maspack.geometry

Class ScaledRigidTransformer3d

java.lang.Object

maspack.geometry.ScaledRigidTransformer3d

All Implemented Interfaces:

VectorTransformer3d

public class ScaledRigidTransformer3d
extends java.lang.Object
implements VectorTransformer3d

Implements an affine transformation defined in homogeneous coordinates by

  [  R S  p ]
  [         ]
  [   0   1 ]
 

where R is a 3x3 rotation, S is a diagonal scaling matrix, and p is a translation offset.

Constructor Summary

Constructors

Constructor and Description
ScaledRigidTransformer3d(Vector3d scaling, RigidTransform3d T)
ScaledRigidTransformer3d(Vector3d scaling, RotationMatrix3d R, Vector3d origin)

Method Summary

Modifier and Type	Method and Description
void	getOrigin(Vector3d p)
void	getRigidTransform(RigidTransform3d T)
void	getRotation(RotationMatrix3d R)
void	getScaling(Vector3d scaling)
void	inverseTransformCovec(Vector3d nr, Vector3d n0) Applies an inverse transform to covector c0 and places the result in cr.
void	inverseTransformPnt(Vector3d pr, Vector3d p0) Applies an inverse transform to point p0 and places the result in pr.
void	inverseTransformVec(Vector3d vr, Vector3d v0) Applies an inverse transform to vector v0 and places the result in vr.
boolean	isAffine() Returns true if this transformer implements a linear affine transform.
boolean	isRigid() Returns true if this transformer implements a linear rigid transform.
void	set(Vector3d scaling, RotationMatrix3d R, Vector3d p)
void	transformCovec(Vector3d nr, Vector3d n0) Transforms a covector c0 and places the result in cr.
void	transformPnt(Vector3d pr, Vector3d p0) Transforms point p0 and places the result in pr.
void	transformVec(Vector3d vr, Vector3d v0) Transforms vector v0 and places the result in vr.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ScaledRigidTransformer3d

public ScaledRigidTransformer3d(Vector3d scaling,
                                RigidTransform3d T)

ScaledRigidTransformer3d

public ScaledRigidTransformer3d(Vector3d scaling,
                                RotationMatrix3d R,
                                Vector3d origin)

Method Detail

set

public void set(Vector3d scaling,
                RotationMatrix3d R,
                Vector3d p)

getScaling

public void getScaling(Vector3d scaling)

getOrigin

public void getOrigin(Vector3d p)

getRotation

public void getRotation(RotationMatrix3d R)

getRigidTransform

public void getRigidTransform(RigidTransform3d T)

transformPnt

public void transformPnt(Vector3d pr,
                         Vector3d p0)

Transforms point p0 and places the result in pr.

Specified by:

transformPnt in interface VectorTransformer3d

Parameters:

pr - returns the transformed point

p0 - point to be transformed

transformVec

public void transformVec(Vector3d vr,
                         Vector3d v0)

Transforms vector v0 and places the result in vr.

Specified by:

transformVec in interface VectorTransformer3d

Parameters:

vr - returns the transformed vector

v0 - vector to be transformed

transformCovec

public void transformCovec(Vector3d nr,
                           Vector3d n0)

Transforms a covector c0 and places the result in cr. If a vector is transformed linearly according to

   vr = A v0,
 

then the covector will be transformed according to

         -1 T 
   cr = A     c0,
 

Normal vectors and gradients are generally transformed as covectors. In the case of normals, the application will need to normalize the result if this transformation is not rigid.

Specified by:

transformCovec in interface VectorTransformer3d

Parameters:

nr - returns the transformed covector

n0 - normal to be transformed

inverseTransformPnt

public void inverseTransformPnt(Vector3d pr,
                                Vector3d p0)

Applies an inverse transform to point p0 and places the result in pr.

Specified by:

inverseTransformPnt in interface VectorTransformer3d

Parameters:

pr - returns the transformed point

p0 - point to be transformed

inverseTransformVec

public void inverseTransformVec(Vector3d vr,
                                Vector3d v0)

Applies an inverse transform to vector v0 and places the result in vr.

Specified by:

inverseTransformVec in interface VectorTransformer3d

Parameters:

vr - returns the transformed vector

v0 - vector to be transformed

inverseTransformCovec

public void inverseTransformCovec(Vector3d nr,
                                  Vector3d n0)

Applies an inverse transform to covector c0 and places the result in cr. See VectorTransformer3d.transformCovec(maspack.matrix.Vector3d, maspack.matrix.Vector3d) for more details about covector transformation.

Specified by:

inverseTransformCovec in interface VectorTransformer3d

Parameters:

nr - returns the transformed normal

n0 - normal to be transformed

isAffine

public boolean isAffine()

Returns true if this transformer implements a linear affine transform.

Specified by:

isAffine in interface VectorTransformer3d

isRigid

public boolean isRigid()

Returns true if this transformer implements a linear rigid transform.

Specified by:

isRigid in interface VectorTransformer3d