Detailed Description

This object represents a transformation which is the result of the combination of a Scaling, a Rotation and a Translation, in the S.R.T order.

See also:: CMatrix3, CMatrix4, CQuaternion, CVector3, CRotation

Example:

        using namespace XSI;
        using namespace MATH;
        Application app;
        Model root = app.GetActiveSceneRoot();

        X3DObject myCube;
        root.AddGeometry( L"Cube", L"MeshSurface",L"",myCube );

        KinematicState  globalKinematicState = myCube.GetKinematics().GetGlobal();
        globalKinematicState.PutParameterValue(L"posy", 4.0);
        globalKinematicState.PutParameterValue(L"posx", 2.0);

        X3DObject myCube2;
        myCube.AddGeometry( L"Cube", L"MeshSurface",L"",myCube2);

        globalKinematicState = myCube2.GetKinematics().GetGlobal();
        globalKinematicState.PutParameterValue(L"posz",3.0);
        globalKinematicState.PutParameterValue(L"rotx",45.0);

        CTransformation localTransformation =
                                myCube.GetKinematics().GetLocal().GetTransform();
        CTransformation globalTransformation = globalKinematicState.GetTransform();

        CVector3 translation(localTransformation.GetTranslation());

        app.LogMessage(L"The translation of the cube relative to its parent: x " +
                        CValue(translation.GetX()).GetAsText() +
                        L" y " +
                        CValue(translation.GetY()).GetAsText() +
                        L" z " +
                        CValue(translation.GetZ()).GetAsText());

        MapObjectPoseToWorldSpace(  globalTransformation, localTransformation);

        translation = localTransformation.GetTranslation();

        app.LogMessage(L"The translation of the cube relative to the origin of the universe: x " +
                      CValue(translation.GetX()).GetAsText() +
                      L" y " + CValue(translation.GetY()).GetAsText() +
                      L" z " + CValue(translation.GetZ()).GetAsText());

#include <xsi_transformation.h>

List of all members.

Public Member Functions
	CTransformation ()
	CTransformation (const CTransformation &in_transformation)
	~CTransformation ()
CTransformation &	operator= (const CTransformation &in_transformation)
CMatrix4	GetMatrix4 () const
void	SetMatrix4 (const CMatrix4 &in_matrix4)
CTransformation &	SetRotation (const CRotation &in_Rotation)
CRotation	GetRotation () const
CTransformation &	SetRotX (const double &in_dX)
double	GetRotX () const
CTransformation &	SetRotY (const double &in_dY)
double	GetRotY () const
CTransformation &	SetRotZ (const double &in_dZ)
double	GetRotZ () const
void	PutRotationOrder (CRotation::RotationOrder in_Order)
CRotation::RotationOrder	GetRotationOrder () const
CTransformation &	SetRotationFromXYZAnglesValues (double in_dX, double in_dY, double in_dZ, CRotation::RotationOrder in_Order)
CTransformation &	SetRotationFromXYZAnglesValues (double in_dX, double in_dY, double in_dZ)
void	GetRotationFromXYZAnglesValues (double &io_dX, double &io_dY, double &io_dZ) const
CTransformation &	MulInPlace (const CTransformation &in_transformation)
CTransformation &	Mul (const CTransformation &in_transformationA, const CTransformation &in_transformationB)
CTransformation &	AddParentTranslation (const CVector3 &in_vector3)
CTransformation &	AddLocalTranslation (const CVector3 &in_vector3)
CTransformation &	AddParentScaling (const CVector3 &in_vector3)
CTransformation &	AddLocalScaling (const CVector3 &in_vector3)
CTransformation &	SetRotationFromXYZAxes (const CVector3 &in_vector3X, const CVector3 &in_vector3Y, const CVector3 &in_vector3Z)
CTransformation &	SetTranslationFromValues (double in_dX, double in_dY, double in_dZ)
void	GetTranslationValues (double &io_dX, double &io_dY, double &io_dZ) const
CTransformation &	SetScalingFromValues (double in_dX, double in_dY, double in_dZ)
void	GetScalingValues (double &io_dX, double &io_dY, double &io_dZ) const
void	GetScalingOrientationXYZAngles (double &io_dX, double &io_dY, double &io_dZ) const
CTransformation &	SetScalingOrientationFromXYZAngles (double in_dX, double in_dY, double in_dZ)
bool	HasScalingOrientation () const
CTransformation &	SetIdentity ()
CTransformation &	SetTranslation (const CVector3 &in_vector3)
CVector3	GetTranslation () const
CTransformation &	SetPosX (const double &in_dX)
double	GetPosX () const
CTransformation &	SetPosY (const double &in_dY)
double	GetPosY () const
CTransformation &	SetPosZ (const double &in_dZ)
double	GetPosZ () const
CTransformation &	SetRotationFromAxisAngle (const CVector3 &in_vector3, double in_dAngle)
CTransformation &	SetRotationFromXYZAngles (const CVector3 &in_vector3)
double	GetRotationAxisAngle (CVector3 &io_vector3) const
CVector3	GetRotationXYZAngles () const
CTransformation &	SetScaling (const CVector3 &in_vector3)
CVector3	GetScaling () const
CTransformation &	SetSclX (const double &in_dX)
double	GetSclX () const
CTransformation &	SetSclY (const double &in_dY)
double	GetSclY () const
CTransformation &	SetSclZ (const double &in_dZ)
double	GetSclZ () const
CTransformation &	SetRotationFromMatrix3 (const CMatrix3 &in_matrix3)
CMatrix3	GetRotationMatrix3 () const
CTransformation &	SetRotationFromQuaternion (const CQuaternion &in_quaternion)
CQuaternion	GetRotationQuaternion (void) const
CTransformation &	InvertInPlace ()
CTransformation &	Invert (const CTransformation &in_transfo)
bool	EpsilonEquals (const CTransformation &in_transformation, double in_dEpsilon) const
bool	Equals (const CTransformation &in_transformation) const
bool	operator== (const CTransformation &in_transformation) const
bool	operator!= (const CTransformation &in_transformation) const

