Geometric transformations. More...

#include <transform.h>

Inheritance diagram for VART::Transform:

Public Member Functions
	Transform ()
	Creates an uninitialized transform. More...

	Transform (const Transform &trans)
	Copy constructor. More...

virtual VART::SceneNode *	Copy ()
	Returns a copy of an Transform. Every derived class must reimplements this method, to avoid errors with VART::SceneNode::RecursiveCopy. More...

void	MakeIdentity ()
	Turns transform into identity. More...

Point4D	operator* (const Point4D &point) const
	Applies transformation to a point. More...

Transform	operator* (const Transform &t) const
	Applies transformation to another transform. More...

Transform &	operator= (const Transform &t)
	Copies data from anoter transform. More...

void	Apply (const Transform &t)
	Applies a transformation to itself. More...

void	ApplyTo (Point4D *ptPoint) const
	Applies tranformation to a point. More...

void	MakeTranslation (const Point4D &translationVector)
	Turns transform into a translation. More...

void	MakeTranslation (double tx, double ty, double tz)
	Turns transform into a translation. More...

void	MakeXRotation (double radians)
	Turns transform into a rotation around the X axis. More...

void	MakeYRotation (double radians)
	Turns transform into a rotation around the Y axis. More...

void	MakeZRotation (double radians)
	Turns transform into a rotation around the Z axis. More...

void	MakeRotation (const Point4D &refVec, const float radians)
	Turns transform into a rotation (around some reference vetor). More...

void	MakeRotation (const Point4D &refPoint, const Point4D &refVec, const float radians)
	Turns transform into a rotation (around some reference axis). More...

void	MakeScale (double sX, double sY, double sZ)
	Turns transform into a scale. More...

void	MakeShear (double shX, double shY)
	Turns transform into a shear. More...

void	SetData (double *data)
	Set all data in the transform. More...

const double *	GetData () const
	Returns the address of transformation matrix. More...

void	GetVectorX (Point4D *result) const
	Returns the X vector of the transform. More...

void	GetVectorY (Point4D *result) const
	Returns the Y vector of the transform. More...

void	GetVectorZ (Point4D *result) const
	Returns the Z vector of the transform. More...

void	GetTranslation (Point4D *result) const
	Returns the translation part of the transform. More...

bool	HasNaN () const
	Check for NaNs inside the matrix. More...

virtual bool	DrawOGL () const
	Apply transform to rendering engine. More...

virtual void	DrawForPicking () const
	Draws and object, setting pick info. More...

virtual TypeID	GetID () const
	Returns type identification of the node. More...

virtual bool	RecursiveBoundingBox (BoundingBox *bBox)
	Returns the recursive bounding box. More...

void	ToggleRecVisibility ()
	Toggles the recursive object's visibility. More...

void	CopyMatrix (const Transform &t)
	Copies matrix data from another transform. More...

Public Member Functions inherited from VART::SceneNode
	SceneNode ()
	Creates an uninitialized scene node. More...

	SceneNode (SceneNode &node)

virtual	~SceneNode ()

SceneNode &	operator= (const SceneNode &node)

virtual SceneNode *	RecursiveCopy ()

const std::string &	GetDescription () const
	Returns a copy of the object's description. More...

void	SetDescription (const std::string &desc)
	Changes the object's description. More...

void	AddChild (SceneNode &child)
	Add a child at the end of child list. More...

bool	DetachChild (SceneNode *childPtr)
	Removes a child from the child list. More...

void	AutoDeleteChildren () const
	Deletes (dealocate memory) recursively all children marked as 'autoDelete'. More...

SceneNode *	FindChildByName (const std::string &name) const
	Recusively searches its children for a given name. More...

std::list< SceneNode * >	GetChilds ()

bool	FindPathTo (SceneNode targetPtr, SGPath resultPtr) const
	Search target among children. More...

bool	FindPathTo (const std::string &targetName, SGPath *resultPtr) const
	Search target among children. More...

int	GetNodeTypeList (TypeID type, std::list< SceneNode * > &nodeList)
	Find all the nodes of with typeID 'type'. More...

virtual void	TraverseDepthFirst (SNOperator *operatorPtr) const
	Process all children in depth-first order. More...

virtual void	TraverseBreadthFirst (SNOperator *operatorPtr) const
	Process all children in breadth-first order. More...

virtual void	LocateDepthFirst (SNLocator *locatorPtr) const
	Seaches for a particular scene node (depth first) More...

virtual void	LocateBreadthFirst (SNLocator *locatorPtr) const
	Seaches for a particular scene node (breadth first) More...

virtual void	XmlPrintOn (std::ostream &os, unsigned int indent) const
	Recursively outputs XML representation of the scene node. More...

