SbMatrix Class Reference

4x4 matrix class. More...

#include <Inventor/SbLinear.h>

Public Member Functions
	SbMatrix ()
	Default constructor, initialized to identity.
	SbMatrix (float a11, float a12, float a13, float a14, float a21, float a22, float a23, float a24, float a31, float a32, float a33, float a34, float a41, float a42, float a43, float a44)
	Constructor given all 16 elements in row-major order.
	SbMatrix (const SbMat &m)
	Constructors.
void	setValue (const SbMat &m)
	Sets value from 4x4 array of elements.
void	setValue (const float *data)
	Sets value from a float array of 16 elements.
void	makeIdentity ()
	Sets matrix to be identity.
void	setRotate (const SbRotation &q)
	Sets matrix to rotate by given rotation.
void	setScale (float s)
	Sets matrix to scale by given uniform factor.
void	setScale (const SbVec3f &s)
	Sets matrix to scale by given vector.
void	setTranslate (const SbVec3f &t)
	Sets matrix to translate by given vector.
void	setTransform (const SbVec3f &translation, const SbRotation &rotation, const SbVec3f &scaleFactor, const SbRotation &scaleOrientation, const SbVec3f &center)
	Composes the matrix based on a translation, rotation, scale, orientation for scale, and center.
void	setTransform (const SbVec3f &t, const SbRotation &r, const SbVec3f &s)
	Overloaded methods as a kludge because the compiler won't let us have SbVec3f(0,0,0) as a default value:
void	setTransform (const SbVec3f &t, const SbRotation &r, const SbVec3f &s, const SbRotation &so)
void	getTransform (SbVec3f &translation, SbRotation &rotation, SbVec3f &scaleFactor, SbRotation &scaleOrientation, const SbVec3f &center) const
	Decomposes the matrix into a translation, rotation, scale, and scale orientation.
void	getTransform (SbVec3f &t, SbRotation &r, SbVec3f &s, SbRotation &so) const
void	getValue (SbMat &m) const
	The following methods return matrix values and other info:
const SbMat &	getValue () const
float	det3 (int r1, int r2, int r3, int c1, int c2, int c3) const
	Returns determinant of 3x3 submatrix composed of given row and column indices (0-3 for each).
float	det3 () const
	Returns determinant of upper-left 3x3 submatrix.
float	det4 () const
	Returns determinant of entire matrix.
bool	factor (SbMatrix &r, SbVec3f &s, SbMatrix &u, SbVec3f &t, SbMatrix &proj) const
	Factors a matrix m into 5 pieces: m = r s r^ u t, where r^ means transpose of r, and r and u are rotations, s is a scale, and t is a translation.
SbMatrix	inverse () const
	Returns inverse of matrix.
bool	LUDecomposition (int index[4], float &d)
	Perform in-place LU decomposition of matrix.
void	LUBackSubstitution (int index[4], float b[4]) const
	Perform back-substitution on LU-decomposed matrix.
SbMatrix	transpose () const
	Returns transpose of matrix.
SbMatrix &	multRight (const SbMatrix &m)
	Multiplies matrix by given matrix on right or left.
SbMatrix &	multLeft (const SbMatrix &m)
	Multiplies matrix by given matrix on right or left.
SbVec3f	transformPoint (const SbVec3f &src) const
	Multiplies given row vector by matrix, giving vector result. Use this method to transform points from object coordinates to world coordinates. (MEVIS)
SbVec4f	transformPoint (const SbVec4f &src) const
	Multiplies given row vector by matrix, giving vector result. Takes homogenous coordinate and returns homogenous coordinate. (MEVIS)
SbVec3f	transformDirection (const SbVec3f &src) const
	Multiplies given row vector by matrix, giving vector result.
SbLine	transformLine (const SbLine &src) const
	Multiplies the given line's origin by the matrix, and the line's direction by the rotation portion of the matrix.
void	multMatrixVec (const SbVec3f &src, SbVec3f &dst) const
	Multiplies matrix by given column vector, giving vector result.
void	multVecMatrix (const SbVec3f &src, SbVec3f &dst) const
	Multiplies given row vector by matrix, giving vector result. Use this method to transform points from object coordinates to world coordinates.
void	multVecMatrix (const SbVec4f &src, SbVec4f &dst) const
	Multiplies given row vector by matrix, giving vector result. Takes homogenous coordinate and returns homogenous coordinate.
void	multVecMatrix (const SbVec3f &src, SbVec4f &dst) const
	Multiplies given row vector by matrix, giving vector result. Takes SbVec4(src,1.f) coordinate and returns homogenous coordinate.
void	multDirMatrix (const SbVec3f &src, SbVec3f &dst) const
	Multiplies given row vector by matrix, giving vector result.
void	multLineMatrix (const SbLine &src, SbLine &dst) const
	Multiplies the given line's origin by the matrix, and the line's direction by the rotation portion of the matrix.
void	print (FILE *fp) const
	Prints a formatted version of the matrix to the given file pointer.
	operator float * ()
	Binary multiplication of matrices.
	operator SbMat & ()
	Cast: returns reference to 4x4 array.
float *	operator[] (int i)
	Make it look like a usual matrix (so you can do m[3][2])
const float *	operator[] (int i) const
SbMatrix &	operator= (const SbMat &m)
	Sets value from 4x4 array of elements.
SbMatrix &	operator= (const SbMatrix &m)
	Set the matrix from another SbMatrix.
SbMatrix &	operator= (const SbRotation &q)
	Set the matrix from an SbRotation.
SbMatrix &	operator*= (const SbMatrix &m)
	Performs right multiplication with another matrix.
bool	equals (const SbMatrix &m, float tolerance) const
	Equality comparison within given tolerance, for each component.

Static Public Member Functions
static SbMatrix	identity ()
	Returns an identity matrix.

Friends
INVENTOR_API SbMatrix	operator* (const SbMatrix &m1, const SbMatrix &m2)
	Binary multiplication of matrices.
INVENTOR_API bool	operator== (const SbMatrix &m1, const SbMatrix &m2)
	Equality comparison operator.
INVENTOR_API bool	operator!= (const SbMatrix &m1, const SbMatrix &m2)

Detailed Description

4x4 matrix class/datatype used by many Inventor node and action classes. The matrices are stored in row-major order. {}

See Also

SbVec3f, SbRotation

Definition at line 823 of file SbLinear.h.

Constructor & Destructor Documentation

SbMatrix() [1/3]

SbMatrix::SbMatrix ( )

inline

Definition at line 827 of file SbLinear.h.

SbMatrix() [2/3]

SbMatrix::SbMatrix	(	float	a11,
		float	a12,
		float	a13,
		float	a14,
		float	a21,
		float	a22,
		float	a23,
		float	a24,
		float	a31,
		float	a32,
		float	a33,
		float	a34,
		float	a41,
		float	a42,
		float	a43,
		float	a44
	)

SbMatrix() [3/3]

SbMatrix::SbMatrix

(

const SbMat &

m

)

Member Function Documentation

det3() [1/2]

float SbMatrix::det3 ( ) const

inline

Definition at line 914 of file SbLinear.h.

References det3().

Referenced by det3().

det3() [2/2]

float SbMatrix::det3	(	int	r1,
		int	r2,
		int	r3,
		int	c1,
		int	c2,
		int	c3
	)		const

det4()

float SbMatrix::det4

(

)

const

equals()

bool SbMatrix::equals	(	const SbMatrix &	m,
		float	tolerance
	)		const

factor()

bool SbMatrix::factor	(	SbMatrix &	r,
		SbVec3f &	s,
		SbMatrix &	u,
		SbVec3f &	t,
		SbMatrix &	proj
	)		const

Any projection information is returned in proj. NOTE: the projection matrix is always set to identity.

getTransform() [1/2]

void SbMatrix::getTransform ( SbVec3f &  t, SbRotation &  r, SbVec3f &  s, SbRotation &  so  ) const

inline

Definition at line 898 of file SbLinear.h.

getTransform() [2/2]

void SbMatrix::getTransform	(	SbVec3f &	translation,
		SbRotation &	rotation,
		SbVec3f &	scaleFactor,
		SbRotation &	scaleOrientation,
		const SbVec3f &	center
	)		const

Any projection information is discarded. The decomposition depends upon choice of center point for rotation and scaling, which is optional as the last parameter. Note that if the center is 0, decompose() is the same as factor() where "t" is translation, "u" is rotation, "s" is scaleFactor, and "r" is ScaleOrientattion.

getValue() [1/2]

const SbMat & SbMatrix::getValue ( ) const

inline

Definition at line 907 of file SbLinear.h.

getValue() [2/2]

void SbMatrix::getValue

(

SbMat &

m

)

const

Returns 4x4 array of elements

identity()

static SbMatrix SbMatrix::identity ( )

static

inverse()

SbMatrix SbMatrix::inverse

(

)

const

Results are undefined for singular matrices. Uses LU decomposition.

LUBackSubstitution()

void SbMatrix::LUBackSubstitution	(	int	index[4],
		float	b[4]
	)		const

Index is permutation of rows from original matrix.