Constructor & Destructor Documentation

CTransformation ( )

Default constructor.

CTransformation ( const CTransformation & in_transformation )

Copy constructor.

Parameters:

in_transformation constant class object.

~CTransformation ( )

Default destructor.

Member Function Documentation

CTransformation& operator= ( const CTransformation & in_transformation )

Assignment operator.

Parameters:

in_transformation constant class object.

Returns:: A reference to this transformation.

CMatrix4 GetMatrix4 ( ) const

Returns the matrix representation values .

Returns:: The transformation values.

void SetMatrix4 ( const CMatrix4 & in_matrix4 )

Sets the matrix representation values of this transformation from the matrix in_matrix4.

Parameters:

in_matrix4 matrix operand.

CTransformation& SetRotation ( const CRotation & in_Rotation )

Sets the rotation

Parameters:

in_Rotation Source rotation

Returns:: A reference to this transformation.

CRotation GetRotation ( ) const

Returns the rotation

Returns:: CRotation

CTransformation& SetRotX ( const double & in_dX )

Sets the rotation angle (in degrees) around the X axis of this transformation.

Parameters:

in_dX Rotation around X.

Returns:: A reference to this transformation.

Since:: 5.1

double GetRotX ( ) const

Returns the rotation angle (in degrees) around the X axis of this transformation.

Returns:: A double containing the rotation angle around X.

Since:: 5.1

CTransformation& SetRotY ( const double & in_dY )

Sets the rotation angle (in degrees) around the Y axis of this transformation.

Parameters:

in_dY Rotation around Y.

Returns:: A reference to this transformation.

Since:: 5.1

double GetRotY ( ) const

Returns the rotation angle (in degrees) around the Y axis of this transformation.

Returns:: A double containing the rotation angle around Y.

Since:: 5.1

CTransformation& SetRotZ ( const double & in_dZ )

Sets the rotation angle (in degrees) around the Z axis of this transformation.

Parameters:

in_dZ Rotation around Z.

Returns:: A reference to this transformation.