Public Member Functions inherited from VART::MemoryObj
	MemoryObj ()
	Default constructor. More...

	MemoryObj (const VART::MemoryObj &obj)
	Copy constructor. More...

Protected Attributes
double	matrix [16]

Protected Attributes inherited from VART::SceneNode
std::list< SceneNode * >	childList
	Child list. More...

std::string	description
	Textual identification. More...

Friends
std::ostream &	operator<< (std::ostream &output, const Transform &t)
	'ostream' class extension to output a transformation on the console. More...

Additional Inherited Members
Public Types inherited from VART::SceneNode
enum	TypeID { NONE, GRAPHIC_OBJ, BOX, CONE, CURVE, BEZIER, CYLINDER, IMAGE, IMAGE_2D, VOLUME, MESH_OBJECT, SPHERE, JOINT, BIAXIAL_JOINT, CONDYLAR_JOINT, ELLIPSOID_JOINT, SADDLE_JOINT, PLANE_JOINT, POLYAXIAL_JOINT, UNIAXIAL_JOINT, HINGE_JOINT, PIVOT_JOINT, TRANSFORM }

Public Attributes inherited from VART::MemoryObj
bool	autoDelete

Static Public Attributes inherited from VART::SceneNode
static bool	recursivePrinting = true

Protected Member Functions inherited from VART::SceneNode
virtual bool	DrawInstanceOGL () const
	Non-recursive drawing - should be overriden by every derived class. More...

bool	RecursiveFindPathTo (SceneNode targetPtr, SGPath resultPtr) const
	Recursive auxiliar method for FindPathTo. More...

bool	RecursiveFindPathTo (const std::string &targetName, SGPath *resultPtr) const
	Recursive auxiliar method for FindPathTo. More...

Detailed Description

Geometric transformations.

A transformation matrix is represented by a 4x4 pre-multiplication matrix, i.e., to apply T1, then T2, then T3, one must multiply T3*T2*T1. Translation values are at the rightmost column. In a scene graph, the innermost transformation (the one close to the graphic object, farther away from root) is the one applied first.

Definition at line 24 of file transform.h.

Constructor & Destructor Documentation

VART::Transform::Transform ( )

Creates an uninitialized transform.

Definition at line 24 of file transform.cpp.

VART::Transform::Transform ( const Transform & trans )

Copy constructor.

Parameters

trans [in] Source transform

Definition at line 44 of file transform.cpp.

Member Function Documentation

void VART::Transform::Apply ( const Transform & t )

Applies a transformation to itself.

Definition at line 144 of file transform.cpp.

void VART::Transform::ApplyTo ( VART::Point4D * ptPoint ) const

Applies tranformation to a point.

Parameters

ptPoint [in,out] Point to be transformed

Definition at line 149 of file transform.cpp.

References VART::Point4D::GetW(), VART::Point4D::GetX(), VART::Point4D::GetY(), VART::Point4D::GetZ(), and VART::Point4D::SetXYZW().

Referenced by VART::Curve::ApplyTransform(), VART::MeshObject::ApplyTransform(), VART::Camera::MoveForward(), VART::Camera::MoveSideways(), VART::Camera::MoveUp(), VART::Camera::PitchAroundTarget(), VART::Camera::Roll(), VART::Camera::Yaw(), and VART::Camera::YawAroundTarget().

VART::SceneNode * VART::Transform::Copy ( )

virtual

Returns a copy of an Transform. Every derived class must reimplements this method, to avoid errors with VART::SceneNode::RecursiveCopy.

Implements VART::SceneNode.

Reimplemented in VART::Joint, VART::UniaxialJoint, VART::PolyaxialJoint, and VART::BiaxialJoint.

Definition at line 28 of file transform.cpp.

void VART::Transform::CopyMatrix ( const Transform & t )

Copies matrix data from another transform.

Unlike operator=, CopyMatrix copies only the internal matrix.

Definition at line 138 of file transform.cpp.

References matrix.

