maspack.matrix
Class AffineTransform3d

java.lang.Object
  maspack.matrix.MatrixObject
      maspack.matrix.AffineTransform3dObject
          maspack.matrix.AffineTransform3d

All Implemented Interfaces:

java.io.Serializable

public class AffineTransform3d

extends AffineTransform3dObject

A 4 x 4 matrix which implements general 3D affine transformations. The matrix has the specific form

     [  A   p  ]
 M = [         ]
     [  0   1  ]
 

where A is a 3 x 3 matrix and p is a 3-vector. In homogeneous coordinates, this implements an affine transform of the form
A v + b

In this class, the fields A and p are exposed, and users can manipulate them as desired. This allows us to minimize the number of methds in the AffineTransform3d class itself.

See Also:

Serialized Form

Field Summary

Matrix3d	A Matrix component.
Vector3d	p Vector component.

Constructor Summary

AffineTransform3d()
Creates an AffineTransform3d and initializes it to the identity.

AffineTransform3d(Matrix3d A, Vector3d p)
Creates an AffineTransform3d and initializes its components to the specified values.

Method Summary

void	applyScaling(double sx, double sy, double sz) Scales the columns of A by the specified amounts.
boolean	invert() Inverts this transform in place.
boolean	invert(AffineTransform3dObject X) Inverts transform X and places the result in this transform.
void	mul(AffineTransform3dObject X) Multiplies this transformation transformation X and places the result in this transformation.
void	mul(AffineTransform3dObject X1, AffineTransform3dObject X2) Multiplies transformation X1 by transformation X2 and places the result in this transformation.
boolean	mulInverse(AffineTransform3dObject X) Multiplies this transformation by the inverse of transformation X and places the result in this transformation.
boolean	mulInverseBoth(AffineTransform3dObject X1, AffineTransform3dObject X2) Multiplies the inverse of transformation X1 by the inverse of transformation X2 and places the result in this transformation.
boolean	mulInverseLeft(AffineTransform3dObject X1, AffineTransform3dObject X2) Multiplies the inverse of transformation X1 by transformation X2 and places the result in this transformation.
boolean	mulInverseRight(AffineTransform3dObject X1, AffineTransform3dObject X2) Multiplies transformation X1 by the inverse of transformation X2 and places the result in this transformation.
void	set(RigidTransform3d X) Sets this affine transform to the rigid body transform described by X.

Methods inherited from class maspack.matrix.AffineTransform3dObject

colSize, epsilonEquals, equals, get, get, getColumn, getMatrix, getOffset, getRow, mul, mul, mulInverse, mulInverse, rowSize, set, set, setColumn, setIdentity, setRotation, setRotation, setRotation, setRow, setTranslation

Methods inherited from class maspack.matrix.MatrixObject

determinant, epsilonEquals, equals, equals, frobeniusNorm, get, getColumn, getRow, infinityNorm, isFixedSize, oneNorm, scan, set, set, setColumn, setRow, setSize, toString, toString, toString

Methods inherited from class java.lang.Object

getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

A

public final Matrix3d A

Matrix component.

p

public final Vector3d p

Vector component.

Constructor Detail

AffineTransform3d

public AffineTransform3d()

Creates an AffineTransform3d and initializes it to the identity.

AffineTransform3d

public AffineTransform3d(Matrix3d A,
                         Vector3d p)

Creates an AffineTransform3d and initializes its components to the specified values.

Parameters:

A - value for the A matrix

p - value for the p vector

Method Detail

mul

public void mul(AffineTransform3dObject X)

Multiplies this transformation transformation X and places the result in this transformation.

Parameters:

X - right-hand transformation

mul

public void mul(AffineTransform3dObject X1,
                AffineTransform3dObject X2)

Multiplies transformation X1 by transformation X2 and places the result in this transformation.

Parameters:

X1 - left-hand transformation

X2 - right-hand transformation

mulInverse

public boolean mulInverse(AffineTransform3dObject X)

Multiplies this transformation by the inverse of transformation X and places the result in this transformation.

Parameters:

X - right-hand transformation

Returns:

false if X is singular

mulInverseRight

public boolean mulInverseRight(AffineTransform3dObject X1,
                               AffineTransform3dObject X2)

Multiplies transformation X1 by the inverse of transformation X2 and places the result in this transformation.

Parameters:

X1 - left-hand transformation

X2 - right-hand transformation

Returns:

false if X2 is singular

mulInverseLeft

public boolean mulInverseLeft(AffineTransform3dObject X1,
                              AffineTransform3dObject X2)

Multiplies the inverse of transformation X1 by transformation X2 and places the result in this transformation.

Parameters:

X1 - left-hand transformation

X2 - right-hand transformation

Returns:

false if X1 is singular

mulInverseBoth

public boolean mulInverseBoth(AffineTransform3dObject X1,
                              AffineTransform3dObject X2)

Multiplies the inverse of transformation X1 by the inverse of transformation X2 and places the result in this transformation.

Parameters:

X1 - left-hand transformation

X2 - right-hand transformation

Returns:

false if either X1 or X2 is singular

invert

public boolean invert()

Inverts this transform in place.

Overrides:

invert in class AffineTransform3dObject

Returns:

false if this transform is singular

invert

public boolean invert(AffineTransform3dObject X)

Inverts transform X and places the result in this transform.

Parameters:

X - transform to invert

Returns:

false if transform X is singular

set

public void set(RigidTransform3d X)

Sets this affine transform to the rigid body transform described by X.

Parameters:

X - rigid body transform to copy

applyScaling

public void applyScaling(double sx,
                         double sy,
                         double sz)

Scales the columns of A by the specified amounts. This is equivalent to post-multiplying A by a diagonal matrix. Note that the resulting scaling effect with be in addition to any previous scaling effect.

Parameters:

sx - x scale factor

sy - y scale factor

sz - z scale factor