SbMatrixd Class Reference

4x4 matrix class with double values. More...

#include <Inventor/SbLineard.h>

Public Member Functions
	SbMatrixd ()
	Default constructor, initialized to identity.
	SbMatrixd (double a11, double a12, double a13, double a14, double a21, double a22, double a23, double a24, double a31, double a32, double a33, double a34, double a41, double a42, double a43, double a44)
	Constructor given all 16 elements in row-major order.
	SbMatrixd (const SbMatd &m)
	Constructors.
void	setValue (const SbMatd &m)
	Sets value from 4x4 array of elements.
void	setValue (const double *data)
	Sets value from a double array of 16 elements.
void	makeIdentity ()
	Sets matrix to be identity.
void	setRotate (const SbRotationd &q)
	Sets matrix to rotate by given rotation.
void	setScale (double s)
	Sets matrix to scale by given uniform factor.
void	setScale (const SbVec3d &s)
	Sets matrix to scale by given vector.
void	setTranslate (const SbVec3d &t)
	Sets matrix to translate by given vector.
void	setTransform (const SbVec3d &translation, const SbRotationd &rotation, const SbVec3d &scaleFactor, const SbRotationd &scaleOrientation, const SbVec3d &center)
	Composes the matrix based on a translation, rotation, scale, orientation for scale, and center.
void	setTransform (const SbVec3d &t, const SbRotationd &r, const SbVec3d &s)
	Overloaded methods as a kludge because the compiler won't let us have SbVec3d(0,0,0) as a default value:
void	setTransform (const SbVec3d &t, const SbRotationd &r, const SbVec3d &s, const SbRotationd &so)
void	getTransform (SbVec3d &translation, SbRotationd &rotation, SbVec3d &scaleFactor, SbRotationd &scaleOrientation, const SbVec3d &center) const
	Decomposes the matrix into a translation, rotation, scale, and scale orientation.
void	getTransform (SbVec3d &t, SbRotationd &r, SbVec3d &s, SbRotationd &so) const
void	getValue (SbMatd &m) const
	The following methods return matrix values and other info:
const SbMatd &	getValue () const
double	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).
double	det3 () const
	Returns determinant of upper-left 3x3 submatrix.
double	det4 () const
	Returns determinant of entire matrix.
bool	factor (SbMatrixd &r, SbVec3d &s, SbMatrixd &u, SbVec3d &t, SbMatrixd &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.
SbMatrixd	inverse () const
	Returns inverse of matrix.
bool	LUDecomposition (int index[4], double &d)
	Perform in-place LU decomposition of matrix.
void	LUBackSubstitution (int index[4], double b[4]) const
	Perform back-substitution on LU-decomposed matrix.
SbMatrixd	transpose () const
	Returns transpose of matrix.
SbMatrixd &	multRight (const SbMatrixd &m)
	Multiplies matrix by given matrix on right or left.
SbMatrixd &	multLeft (const SbMatrixd &m)
	Multiplies matrix by given matrix on right or left.
SbVec3d	transformPoint (const SbVec3d &src) const
	Multiplies given row vector by matrix, giving vector result. Use this method to transform points from object coordinates to world coordinates. (MEVIS)
SbVec4d	transformPoint (const SbVec4d &src) const
	Multiplies given row vector by matrix, giving vector result. Takes homogenous coordinate and returns homogenous coordinate. (MEVIS)
SbVec3d	transformDirection (const SbVec3d &src) const
	Multiplies given row vector by matrix, giving vector result.
SbLined	transformLine (const SbLined &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 SbVec3d &src, SbVec3d &dst) const
	Multiplies matrix by given column vector, giving vector result.
void	multVecMatrix (const SbVec3d &src, SbVec3d &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 SbVec4d &src, SbVec4d &dst) const
	Multiplies given row vector by matrix, giving vector result. Takes homogenous coordinate and returns homogenous coordinate.
void	multVecMatrix (const SbVec3d &src, SbVec4d &dst) const
	Multiplies given row vector by matrix, giving vector result. Takes SbVec4(src,1.) coordinate and returns homogenous coordinate.
void	multDirMatrix (const SbVec3d &src, SbVec3d &dst) const
	Multiplies given row vector by matrix, giving vector result.
void	multLineMatrix (const SbLined &src, SbLined &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 double * ()
	Binary multiplication of matrices.
	operator SbMatd & ()
	Cast: returns reference to 4x4 array.
double *	operator[] (int i)
	Make it look like a usual matrix (so you can do m[3][2])
const double *	operator[] (int i) const
SbMatrixd &	operator= (const SbMatd &m)
	Sets value from 4x4 array of elements.
SbMatrixd &	operator= (const SbMatrixd &m)
	Set the matrix from another SbMatrixd.
SbMatrixd &	operator= (const SbRotationd &q)
	Set the matrix from an SbRotationd.
SbMatrixd &	operator*= (const SbMatrixd &m)
	Performs right multiplication with another matrix.
bool	equals (const SbMatrixd &m, double tolerance) const
	Equality comparison within given tolerance, for each component.