Referenced by VART::Dof::ApplyTransformTo(), VART::Dof::GetLim(), VART::SGPath::GetTransform(), and VART::IKChain::MoveTowardsSolution().

void VART::Transform::DrawForPicking ( ) const

virtual

Draws and object, setting pick info.

This method should be called in selection mode in order to identify objects that are selected by the mouse (see Scene::Pick).

Implements VART::SceneNode.

Definition at line 278 of file transform.cpp.

bool VART::Transform::DrawOGL ( ) const

virtual

Apply transform to rendering engine.

Returns: false if V-ART was not compiled with OpenGL support.

Reimplemented from VART::SceneNode.

Definition at line 260 of file transform.cpp.

const double* VART::Transform::GetData ( ) const

inline

Returns the address of transformation matrix.

Use this method to get an OpenGl like transformation matrix, compatible with methods such as "glLoadMatrixd" and "glMultMatrixd".

Definition at line 111 of file transform.h.

References matrix.

virtual TypeID VART::Transform::GetID ( ) const

inlinevirtual

Returns type identification of the node.

Reimplemented from VART::SceneNode.

Definition at line 154 of file transform.h.

References VART::SceneNode::TRANSFORM.

void VART::Transform::GetTranslation ( VART::Point4D * result ) const

Returns the translation part of the transform.

Definition at line 252 of file transform.cpp.

References VART::Point4D::SetW(), VART::Point4D::SetX(), VART::Point4D::SetY(), and VART::Point4D::SetZ().

void VART::Transform::GetVectorX ( VART::Point4D * result ) const

Returns the X vector of the transform.

A rigid transformation matrix may be interpreted as a coordinate system. This method returns the 1st column of the matrix which may be interpreted as the X vector of such coordinate system.

Definition at line 228 of file transform.cpp.

References VART::Point4D::SetW(), VART::Point4D::SetX(), VART::Point4D::SetY(), and VART::Point4D::SetZ().

void VART::Transform::GetVectorY ( VART::Point4D * result ) const

Returns the Y vector of the transform.

A rigid transformation matrix may be interpreted as a coordinate system. This method returns the 2nd column of the matrix which may be interpreted as the Y vector of such coordinate system.

Definition at line 236 of file transform.cpp.

References VART::Point4D::SetW(), VART::Point4D::SetX(), VART::Point4D::SetY(), and VART::Point4D::SetZ().

void VART::Transform::GetVectorZ ( VART::Point4D * result ) const

Returns the Z vector of the transform.

A rigid transformation matrix may be interpreted as a coordinate system. This method returns the 3rd column of the matrix which may be interpreted as the Z vector of such coordinate system.

Definition at line 244 of file transform.cpp.

References VART::Point4D::SetW(), VART::Point4D::SetX(), VART::Point4D::SetY(), and VART::Point4D::SetZ().

bool VART::Transform::HasNaN ( ) const

Check for NaNs inside the matrix.

This is for debugging purposes only.

Definition at line 362 of file transform.cpp.

void VART::Transform::MakeIdentity ( )

Turns transform into identity.

Definition at line 49 of file transform.cpp.

Referenced by VART::SGPath::GetTransform(), VART::XmlScene::LoadSceneNode(), and VART::IKChain::MoveTowardsSolution().

void VART::Transform::MakeRotation	(	const Point4D &	refVec,
		const float	radians
	)

Turns transform into a rotation (around some reference vetor).

Parameters

refVec	[in] Reference vector
radians	[in] Angle of rotation

Definition at line 171 of file transform.cpp.

References VART::Point4D::AngleTo(), VART::Point4D::GetX(), VART::Point4D::GetY(), VART::Point4D::GetZ(), MakeXRotation(), MakeYRotation(), MakeZRotation(), VART::Point4D::Normalize(), and VART::Point4D::SetXYZW().

Referenced by MakeRotation(), VART::Camera::MoveSideways(), VART::Camera::PitchAroundTarget(), VART::Camera::Roll(), VART::Camera::Yaw(), and VART::Camera::YawAroundTarget().

void VART::Transform::MakeRotation	(	const Point4D &	refPoint,
		const Point4D &	refVec,
		const float	radians
	)

Turns transform into a rotation (around some reference axis).

Parameters

refPoint	[in] Reference point (defines an axis together with refVec)
refVec	[in] Reference vector (defines an axis together with refPoint)
radians	[in] Angle of rotation

Definition at line 216 of file transform.cpp.

References MakeRotation(), and MakeTranslation().