LUDecomposition()

bool SbMatrix::LUDecomposition	(	int	index[4],
		float &	d
	)

index is index of rows in matrix. d is the parity of row swaps. Returns FALSE if singular.

makeIdentity()

void SbMatrix::makeIdentity

(

)

multDirMatrix()

void SbMatrix::multDirMatrix	(	const SbVec3f &	src,
		SbVec3f &	dst
	)		const

src is assumed to be a direction vector, so translation part of matrix is ignored. Note: if you wish to transform surface points and normals by a matrix, call multVecMatrix() for the points and call multDirMatrix() on the inverse transpose of the matrix for the normals.

multLeft()

SbMatrix & SbMatrix::multLeft

(

const SbMatrix &

m

)

multLineMatrix()

void SbMatrix::multLineMatrix	(	const SbLine &	src,
		SbLine &	dst
	)		const

multMatrixVec()

void SbMatrix::multMatrixVec	(	const SbVec3f &	src,
		SbVec3f &	dst
	)		const

NOTE: Typically you should use multVecMatrix() instead, since object/world transforms normally use row vectors.

multRight()

SbMatrix & SbMatrix::multRight

(

const SbMatrix &

m

)

multVecMatrix() [1/3]

void SbMatrix::multVecMatrix	(	const SbVec3f &	src,
		SbVec3f &	dst
	)		const

multVecMatrix() [2/3]

void SbMatrix::multVecMatrix	(	const SbVec3f &	src,
		SbVec4f &	dst
	)		const

multVecMatrix() [3/3]

void SbMatrix::multVecMatrix	(	const SbVec4f &	src,
		SbVec4f &	dst
	)		const

operator float *()

SbMatrix::operator float * ( )

inline

Definition at line 995 of file SbLinear.h.

operator SbMat &()

SbMatrix::operator SbMat & ( )

inline

Definition at line 998 of file SbLinear.h.

operator*=()

SbMatrix & SbMatrix::operator*= ( const SbMatrix &  m )

inline

Definition at line 1014 of file SbLinear.h.

operator=() [1/3]

SbMatrix & SbMatrix::operator=

(

const SbMat &

m

)

operator=() [2/3]

SbMatrix & SbMatrix::operator=

(

const SbMatrix &

m

)

operator=() [3/3]

SbMatrix & SbMatrix::operator= ( const SbRotation &  q )

inline

Definition at line 1011 of file SbLinear.h.

operator[]() [1/2]

float * SbMatrix::operator[] ( int  i )

inline

Definition at line 1001 of file SbLinear.h.

operator[]() [2/2]

const float * SbMatrix::operator[] ( int  i ) const

inline

Definition at line 1002 of file SbLinear.h.

print()

void SbMatrix::print

(

FILE *

fp

)

const

setRotate()

void SbMatrix::setRotate

(

const SbRotation &

q

)

setScale() [1/2]

void SbMatrix::setScale

(

const SbVec3f &

s

)

setScale() [2/2]

void SbMatrix::setScale

(

float

s

)

setTransform() [1/3]

void SbMatrix::setTransform ( const SbVec3f &  t, const SbRotation &  r, const SbVec3f &  s  )

inline

Definition at line 878 of file SbLinear.h.

setTransform() [2/3]

void SbMatrix::setTransform ( const SbVec3f &  t, const SbRotation &  r, const SbVec3f &  s, const SbRotation &  so  )

inline

Definition at line 882 of file SbLinear.h.

setTransform() [3/3]

void SbMatrix::setTransform	(	const SbVec3f &	translation,
		const SbRotation &	rotation,
		const SbVec3f &	scaleFactor,
		const SbRotation &	scaleOrientation,
		const SbVec3f &	center
	)

The "center" is the center point for scaling and rotation. The "scaleOrientation" chooses the primary axes for the scale.

setTranslate()

void SbMatrix::setTranslate

(

const SbVec3f &

t

)

setValue() [1/2]

void SbMatrix::setValue

(

const float *

data

)

setValue() [2/2]

void SbMatrix::setValue

(

const SbMat &

m

)

transformDirection()

SbVec3f SbMatrix::transformDirection ( const SbVec3f &  src ) const

inline

src is assumed to be a direction vector, so translation part of matrix is ignored. Note: if you wish to transform surface points and normals by a matrix, call multVecMatrix() for the points and call multDirMatrix() on the inverse transpose of the matrix for the normals. (MEVIS)

Definition at line 960 of file SbLinear.h.

transformLine()

SbLine SbMatrix::transformLine

(

const SbLine &

src

)

const

(MEVIS)

transformPoint() [1/2]

SbVec3f SbMatrix::transformPoint ( const SbVec3f &  src ) const

inline

Definition at line 948 of file SbLinear.h.

transformPoint() [2/2]

SbVec4f SbMatrix::transformPoint ( const SbVec4f &  src ) const

inline

Definition at line 950 of file SbLinear.h.

transpose()

SbMatrix SbMatrix::transpose

(

)

const

Friends And Related Symbol Documentation

operator!=

INVENTOR_API bool operator!= ( const SbMatrix &  m1, const SbMatrix &  m2  )

friend

Definition at line 1038 of file SbLinear.h.

operator*

INVENTOR_API SbMatrix operator* ( const SbMatrix &  m1, const SbMatrix &  m2  )

friend

operator==

INVENTOR_API bool operator== ( const SbMatrix &  m1, const SbMatrix &  m2  )

friend

---

The documentation for this class was generated from the following file:

• C:/jh/mevislab/4.0.2_1/build/MeVis/ThirdParty/Sources/Inventor/include/Inventor/SbLinear.h