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

Friends
INVENTOR_API SbMatrixd	operator* (const SbMatrixd &m1, const SbMatrixd &m2)
	Binary multiplication of matrices.
INVENTOR_API bool	operator== (const SbMatrixd &m1, const SbMatrixd &m2)
	Equality comparison operator.
INVENTOR_API bool	operator!= (const SbMatrixd &m1, const SbMatrixd &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, SbMatrix, SbVec3d, SbRotationd

Definition at line 616 of file SbLineard.h.

Constructor & Destructor Documentation

SbMatrixd() [1/3]

SbMatrixd::SbMatrixd ( )

inline

Definition at line 620 of file SbLineard.h.

SbMatrixd() [2/3]

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

SbMatrixd() [3/3]

SbMatrixd::SbMatrixd

(

const SbMatd &

m

)

Member Function Documentation

det3() [1/2]

double SbMatrixd::det3 ( ) const

inline

Definition at line 707 of file SbLineard.h.

References det3().

Referenced by det3().

det3() [2/2]

double SbMatrixd::det3	(	int	r1,
		int	r2,
		int	r3,
		int	c1,
		int	c2,
		int	c3
	)		const

det4()

double SbMatrixd::det4

(

)

const

equals()

bool SbMatrixd::equals	(	const SbMatrixd &	m,
		double	tolerance
	)		const

factor()

bool SbMatrixd::factor	(	SbMatrixd &	r,
		SbVec3d &	s,
		SbMatrixd &	u,
		SbVec3d &	t,
		SbMatrixd &	proj
	)		const

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

getTransform() [1/2]

void SbMatrixd::getTransform ( SbVec3d &  t, SbRotationd &  r, SbVec3d &  s, SbRotationd &  so  ) const

inline

Definition at line 691 of file SbLineard.h.

getTransform() [2/2]

void SbMatrixd::getTransform	(	SbVec3d &	translation,
		SbRotationd &	rotation,
		SbVec3d &	scaleFactor,
		SbRotationd &	scaleOrientation,
		const SbVec3d &	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 SbMatd & SbMatrixd::getValue ( ) const

inline

Definition at line 700 of file SbLineard.h.

getValue() [2/2]

void SbMatrixd::getValue

(

SbMatd &

m

)

const

Returns 4x4 array of elements

identity()

static SbMatrixd SbMatrixd::identity ( )

static

inverse()

SbMatrixd SbMatrixd::inverse

(

)

const

Results are undefined for singular matrices. Uses LU decomposition.

LUBackSubstitution()

void SbMatrixd::LUBackSubstitution	(	int	index[4],
		double	b[4]
	)		const

Index is permutation of rows from original matrix.