Since:: 5.1

double GetRotZ ( ) const

Returns the rotation angle (in degrees) around the Z axis of this transformation.

Returns:: A double containing the rotation angle around Z.

Since:: 5.1

void PutRotationOrder ( CRotation::RotationOrder in_Order )

Sets the rotation order. Softimage uses the CRotation::siXYZ order by default. The rotation order is usually changed in order to fix Gimbal locks or to reuse data from a module using a different rotation order.

Parameters:

in_Order New rotation order to use

See also:: CTransformation::GetRotationOrder

CRotation::RotationOrder GetRotationOrder ( ) const

Returns the current rotation order.

Returns:: The rotation order

See also:: CTransformation::PutRotationOrder

CTransformation& SetRotationFromXYZAnglesValues	(	double	in_dX,
		double	in_dY,
		double	in_dZ,
		CRotation::RotationOrder	in_Order
	)

Sets the Euler angles of the rotation and rotation order. Softimage uses the CRotation::siXYZ order by default. The rotation order is usually changed in order to fix Gimbal locks or to reuse data from a module using a different rotation order. Most users can use the overloaded function without the rotation order parameter if they work exclusively with Softimage.

Parameters:

in_dX	X euler angle value
in_dY	Y euler angle value
in_dZ	Z euler angle value
in_Order	Rotation order

Returns:: A reference to this transformation.

See also:: CTransformation::PutRotationOrder, CTransformation::GetRotationOrder

CTransformation& SetRotationFromXYZAnglesValues	(	double	in_dX,
		double	in_dY,
		double	in_dZ
	)

Sets the Euler angles of the rotation

Note:: This function does not change the rotation order. You can use the overloaded version of this function to set the rotation order

Parameters:

in_dX	X euler angle value
in_dY	Y euler angle value
in_dZ	Z euler angle value

Returns:: A reference to this transformation.

void GetRotationFromXYZAnglesValues	(	double &	io_dX,
		double &	io_dY,
		double &	io_dZ
	)		const

Returns the Euler angle values of the rotation.

Parameters:

io_dX	X euler angle value
io_dY	Y euler angle value
io_dZ	Z euler angle value

CTransformation& MulInPlace ( const CTransformation & in_transformation )

Combines this transformations with in_transformation then stores the result in this transformation

Parameters:

in_transformation transformation operand

Returns:: A reference to this transformation.

CTransformation& Mul	(	const CTransformation &	in_transformationA,
		const CTransformation &	in_transformationB
	)

Combines the transformations A and B then stores the result in this transformation.

Parameters:

in_transformationA	transformation operand
in_transformationB	transformation operand

Returns:: A reference to this transformation.

CTransformation& AddParentTranslation ( const CVector3 & in_vector3 )

Applies a translation defined in the parent space of this transformation.

Parameters:

in_vector3 translation vector.

Returns:: A reference to this transformation.

CTransformation& AddLocalTranslation ( const CVector3 & in_vector3 )

Applies a translation defined in the local space of this transformation.

Parameters:

in_vector3 translation vector.

Returns:: A reference to this transformation.

CTransformation& AddParentScaling ( const CVector3 & in_vector3 )

Applies a scaling defined in the parent space of this transformation.

Parameters:

in_vector3 scaling vector.

Returns:: A reference to this transformation.

CTransformation& AddLocalScaling ( const CVector3 & in_vector3 )

Applies a scaling defined in the local space of this transformation.

Parameters:

in_vector3 scaling vector.

Returns:: A reference to this transformation.

CTransformation& SetRotationFromXYZAxes	(	const CVector3 &	in_vector3X,
		const CVector3 &	in_vector3Y,
		const CVector3 &	in_vector3Z
	)

Sets the rotation part of this transformation from three orthonormal axes. No verification is performed about their orthonormality.

Parameters:

in_vector3X	unitary X axis (orthogonal to Y and Z)
in_vector3Y	unitary Y axis (orthogonal to X and Z)
in_vector3Z	unitary Z axis (orthogonal to X and Y)

Returns:: A reference to this transformation.

