MTransformationMatrix Class Reference
[OpenMaya - API module for common classes]

#include <MTransformationMatrix.h>

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List of all members.


Detailed Description

Transformation matrix.

An MTransformationMatrix allows the manipulation of the individual transformation components (eg scale, rotation, shear, etc) of a four by four transformation matrix.

The transformation in the node is represented as a 4x4 transformation matrix. This class allows access to the whole matrix, or the individual components (eg scale, rotation, shear, etc) of the transformation. This breakdown provides animators fine control over the animation of these parameters. Therefore, it is necessary to describe the order in which these attributes are applied to build the final matrix attribute.

A transformation matrix is composed of the following components:

Note that the default RotationOrder is kXYZ.

The matrices are post-multiplied in Maya. For example, to transform a point P from object-space to world-space (P') you would need to post-multiply by the worldMatrix. (P' = P x WM)

The transformation matrix is then constructed as follows:

     -1                       -1
  [Sp]x[S]x[Sh]x[Sp]x[St]x[Rp]x[Ro]x[R]x[Rp]x[Rt]x[T]

where 'x' denotes matrix multiplication and '-1' denotes matrix inversion

     Sp = |  1    0    0    0 |     St = |  1    0    0    0 |
          |  0    1    0    0 |          |  0    1    0    0 |
          |  0    0    1    0 |          |  0    0    1    0 |
          | spx  spy  spz   1 |          | sptx spty sptz  1 |

     S  = |  sx   0    0    0 |     Sh = |  1    0    0    0 |
          |  0    sy   0    0 |          | shxy  1    0    0 |
          |  0    0    sz   0 |          | shxz shyz  1    0 |
          |  0    0    0    1 |          |  0    0    0    1 |

     Rp = |  1    0    0    0 |     Rt = |  1    0    0    0 |
          |  0    1    0    0 |          |  0    1    0    0 |
          |  0    0    1    0 |          |  0    0    1    0 |
          | rpx  rpy  rpz   1 |          | rptx rpty rptz  1 |

     Ro = AX * AY * AZ

     AX = |  1    0    0    0 |     AY = |  cy   0   -sy   0 |
          |  0    cx   sx   0 |          |  0    1    0    0 |
          |  0   -sx   cx   0 |          |  sy   0    cy   0 |
          |  0    0    0    1 |          |  0    0    0    1 |

     AZ = |  cz   sz   0    0 |     sx = sin(rax), cx = cos(rax)
          | -sz   cz   0    0 |     sy = sin(ray), cx = cos(ray)
          |  0    0    1    0 |     sz = sin(raz), cz = cos(raz)
          |  0    0    0    1 |

         R  = RX * RY * RZ  (Note: order is determined by rotateOrder)

     RX = |  1    0    0    0 |     RY = |  cy   0   -sy   0 |
          |  0    cx   sx   0 |          |  0    1    0    0 |
          |  0   -sx   cx   0 |          |  sy   0    cy   0 |
          |  0    0    0    1 |          |  0    0    0    1 |

     RZ = |  cz   sz   0    0 |     sx = sin(rx), cx = cos(rx)
          | -sz   cz   0    0 |     sy = sin(ry), cx = cos(ry)
          |  0    0    1    0 |     sz = sin(rz), cz = cos(rz)
          |  0    0    0    1 |

     T  = |  1    0    0    0 |
          |  0    1    0    0 |
          |  0    0    1    0 |
          |  tx   ty   tz   1 |
Examples:

buildRotationNode.cpp, D3DResourceManager.cpp, D3DViewportRenderer.cpp, dagPoseInfoCmd.cpp, hwReflectBumpShader_NV20.cpp, hwRefractReflectShader_NV20.cpp, rockingTransform.cpp, scanDagCmd.cpp, scanDagSyntax.cpp, simpleFluidEmitter.cpp, squareScaleManipContext.cpp, and surfaceBumpManip.cpp.


Public Types

enum  RotationOrder {
  kInvalid, kXYZ, kYZX, kZXY,
  kXZY, kYXZ, kZYX, kLast
}
 Order of rotation. More...