LUDecomposition()

bool SbMatrixd::LUDecomposition	(	int	index[4],
		double &	d
	)

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

makeIdentity()

void SbMatrixd::makeIdentity

(

)

multDirMatrix()

void SbMatrixd::multDirMatrix	(	const SbVec3d &	src,
		SbVec3d &	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()

SbMatrixd & SbMatrixd::multLeft

(

const SbMatrixd &

m

)

multLineMatrix()

void SbMatrixd::multLineMatrix	(	const SbLined &	src,
		SbLined &	dst
	)		const

multMatrixVec()

void SbMatrixd::multMatrixVec	(	const SbVec3d &	src,
		SbVec3d &	dst
	)		const

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

multRight()

SbMatrixd & SbMatrixd::multRight

(

const SbMatrixd &

m

)

multVecMatrix() [1/3]

void SbMatrixd::multVecMatrix	(	const SbVec3d &	src,
		SbVec3d &	dst
	)		const

multVecMatrix() [2/3]

void SbMatrixd::multVecMatrix	(	const SbVec3d &	src,
		SbVec4d &	dst
	)		const

multVecMatrix() [3/3]

void SbMatrixd::multVecMatrix	(	const SbVec4d &	src,
		SbVec4d &	dst
	)		const

operator double *()

SbMatrixd::operator double * ( )

inline

Definition at line 788 of file SbLineard.h.

operator SbMatd &()

SbMatrixd::operator SbMatd & ( )

inline

Definition at line 791 of file SbLineard.h.

operator*=()

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

inline

Definition at line 807 of file SbLineard.h.

operator=() [1/3]

SbMatrixd & SbMatrixd::operator=

(

const SbMatd &

m

)

operator=() [2/3]

SbMatrixd & SbMatrixd::operator=

(

const SbMatrixd &

m

)

operator=() [3/3]

SbMatrixd & SbMatrixd::operator= ( const SbRotationd &  q )

inline

Definition at line 804 of file SbLineard.h.

operator[]() [1/2]

double * SbMatrixd::operator[] ( int  i )

inline

Definition at line 794 of file SbLineard.h.

operator[]() [2/2]

const double * SbMatrixd::operator[] ( int  i ) const

inline

Definition at line 795 of file SbLineard.h.

print()

void SbMatrixd::print

(

FILE *

fp

)

const

setRotate()

void SbMatrixd::setRotate

(

const SbRotationd &

q

)

setScale() [1/2]

void SbMatrixd::setScale

(

const SbVec3d &

s

)

setScale() [2/2]

void SbMatrixd::setScale

(

double

s

)

setTransform() [1/3]

void SbMatrixd::setTransform ( const SbVec3d &  t, const SbRotationd &  r, const SbVec3d &  s  )

inline

Definition at line 671 of file SbLineard.h.

setTransform() [2/3]

void SbMatrixd::setTransform ( const SbVec3d &  t, const SbRotationd &  r, const SbVec3d &  s, const SbRotationd &  so  )

inline

Definition at line 675 of file SbLineard.h.

setTransform() [3/3]

void SbMatrixd::setTransform	(	const SbVec3d &	translation,
		const SbRotationd &	rotation,
		const SbVec3d &	scaleFactor,
		const SbRotationd &	scaleOrientation,
		const SbVec3d &	center
	)

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

setTranslate()

void SbMatrixd::setTranslate

(

const SbVec3d &

t

)

setValue() [1/2]

void SbMatrixd::setValue

(

const double *

data

)

setValue() [2/2]

void SbMatrixd::setValue

(

const SbMatd &

m

)

transformDirection()

SbVec3d SbMatrixd::transformDirection ( const SbVec3d &  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 753 of file SbLineard.h.

transformLine()

SbLined SbMatrixd::transformLine

(

const SbLined &

src

)

const

(MEVIS)

transformPoint() [1/2]

SbVec3d SbMatrixd::transformPoint ( const SbVec3d &  src ) const

inline

Definition at line 741 of file SbLineard.h.

transformPoint() [2/2]

SbVec4d SbMatrixd::transformPoint ( const SbVec4d &  src ) const

inline

Definition at line 743 of file SbLineard.h.

transpose()

SbMatrixd SbMatrixd::transpose

(

)

const

Friends And Related Symbol Documentation

operator!=

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

friend

Definition at line 832 of file SbLineard.h.

operator*

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

friend

operator==

INVENTOR_API bool operator== ( const SbMatrixd &  m1, const SbMatrixd &  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/SbLineard.h