CTransformation& SetTranslationFromValues	(	double	in_dX,
		double	in_dY,
		double	in_dZ
	)

Sets the translation of this transformation.

Parameters:

in_dX	translation in X.
in_dY	translation in Y.
in_dZ	translation in Z.

Returns:: A reference to this transformation.

void GetTranslationValues	(	double &	io_dX,
		double &	io_dY,
		double &	io_dZ
	)		const

Returns the translation values of this transformation.

Parameters:

io_dX	translation in X.
io_dY	translation in Y.
io_dZ	translation in Z.

CTransformation& SetScalingFromValues	(	double	in_dX,
		double	in_dY,
		double	in_dZ
	)

Sets the scaling of this transformation.

Parameters:

in_dX	scaling in X.
in_dY	scaling in Y.
in_dZ	scaling in Z.

Returns:: A reference to this transformation.

void GetScalingValues	(	double &	io_dX,
		double &	io_dY,
		double &	io_dZ
	)		const

Returns the scaling values of this transformation.

Parameters:

io_dX	scaling in X.
io_dY	scaling in Y.
io_dZ	scaling in Z.

void GetScalingOrientationXYZAngles	(	double &	io_dX,
		double &	io_dY,
		double &	io_dZ
	)		const

Returns the scaling orientation values of this transformation.

Parameters:

io_dX	scaling in X.
io_dY	scaling in Y.
io_dZ	scaling in Z.

CTransformation& SetScalingOrientationFromXYZAngles	(	double	in_dX,
		double	in_dY,
		double	in_dZ
	)

Sets the scaling orientation angles of this transformation

Parameters:

in_dX	scaling orientation X angle.
in_dY	scaling orientation Y angle.
in_dZ	scaling orientation Z angle.

Returns:: A reference to this transformation.

bool HasScalingOrientation ( ) const

Returns whether this transformation has a valid scaling orientation.

Returns:: true if this transformation has a valid scaling orientation, else false.

CTransformation& SetIdentity ( )

Sets this transformation to identity.

Returns:: A reference to this transformation.

CTransformation& SetTranslation ( const CVector3 & in_vector3 )

Sets the translation of this transformation. The translation is defined by a CVector3.

Parameters:

in_vector3 vector of translation.

Returns:: A reference to this transformation.

CVector3 GetTranslation ( ) const

Returns the translation vector of this transformation in a CVector3.

Returns:: The translation.

CTransformation& SetPosX ( const double & in_dX )

Sets the X position of this transformation.

Parameters:

in_dX Position in X.

Returns:: A reference to this transformation.

Since:: 5.1

double GetPosX ( ) const

Returns the X position value of this transformation.

Returns:: A double containing the X position value.

Since:: 5.1

CTransformation& SetPosY ( const double & in_dY )

Sets the Y position of this transformation.

Parameters:

in_dY Position in Y.

Returns:: A reference to this transformation.

Since:: 5.1

double GetPosY ( ) const

Returns the Y position value of this transformation.

Returns:: A double containing the Y position value.

Since:: 5.1

CTransformation& SetPosZ ( const double & in_dZ )

Sets the Z position of this transformation.

Parameters:

in_dZ Position in Z.

Returns:: A reference to this transformation.

Since:: 5.1

double GetPosZ ( ) const

Returns the Z position value of this transformation.

Returns:: A double containing the Z position value.

Since:: 5.1

CTransformation& SetRotationFromAxisAngle	(	const CVector3 &	in_vector3,
		double	in_dAngle
	)

Sets the rotation part of this transformation by using the axis/angle representation.

Parameters:

in_vector3	Axis of rotation.
in_dAngle	Angle of rotation (in radians).

Returns:: A reference to this transformation.

CTransformation& SetRotationFromXYZAngles ( const CVector3 & in_vector3 )

Sets the X, Y and Z angles (in radians) of the rotation part of this transformation.

Parameters:

in_vector3 vector containing X,Y and Z angles values(in radians).

Returns:: A reference to this transformation.

double GetRotationAxisAngle ( CVector3 & io_vector3 ) const

Extracts the axis and angle from the rotation part of this transformation.