Public Member Functions

 ~MTransformationMatrix ()
 MTransformationMatrix ()
 MTransformationMatrix (const MTransformationMatrix &src)
 MTransformationMatrix (const MMatrix &src)
MTransformationMatrixoperator= (const MTransformationMatrix &src)
MTransformationMatrixoperator= (const MMatrix &src)
MMatrix asMatrix () const
MMatrix asMatrix (double percent) const
MMatrix asMatrixInverse () const
MMatrix asScaleMatrix () const
MMatrix asRotateMatrix () const
MStatus getScale (double scale[3], MSpace::Space space) const
MStatus setScale (const double scale[3], MSpace::Space space)
MStatus addScale (const double scale[3], MSpace::Space space)
MQuaternion rotation () const
MTransformationMatrixrotateTo (const MQuaternion &q)
MTransformationMatrixrotateBy (const MQuaternion &q, MSpace::Space space, MStatus *ReturnStatus=NULL)
MEulerRotation eulerRotation () const
MTransformationMatrixrotateTo (const MEulerRotation &e)
MTransformationMatrixrotateBy (const MEulerRotation &e, MSpace::Space space, MStatus *ReturnStatus=NULL)
MStatus getRotationQuaternion (double &x, double &y, double &z, double &w) const
MStatus setRotationQuaternion (double x, double y, double z, double w)
MStatus addRotationQuaternion (double x, double y, double z, double w, MSpace::Space)
MStatus getRotation (double[3], RotationOrder &order) const
MStatus setRotation (const double rotation[3], RotationOrder order)
MStatus addRotation (const double rotation[3], RotationOrder order, MSpace::Space)
RotationOrder rotationOrder (MStatus *ReturnStatus=NULL) const
MStatus reorderRotation (RotationOrder &order)
MStatus setToRotationAxis (const MVector &axis, double rotation)
MQuaternion rotationOrientation () const
MTransformationMatrixsetRotationOrientation (const MQuaternion &q)
MVector getTranslation (MSpace::Space, MStatus *ReturnStatus=NULL) const
MStatus setTranslation (const MVector &vector, MSpace::Space)
MStatus addTranslation (const MVector &vector, MSpace::Space)
MStatus setShear (const double shear[3], MSpace::Space space)
MStatus getShear (double shear[3], MSpace::Space space) const
MStatus addShear (const double shear[3], MSpace::Space space)
MPoint scalePivot (MSpace::Space, MStatus *ReturnStatus=NULL) const
MStatus setScalePivot (const MPoint &, MSpace::Space, bool balance)
MVector scalePivotTranslation (MSpace::Space, MStatus *ReturnStatus=NULL) const
MStatus setScalePivotTranslation (const MVector &vector, MSpace::Space)
MPoint rotatePivot (MSpace::Space, MStatus *ReturnStatus=NULL) const
MStatus setRotatePivot (const MPoint &point, MSpace::Space, bool balance)
MVector rotatePivotTranslation (MSpace::Space space, MStatus *ReturnStatus=NULL) const
MStatus setRotatePivotTranslation (const MVector &vector, MSpace::Space space)
bool isEquivalent (const MTransformationMatrix &other, double tolerance=1.0e-10) const
bool operator== (const MTransformationMatrix &other) const
bool operator!= (const MTransformationMatrix &other) const
MStatus getRotation (double[3], RotationOrder &order, MSpace::Space) const
 This method is obsolete.
MStatus setRotation (const double rotation[3], RotationOrder order, MSpace::Space)
 This method is obsolete.
MStatus getRotationQuaternion (double &x, double &y, double &z, double &w, MSpace::Space) const
 This method is obsolete.
MStatus setRotationQuaternion (double x, double y, double z, double w, MSpace::Space)
 This method is obsolete.
MVector translation (MSpace::Space, MStatus *ReturnStatus=NULL) const
 This method is obsolete.

Member Enumeration Documentation

Order of rotation.

Enumerator:
kInvalid   
kXYZ   
kYZX   
kZXY   
kXZY   
kYXZ   
kZYX   
kLast   


Constructor & Destructor Documentation

MTransformationMatrix::~MTransformationMatrix (  ) 

Class Destructor.

MTransformationMatrix::MTransformationMatrix (  ) 

Class Constructor.

MTransformationMatrix::MTransformationMatrix ( const MTransformationMatrix src  ) 

Class Copy Constructor.

