Adds the vector into the running hash.
unsigned int addHash (unsigned int hash, double threshold)
 Adds the vector into the running hash.
bool almostEqual (Mat4D const other)
 Returns true if two matrices are memberwise equal within a default tolerance based on the numeric type.
bool almostEqual (Mat4D const other, double threshold)
 Returns true if two matrices are memberwise equal within a specified tolerance.
 begin ()
 Returns an iterator that may be used to traverse the elements of the matrix, STL-style.
 begin ()
 Returns an iterator that may be used to traverse the elements of the matrix, STL-style.
int compareTo (Mat4D const other)
 This flavor of compare_to uses a default threshold value based on the numeric type.
int compareTo (Mat4D const other, double threshold)
 Sorts matrices lexicographically, componentwise.
 end ()
 Returns an iterator that may be used to traverse the elements of the matrix, STL-style.
 end ()
 Returns an iterator that may be used to traverse the elements of the matrix, STL-style.
 fill (double fill_value)
 Sets each element of the matrix to the indicated fill_value.
double getCell (int row, int col)
 Returns a particular element of the matrix.
VBase4D getCol (int col)
 Retrieves the indicated column of the matrix as a 4-component vector.
VBase3D getCol3 (int col)
 Retrieves the indicated column of the matrix as a 3-component vector, ignoring the last row.
list getCols ()
 getData ()
 Returns the address of the first of the nine data elements in the matrix.
unsigned int getHash ()
 Returns a suitable hash for phash_map.
unsigned int getHash (double threshold)
 Returns a suitable hash for phash_map.
int getNumComponents ()
 Returns the number of elements in the matrix, 16.
 getRow (VBase4D result_vec, int row)
VBase4D getRow (int row)
 Retrieves the indicated row of the matrix as a 4-component vector.
 getRow3 (VBase3D result_vec, int row)
VBase3D getRow3 (int row)
 Retrieves the row column of the matrix as a 3-component vector, ignoring the last column.
list getRow3s ()
list getRows ()
Mat3D getUpper3 ()
 Retrieves the upper 3x3 submatrix.
bool invertAffineFrom (Mat4D const other)
 Performs an invert of the indicated matrix, storing the result in this matrix.
bool invertFrom (Mat4D const other)
 Computes the inverse of the other matrix, and stores the result in this matrix.
bool invertInPlace ()
 Inverts the current matrix.
bool isNan ()
 Returns true if any component of the matrix is not-a-number, false otherwise.
 multiply (Mat4D const other1, Mat4D const other2)
 operator new (unsigned int size)
bool operator!= (Mat4D const other)
 operator() (int row, int col)
double operator() (int row, int col)
Mat4D operator* (double scalar)
Mat4D operator* (Mat4D const other)
Mat4D operator*= (double scalar)
Mat4D operator*= (Mat4D const other)
Mat4D operator+= (Mat4D const other)
 Performs a memberwise addition between two matrices.
Mat4D operator-= (Mat4D const other)
 Performs a memberwise addition between two matrices.
Mat4D operator/ (double scalar)
Mat4D operator/= (double scalar)
bool operator< (Mat4D const other)
 This performs a lexicographical comparison.
Mat4D operator= (double fill_value)
Mat4D operator= (Mat4D const other)
bool operator== (Mat4D const other)
CRow operator[] (int i)
Row operator[] (int i)
 output (ostream out)
 pythonRepr (ostream out, string class_name)
PyObject reduce (PyObject self)
 This special Python method is implement to provide support for the pickle module.
 set (double e00, double e01, double e02, double e03, double e10, double e11, double e12, double e13, double e20, double e21, double e22, double e23, double e30, double e31, double e32, double e33)
 setCell (int row, int col, double value)
 Changes a particular element of the matrix.
 setCol (int col, VBase3D const v)
 Replaces the indicated column of the matrix with the indicated 3-component vector, ignoring the last row.
 setCol (int col, VBase4D const v)
 Replaces the indicated column of the matrix.
 setRotateMat (double angle, VBase3D const axis, CoordinateSystem cs)
 Sets mat to a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
 setRotateMat (double angle, VBase3D const axis)
 Sets mat to a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
 setRotateMatNormaxis (double angle, VBase3D const axis)
 Fills mat with a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
 setRotateMatNormaxis (double angle, VBase3D const axis, CoordinateSystem cs)
 Fills mat with a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
 setRow (int row, VBase3D const v)
 Replaces the indicated row of the matrix with the indicated 3-component vector, ignoring the last column.
 setRow (int row, VBase4D const v)
 Replaces the indicated row of the matrix.
 setScaleMat (VBase3D const scale)
 Fills mat with a matrix that applies the indicated scale in each of the three axes.
 setScaleShearMat (VBase3D const scale, VBase3D const shear, CoordinateSystem cs)
 Fills mat with a matrix that applies the indicated scale and shear.
 setScaleShearMat (VBase3D const scale, VBase3D const shear)
 Fills mat with a matrix that applies the indicated scale and shear.
 setShearMat (VBase3D const shear)
 Fills mat with a matrix that applies the indicated shear in each of the three planes.
 setShearMat (VBase3D const shear, CoordinateSystem cs)
 Fills mat with a matrix that applies the indicated shear in each of the three planes.
 setTranslateMat (VBase3D const trans)
 Fills mat with a matrix that applies the indicated translation.
 setUpper3 (Mat3D const upper3)
 Sets the upper 3x3 submatrix.
 transposeFrom (Mat4D const other)
 transposeInPlace ()
 write (ostream out)
 write (ostream out, int indent_level)
VBase4D xform (VBase4D const v)
 4-component vector or point times matrix.
VBase3D xformPoint (VBase3D const v)
 The matrix transforms a 3-component point (including translation component) and returns the result.
VBase3D xformVec (VBase3D const v)
 The matrix transforms a 3-component vector (without translation component) and returns the result.
VBase3D xformVecGeneral (VBase3D const v)
 The matrix transforms a 3-component vector (without translation component) and returns the result, as a fully general operation.

Static Public Member Functions

static Mat4D const convertMat (CoordinateSystem from, CoordinateSystem to)
 Returns a matrix that transforms from the indicated coordinate system to the indicated coordinate system.
static TypeHandle getClassType ()
static Mat4D const identMat ()
 Returns an identity matrix.
static Mat4D const onesMat ()
 Returns an matrix filled with ones.
static Mat4D rotateMat (double angle, VBase3D const axis)
 Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
static Mat4D rotateMat (double angle, VBase3D const axis, CoordinateSystem cs)
 Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
static Mat4D rotateMatNormaxis (double angle, VBase3D const axis, CoordinateSystem cs)
 Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
static Mat4D rotateMatNormaxis (double angle, VBase3D const axis)
 Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.
static Mat4D scaleMat (VBase3D const scale)
 Returns a matrix that applies the indicated scale in each of the three axes.
static Mat4D scaleMat (double scale)
 Returns a matrix that applies the indicated uniform scale.
static Mat4D scaleMat (double sx, double sy, double sz)
 Returns a matrix that applies the indicated scale in each of the three axes.
static Mat4D scaleShearMat (VBase3D const scale, VBase3D const shear, CoordinateSystem cs)
 Returns a matrix that applies the indicated scale and shear.
static Mat4D scaleShearMat (VBase3D const scale, VBase3D const shear)
 Returns a matrix that applies the indicated scale and shear.
static Mat4D scaleShearMat (double sx, double sy, double sz, double shxy, double shxz, double shyz, CoordinateSystem cs)
 Returns a matrix that applies the indicated scale and shear.
static Mat4D scaleShearMat (double sx, double sy, double sz, double shxy, double shxz, double shyz)
 Returns a matrix that applies the indicated scale and shear.
static Mat4D shearMat (VBase3D const shear)
 Returns a matrix that applies the indicated shear in each of the three planes.
static Mat4D shearMat (double shxy, double shxz, double shyz, CoordinateSystem cs)
 Returns a matrix that applies the indicated shear in each of the three planes.
static Mat4D shearMat (double shxy, double shxz, double shyz)
 Returns a matrix that applies the indicated shear in each of the three planes.
static Mat4D shearMat (VBase3D const shear, CoordinateSystem cs)
 Returns a matrix that applies the indicated shear in each of the three planes.
static int size ()
 Returns 4: the number of rows of a LMatrix4.
static Mat4D translateMat (VBase3D const trans)
 Returns a matrix that applies the indicated translation.
static Mat4D translateMat (double tx, double ty, double tz)
 Returns a matrix that applies the indicated translation.
static Mat4D const yToZUpMat ()
 Returns a matrix that transforms from the Y-up coordinate system to the Z-up coordinate system.
static Mat4D const zerosMat ()
 Returns an matrix filled with zeros.
static Mat4D const zToYUpMat ()
 Returns a matrix that transforms from the Y-up coordinate system to the Z-up coordinate system.

Detailed Description

This is a 4-by-4 transform matrix.


Constructor & Destructor Documentation

Mat4D ( )
Mat4D ( Mat3D const  upper3)
Mat4D ( Mat3D const  upper3,
VBase3D const  trans 
)
Mat4D ( Mat4D const  other)
Mat4D ( double  e00,
double  e01,
double  e02,
double  e03,
double  e10,
double  e11,
double  e12,
double  e13,
double  e20,
double  e21,
double  e22,
double  e23,
double  e30,
double  e31,
double  e32,
double  e33 
)

Member Function Documentation

unsigned int addHash ( unsigned int  hash)

Adds the vector into the running hash.

unsigned int addHash ( unsigned int  hash,
double  threshold 
)

Adds the vector into the running hash.

bool almostEqual ( Mat4D const  other)

Returns true if two matrices are memberwise equal within a default tolerance based on the numeric type.

bool almostEqual ( Mat4D const  other,
double  threshold 
)

Returns true if two matrices are memberwise equal within a specified tolerance.

begin ( )

Returns an iterator that may be used to traverse the elements of the matrix, STL-style.

begin ( )

Returns an iterator that may be used to traverse the elements of the matrix, STL-style.

int compareTo ( Mat4D const  other,
double  threshold 
)

Sorts matrices lexicographically, componentwise.

Returns a number less than 0 if this matrix sorts before the other one, greater than zero if it sorts after, 0 if they are equivalent (within the indicated tolerance).

int compareTo ( Mat4D const  other)

This flavor of compare_to uses a default threshold value based on the numeric type.

static Mat4D const convertMat ( CoordinateSystem  from,
CoordinateSystem  to 
) [static]

Returns a matrix that transforms from the indicated coordinate system to the indicated coordinate system.

end ( )

Returns an iterator that may be used to traverse the elements of the matrix, STL-style.

end ( )

Returns an iterator that may be used to traverse the elements of the matrix, STL-style.

fill ( double  fill_value)

Sets each element of the matrix to the indicated fill_value.

This is of questionable value, but is sometimes useful when initializing to zero.

double getCell ( int  row,
int  col 
)

Returns a particular element of the matrix.

static TypeHandle getClassType ( ) [static]
VBase4D getCol ( int  col)

Retrieves the indicated column of the matrix as a 4-component vector.

VBase3D getCol3 ( int  col)

Retrieves the indicated column of the matrix as a 3-component vector, ignoring the last row.

list getCols ( )
getData ( )

Returns the address of the first of the nine data elements in the matrix.

The remaining elements occupy the next eight positions in row-major order.

unsigned int getHash ( )

Returns a suitable hash for phash_map.

unsigned int getHash ( double  threshold)

Returns a suitable hash for phash_map.

int getNumComponents ( )

Returns the number of elements in the matrix, 16.

getRow ( VBase4D  result_vec,
int  row 
)
VBase4D getRow ( int  row)

Retrieves the indicated row of the matrix as a 4-component vector.

getRow3 ( VBase3D  result_vec,
int  row 
)
VBase3D getRow3 ( int  row)

Retrieves the row column of the matrix as a 3-component vector, ignoring the last column.

list getRow3s ( )
list getRows ( )
Mat3D getUpper3 ( )

Retrieves the upper 3x3 submatrix.

static Mat4D const identMat ( ) [static]

Returns an identity matrix.

This function definition must appear first, since some inline functions below take advantage of it.

bool invertAffineFrom ( Mat4D const  other)

Performs an invert of the indicated matrix, storing the result in this matrix.

The calculation is only correct of the other matrix represents an affine transform.

The other matrix must be a different object than this matrix. However, if you need to invert a matrix in place, see invert_in_place.

The return value is true if the matrix was successfully inverted, false if the was a singularity. bugbug: we could optimize this for rotation/scale/translation matrices (transpose upper 3x3 and take negative of translation component)

bool invertFrom ( Mat4D const  other)

Computes the inverse of the other matrix, and stores the result in this matrix.

This is a fully general operation and makes no assumptions about the type of transform represented by the matrix.

The other matrix must be a different object than this matrix. However, if you need to invert a matrix in place, see invert_in_place.

The return value is true if the matrix was successfully inverted, false if the was a singularity.

bool invertInPlace ( )

Inverts the current matrix.

Returns true if the inverse is successful, false if the matrix was singular.

bool isNan ( )

Returns true if any component of the matrix is not-a-number, false otherwise.

multiply ( Mat4D const  other1,
Mat4D const  other2 
)
static Mat4D const onesMat ( ) [static]

Returns an matrix filled with ones.

operator new ( unsigned int  size)
bool operator!= ( Mat4D const  other)
operator() ( int  row,
int  col 
)
double operator() ( int  row,
int  col 
)
Mat4D operator* ( Mat4D const  other)
Mat4D operator* ( double  scalar)
Mat4D operator*= ( Mat4D const  other)
Mat4D operator*= ( double  scalar)
Mat4D operator+= ( Mat4D const  other)

Performs a memberwise addition between two matrices.

Mat4D operator-= ( Mat4D const  other)

Performs a memberwise addition between two matrices.

Mat4D operator/ ( double  scalar)
Mat4D operator/= ( double  scalar)
bool operator< ( Mat4D const  other)

This performs a lexicographical comparison.

It's of questionable mathematical meaning, but sometimes has a practical purpose for sorting unique vectors, especially in an STL container. Also see compare_to().

Mat4D operator= ( Mat4D const  other)
Mat4D operator= ( double  fill_value)
bool operator== ( Mat4D const  other)
CRow operator[] ( int  i)
Row operator[] ( int  i)
output ( ostream  out)
pythonRepr ( ostream  out,
string  class_name 
)
PyObject reduce ( PyObject  self)

This special Python method is implement to provide support for the pickle module.

static Mat4D rotateMat ( double  angle,
VBase3D const  axis,
CoordinateSystem  cs 
) [static]

Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

static Mat4D rotateMat ( double  angle,
VBase3D const  axis 
) [static]

Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

static Mat4D rotateMatNormaxis ( double  angle,
VBase3D const  axis 
) [static]

Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

Assumes axis has been prenormalized.

static Mat4D rotateMatNormaxis ( double  angle,
VBase3D const  axis,
CoordinateSystem  cs 
) [static]

Returns a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

Assumes axis has been prenormalized.

static Mat4D scaleMat ( VBase3D const  scale) [static]

Returns a matrix that applies the indicated scale in each of the three axes.

static Mat4D scaleMat ( double  scale) [static]

Returns a matrix that applies the indicated uniform scale.

static Mat4D scaleMat ( double  sx,
double  sy,
double  sz 
) [static]

Returns a matrix that applies the indicated scale in each of the three axes.

static Mat4D scaleShearMat ( VBase3D const  scale,
VBase3D const  shear,
CoordinateSystem  cs 
) [static]

Returns a matrix that applies the indicated scale and shear.

static Mat4D scaleShearMat ( double  sx,
double  sy,
double  sz,
double  shxy,
double  shxz,
double  shyz,
CoordinateSystem  cs 
) [static]

Returns a matrix that applies the indicated scale and shear.

static Mat4D scaleShearMat ( double  sx,
double  sy,
double  sz,
double  shxy,
double  shxz,
double  shyz 
) [static]

Returns a matrix that applies the indicated scale and shear.

static Mat4D scaleShearMat ( VBase3D const  scale,
VBase3D const  shear 
) [static]

Returns a matrix that applies the indicated scale and shear.

set ( double  e00,
double  e01,
double  e02,
double  e03,
double  e10,
double  e11,
double  e12,
double  e13,
double  e20,
double  e21,
double  e22,
double  e23,
double  e30,
double  e31,
double  e32,
double  e33 
)
setCell ( int  row,
int  col,
double  value 
)

Changes a particular element of the matrix.

setCol ( int  col,
VBase3D const  v 
)

Replaces the indicated column of the matrix with the indicated 3-component vector, ignoring the last row.

setCol ( int  col,
VBase4D const  v 
)

Replaces the indicated column of the matrix.

setRotateMat ( double  angle,
VBase3D const  axis,
CoordinateSystem  cs 
)

Sets mat to a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

setRotateMat ( double  angle,
VBase3D const  axis 
)

Sets mat to a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

setRotateMatNormaxis ( double  angle,
VBase3D const  axis,
CoordinateSystem  cs 
)

Fills mat with a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

Assumes axis has been prenormalized.

setRotateMatNormaxis ( double  angle,
VBase3D const  axis 
)

Fills mat with a matrix that rotates by the given angle in degrees counterclockwise about the indicated vector.

Assumes axis has been prenormalized.

setRow ( int  row,
VBase4D const  v 
)

Replaces the indicated row of the matrix.

setRow ( int  row,
VBase3D const  v 
)

Replaces the indicated row of the matrix with the indicated 3-component vector, ignoring the last column.

setScaleMat ( VBase3D const  scale)

Fills mat with a matrix that applies the indicated scale in each of the three axes.

setScaleShearMat ( VBase3D const  scale,
VBase3D const  shear 
)

Fills mat with a matrix that applies the indicated scale and shear.

setScaleShearMat ( VBase3D const  scale,
VBase3D const  shear,
CoordinateSystem  cs 
)

Fills mat with a matrix that applies the indicated scale and shear.

setShearMat ( VBase3D const  shear,
CoordinateSystem  cs 
)

Fills mat with a matrix that applies the indicated shear in each of the three planes.

setShearMat ( VBase3D const  shear)

Fills mat with a matrix that applies the indicated shear in each of the three planes.

setTranslateMat ( VBase3D const  trans)

Fills mat with a matrix that applies the indicated translation.

setUpper3 ( Mat3D const  upper3)

Sets the upper 3x3 submatrix.

static Mat4D shearMat ( VBase3D const  shear,
CoordinateSystem  cs 
) [static]

Returns a matrix that applies the indicated shear in each of the three planes.

static Mat4D shearMat ( double  shxy,
double  shxz,
double  shyz 
) [static]

Returns a matrix that applies the indicated shear in each of the three planes.

static Mat4D shearMat ( double  shxy,
double  shxz,
double  shyz,
CoordinateSystem  cs 
) [static]

Returns a matrix that applies the indicated shear in each of the three planes.

static Mat4D shearMat ( VBase3D const  shear) [static]

Returns a matrix that applies the indicated shear in each of the three planes.

static int size ( ) [static]

Returns 4: the number of rows of a LMatrix4.

static Mat4D translateMat ( double  tx,
double  ty,
double  tz 
) [static]

Returns a matrix that applies the indicated translation.

static Mat4D translateMat ( VBase3D const  trans) [static]

Returns a matrix that applies the indicated translation.

transposeFrom ( Mat4D const  other)
transposeInPlace ( )
write ( ostream  out)
write ( ostream  out,
int  indent_level 
)
VBase4D xform ( VBase4D const  v)

4-component vector or point times matrix.

This is a fully general operation.

VBase3D xformPoint ( VBase3D const  v)

The matrix transforms a 3-component point (including translation component) and returns the result.

This assumes the matrix is an affine transform.

VBase3D xformVec ( VBase3D const  v)

The matrix transforms a 3-component vector (without translation component) and returns the result.

This assumes the matrix is an orthonormal transform.

VBase3D xformVecGeneral ( VBase3D const  v)

The matrix transforms a 3-component vector (without translation component) and returns the result, as a fully general operation.

static Mat4D const yToZUpMat ( ) [static]

Returns a matrix that transforms from the Y-up coordinate system to the Z-up coordinate system.

static Mat4D const zerosMat ( ) [static]

Returns an matrix filled with zeros.

static Mat4D const zToYUpMat ( ) [static]

Returns a matrix that transforms from the Y-up coordinate system to the Z-up coordinate system.

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