Parameters:

io_vector3 Axis of rotation.

Returns:: Angle of rotation in radians as a double.

CVector3 GetRotationXYZAngles ( ) const

Extracts the X, Y and Z angles (in radians) from the rotation part of this transformation inside the CVector3.

Returns:: The rotation X,Y and Z angles (in radians) as a CVector3 object.

CTransformation& SetScaling ( const CVector3 & in_vector3 )

Sets the scaling of this transformation by getting the values from a CVector3.

Parameters:

in_vector3 Vector containing X,Y and Z scaling values.

Returns:: A reference to this transformation.

CVector3 GetScaling ( ) const

Returns the scaling values of this transformation in a CVector3.

Returns:: A CVector3 containing the X,Y and Z scaling values.

CTransformation& SetSclX ( const double & in_dX )

Sets the scaling in X of this transformation.

Parameters:

in_dX Scaling in X.

Returns:: A reference to this transformation.

Since:: 5.1

double GetSclX ( ) const

Returns the scaling value in X of this transformation.

Returns:: A double containing the X scaling value.

Since:: 5.1

CTransformation& SetSclY ( const double & in_dY )

Sets the scaling in Y of this transformation.

Parameters:

in_dY Scaling in Y.

Returns:: A reference to this transformation.

Since:: 5.1

double GetSclY ( ) const

Returns the scaling value in Y of this transformation.

Returns:: A double containing the Y scaling valus.

Since:: 5.1

CTransformation& SetSclZ ( const double & in_dZ )

Sets the scaling in Z of this transformation.

Parameters:

in_dZ Scaling in Z.

Returns:: A reference to this transformation.

Since:: 5.1

double GetSclZ ( ) const

Returns the scaling value in Z of this transformation.

Returns:: A double containing the Z scaling value.

Since:: 5.1

CTransformation& SetRotationFromMatrix3 ( const CMatrix3 & in_matrix3 )

Sets the rotation of this transformation by getting the values from a CMatrix3.

Parameters:

in_matrix3 3x3 matrix containing the rotation information to set this tranformation's rotation.

Returns:: A reference to this transformation.

CMatrix3 GetRotationMatrix3 ( ) const

Returns the 3x3 matrix representation of the rotation part of this transformation.

Returns:: A CMatrix3 object containing rotation of this transformation.

CTransformation& SetRotationFromQuaternion ( const CQuaternion & in_quaternion )

Sets the rotation of this transformation by getting the values from a CQuaternion.

Parameters:

in_quaternion quaternion containing the rotation information to set this tranformation's rotation.

Returns:: A reference to this transformation.

CQuaternion GetRotationQuaternion ( void ) const

Returns the rotation quaternion for this transformation.

Returns:: A CQuaternion containing rotation of this transformation.

CTransformation& InvertInPlace ( )

Inverts this CTransformation object

CTransformation& Invert ( const CTransformation & in_transfo )

Inverts the given CTransformation object

Parameters:

in_transfo transformation to be inverted.

bool EpsilonEquals	(	const CTransformation &	in_transformation,
		double	in_dEpsilon
	)		const

Tests the equality of this transformation with the specified transformation, with a tolerance of Epsilon.

Parameters:

in_transformation	Operand transformation.
in_dEpsilon	Error margin Possible Values: [0, +INF[ should be a positive value

Returns:: true if equal else false.

bool Equals ( const CTransformation & in_transformation ) const

Tests the strict equality of this transformation with the specified transformation.

Parameters:

in_transformation Operand transformation.

Returns:: true if equal else false.

bool operator== ( const CTransformation & in_transformation ) const

Equality operator tests the strict equality of this transformation with the specified transformation.

Parameters:

in_transformation Operand transformation.

Returns:: true if equal else false.

See also:: CTransformation::Equals

bool operator!= ( const CTransformation & in_transformation ) const

Inequality operator tests the strict inequality of this matrix with the specified transform.

Parameters:

in_transformation Operand transformation.

Returns:: true if equal else false.

See also:: CTransformation::Equals

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

xsi_transformation.h

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation