maspack.matrix

Interface VectorTransformer3d

All Known Implementing Classes:

AffineTransform3d, AffineTransform3dBase, IdentityVector3dTransform, RigidTransform3d, ScaledRigidTransform3d, ScaledRigidTransformer3d, ScaledTranslation3d

public interface VectorTransformer3d

Interface for an object that performs forward and inverse transformations on 3D points, vectors, and normals.

Method Summary

Modifier and Type	Method and Description
void	inverseTransformCovec(Vector3d cr, Vector3d c0) 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	transformCovec(Vector3d cr, Vector3d c0) 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.

Method Detail

transformPnt

void transformPnt(Vector3d pr,
                  Vector3d p0)

Transforms point p0 and places the result in pr.

Parameters:

pr - returns the transformed point

p0 - point to be transformed

transformVec

void transformVec(Vector3d vr,
                  Vector3d v0)

Transforms vector v0 and places the result in vr.

Parameters:

vr - returns the transformed vector

v0 - vector to be transformed

transformCovec

void transformCovec(Vector3d cr,
                    Vector3d c0)

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.

Parameters:

cr - returns the transformed covector

c0 - normal to be transformed

inverseTransformPnt

void inverseTransformPnt(Vector3d pr,
                         Vector3d p0)

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

Parameters:

pr - returns the transformed point

p0 - point to be transformed

inverseTransformVec

void inverseTransformVec(Vector3d vr,
                         Vector3d v0)

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

Parameters:

vr - returns the transformed vector

v0 - vector to be transformed

inverseTransformCovec

void inverseTransformCovec(Vector3d cr,
                           Vector3d c0)

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

Parameters:

cr - returns the transformed normal

c0 - normal to be transformed

isRigid

boolean isRigid()

Returns true if this transformer implements a linear rigid transform.

isAffine

boolean isAffine()

Returns true if this transformer implements a linear affine transform.