Parameters:
[in] src transform matrix to be copied

MTransformationMatrix::MTransformationMatrix ( const MMatrix src  ) 

Class Constructor.

Parameters:
[in] src matrix to be copied


Member Function Documentation

MTransformationMatrix & MTransformationMatrix::operator= ( const MTransformationMatrix src  ) 

Copy operator.

Parameters:
[in] src transform matrix to be copied

MTransformationMatrix & MTransformationMatrix::operator= ( const MMatrix src  ) 

Copy operator.

Parameters:
[in] src matrix to be copied
Returns:
This transformation matrix

MMatrix MTransformationMatrix::asMatrix (  )  const

Returns the four by four matrix that describes this transformation

Returns:
The matrix
Examples:

MMatrix MTransformationMatrix::asMatrix ( double  percent  )  const

Returns a matrix that represents the specified percentage of this transformation matrix.

Parameters:
[in] percent percent of the transformation to return
Returns:
The percentage matrix

MMatrix MTransformationMatrix::asMatrixInverse (  )  const

Returns the inverse of the four by four matrix that describes this transformation.

Returns:
The matrix

MMatrix MTransformationMatrix::asScaleMatrix (  )  const

Returns scale space matrix. The scale space matrix takes points from object space to the space immediately following scale and shear transformations.

Returns:
The scale space matrix

MMatrix MTransformationMatrix::asRotateMatrix (  )  const

Returns rotate space matrix. The rotate space matrix takes points from object space to the space immediately following the scale/shear/rotation transformations.

Returns:
The rotate space matrix
Examples:

MStatus MTransformationMatrix::getScale ( double  scale[3],
MSpace::Space  space 
) const

Get the scale component of the transformation matrix.

Parameters:
[out] scale storage for the scale component
[in] space transform space in which to get the scale
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::setScale ( const double  scale[3],
MSpace::Space  space 
)

Set the scale component of the transformation matrix.

Parameters:
[in] scale new scale component
[in] space transform space in which to perform the scale
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::addScale ( const double  scale[3],
MSpace::Space  space 
)

Add to the scale component by scaling relative to the existing transformation.

Parameters:
[in] scale relative value to scale by
[in] space transform space in which to perform the scale
Returns:
Return status
Status Codes:

MQuaternion MTransformationMatrix::rotation (  )  const

Returns the rotation component of the transformation matrix as a quaternion. The rotation is returned in MSpace::kTransform space.

Returns:
Quaternion that is the rotation component of the transformation matrix

MTransformationMatrix & MTransformationMatrix::rotateTo ( const MQuaternion q  ) 

Sets the rotation component of the transformation matrix using a quaternion. The rotation is performed in MSpace::kTransform space.

Parameters:
[in] q the quaternion to which the rotation component of the transformation matrix should be set
Returns:
A reference to the resulting transformation matrix

MTransformationMatrix & MTransformationMatrix::rotateBy ( const MQuaternion q,
MSpace::Space  space,
MStatus ReturnStatus = NULL 
)

Adds to the rotation component of the rotation matrix by rotating relative to the existing transformation using a quaternion. The only valid transformation spaces for this method are MSpace::kTransform and MSpace::kPreTransform/MSpacekObject. All other spaces are treated as being equivalent to MSpace::kTransform.

Parameters:
[in] q the quaternion that indicates how much the transformation matrix will be rotated by
[in] space the space in which the rotation is performed
[out] ReturnStatus return status
Returns:
A reference to the resulting transformation matrix
Status Codes:

MEulerRotation MTransformationMatrix::eulerRotation (  )  const

Returns the rotation component of the transformation matrix as an euler rotation.

Returns:
Euler rotation that is the rotation component of the transformation matrix

MTransformationMatrix & MTransformationMatrix::rotateTo ( const MEulerRotation e  ) 

Sets the rotation component of the transformation matrix using an euler rotation. The rotation is performed in MSpace::kTransform space.

Parameters:
[in] e the euler rotation to which the rotation component of the transformation matrix should be set
Returns:
A reference to the resulting transformation matrix

MTransformationMatrix & MTransformationMatrix::rotateBy ( const MEulerRotation e,
MSpace::Space  space,
MStatus ReturnStatus = NULL 
)

Adds to the rotation component of the rotation matrix by rotating relative to the existing transformation using an euler rotation. The only valid transformation spaces for this method are MSpace::kTransform and MSpace::kPreTransform/MSpacekObject. All other spaces are treated as being equivalent to MSpace::kTransform.

Parameters:
[in] e the euler rotation that indicates how much the transformation matrix will be rotated by
[in] space the space in which the rotation is performed
[out] ReturnStatus return status
Returns:
A reference to the resulting transformation matrix
Status Codes:

MStatus MTransformationMatrix::getRotationQuaternion ( double &  x,
double &  y,
double &  z,
double &  w 
) const

Get the rotation component of the transformation matrix as a quaternion. The rotation is retrieved in MSpace::kTransform space.

Parameters:
[out] x storage for the x component of the quaternion
[out] y storage for the y component of the quaternion
[out] z storage for the z component of the quaternion
[out] w storage for the w component of the quaternion
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::setRotationQuaternion ( double  x,
double  y,
double  z,
double  w 
)

Set the rotation component of the transformation matrix using a quaternion. The rotation is set in MSpace::kTransform space.

Parameters:
[in] x x component of new quaternion
[in] y y component of new quaternion
[in] z z component of new quaternion
[in] w w component of new quaternion
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::addRotationQuaternion ( double  x,
double  y,
double  z,
double  w,
MSpace::Space  space 
)

Add to the rotation component by rotating relative to the existing transformation. Rotation is a quaternion. The only valid transformation spaces for this method are MSpace::kTransform and MSpace::kPreTransform. All other spaces are treated as being equivalent to MSpace::kTransform.

Parameters:
[in] x x component of quaternion
[in] y y component of quaternion
[in] z z component of quaternion
[in] w w component of quaternion
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::getRotation ( double  rot[3],
MTransformationMatrix::RotationOrder order 
) const

Get the rotation component of the transformation matrix in radians. The rotation is retrieved in MSpace::kTransform space.

Parameters:
[out] rot storage for the rotation in radians
[in] order storage for the rotation order
Returns:
Return status
Status Codes:
Examples:

MStatus MTransformationMatrix::setRotation ( const double  rot[3],
MTransformationMatrix::RotationOrder  order 
)

Set the rotation component of the transformation matrix. The rotation is set in MSpace::kTransform space.

Parameters:
[in] rot new rotation component in radians
[in] order order in which to apply rotations
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::addRotation ( const double  rot[3],
MTransformationMatrix::RotationOrder  order,
MSpace::Space  space 
)

Add to the rotation component by rotating relative to the existing transformation. The only valid transformation spaces for this method are MSpace::kTransform and MSpace::kPreTransform. All other spaces are treated as being equivalent to MSpace::kTransform.

Parameters:
[in] rot relative value to rotate by
[in] space transform space in which to perform the rotation
Returns:
Return status
Status Codes:

MTransformationMatrix::RotationOrder MTransformationMatrix::rotationOrder ( MStatus ReturnStatus = NULL  )  const

Returns the rotation order for the transform matrix. That is the order in which the Euler angles are applied to create the end rotation.

Parameters:
[out] ReturnStatus return status
Returns:
Rotation order
Status Codes:

MStatus MTransformationMatrix::reorderRotation ( RotationOrder order  ) 

Reorders the x, y, and z components of the rotation of this transform. The overall rotation will remain the same. This operation is not unique, so spin information will be lost.

Parameters:
[in] order new order of the rotations
Returns:
Return status
Status Codes:
Examples:

MStatus MTransformationMatrix::setToRotationAxis ( const MVector axis,
double  rotation 
)

Sets the rotation given an axis and a rotation about it.

Parameters:
[in] axis axis to rotate about
[in] rotation rotation in radians
Returns:
Return status
Status Codes:
Examples:

MQuaternion MTransformationMatrix::rotationOrientation (  )  const

Returns the rotation orientation for the transformation matrix. The rotation orientation is the rotation that orients the local rotation space. The rotation is returned in MSpace::kTransform space.

Returns:
Rotation orientation

MTransformationMatrix & MTransformationMatrix::setRotationOrientation ( const MQuaternion q  ) 

Sets the rotation orientation for the transformation matrix. The rotation orientation is the rotation that orients the local rotation space. The rotation is set in MSpace::kTransform space.

Returns:
Rotation orientation

MVector MTransformationMatrix::getTranslation ( MSpace::Space  space,
MStatus ReturnStatus = NULL 
) const

Returns the translation component of the translation as a vector in centimeters.

Parameters:
[in] space space in which to perform the translation
[out] ReturnStatus return status
Returns:
Translation vector in centimeters
Status Codes:
Examples:

MStatus MTransformationMatrix::setTranslation ( const MVector vector,
MSpace::Space  space 
)

Set the translation component of the transformation matrix in centimeters.

Parameters:
[in] vector new translation component in centimeters.
[in] space transform space in which to perform the translation
Returns:
Return status
Status Codes:
Examples:

MStatus MTransformationMatrix::addTranslation ( const MVector vector,
MSpace::Space  space 
)

Add to the translation component by translating relative to the existing transformation.

Parameters:
[in] vector relative value to translate by
[in] space transform space in which to perform the scale
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::setShear ( const double  shear[3],
MSpace::Space  space 
)

Set the shear component of the transformation matrix. The shear values represent (xy, xz, yx).

Parameters:
[in] shear new shear component
[in] space transform space in which to perform the shear
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::getShear ( double  shear[3],
MSpace::Space  space 
) const

Get the shear component of the transformation matrix.

Parameters:
[out] shear Shear.
[in] space Transform space in which to get the shear.
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::addShear ( const double  shear[3],
MSpace::Space  space 
)

Add to the shear component by shearing relative to the existing transformation.

Parameters:
[in] shear relative value to shear by
[in] space transform space in which to perform the shear
Returns:
Return status
Status Codes:

MPoint MTransformationMatrix::scalePivot ( MSpace::Space  space,
MStatus ReturnStatus = NULL 
) const

Returns the pivot around which the scale is applied.

Parameters:
[in] space space in which to get the pivot
[out] ReturnStatus return status
Returns:
Scale pivot point
Status Codes:

MStatus MTransformationMatrix::setScalePivot ( const MPoint point,
MSpace::Space  space,
bool  balance 
)

Set the pivot around which the scale is applied.

If balance if true, then the overall transformation matrix will not change and a compensating transformation will be added to the scale transformation to achieve this.

Parameters:
[in] point new scale pivot
[in] space transform space in which to set the scale pivot
[in] balance whether to balance the matrix
Returns:
Return status
Status Codes:

MVector MTransformationMatrix::scalePivotTranslation ( MSpace::Space  space,
MStatus ReturnStatus = NULL 
) const

Returns the scale pivot translation. This is the translation that is used to compensate for the movement of the scale pivot.

Parameters:
[in] space space in which to get the pivot
[out] ReturnStatus return status
Returns:
Scale pivot translation
Status Codes:

MStatus MTransformationMatrix::setScalePivotTranslation ( const MVector vector,
MSpace::Space  space 
)

Set the pivot translation. This component is used to preserve existing scale transformations when moving pivot. This method will only be useful to advanced users.

Parameters:
[in] vector new scale pivot translation
[in] space transform space in which to set the scale translation
Returns:
Return status
Status Codes:

MPoint MTransformationMatrix::rotatePivot ( MSpace::Space  space,
MStatus ReturnStatus = NULL 
) const

Returns the pivot around which the rotation is applied.

Parameters:
[in] space space in which to get the pivot
[out] ReturnStatus return status
Returns:
Rotation pivot point
Status Codes:

MStatus MTransformationMatrix::setRotatePivot ( const MPoint point,
MSpace::Space  space,
bool  balance 
)

Set the pivot around which the rotation is applied.

If balance if true, then the overall transformation matrix will not change and a compensating transformation will be added to the rotation transformation to achieve this.

Parameters:
[in] point new rotation pivot
[in] space transform space in which to set the pivot
[in] balance whether to balance the matrix
Returns:
Return status
Status Codes:

MVector MTransformationMatrix::rotatePivotTranslation ( MSpace::Space  space,
MStatus ReturnStatus = NULL 
) const

Returns the rotation pivot translation. This is the translation that is used to compensate for the movement of the rotation pivot.

Parameters:
[in] space space in which to get the pivot translation
[out] ReturnStatus return status
Returns:
Scale pivot translation
Status Codes:

MStatus MTransformationMatrix::setRotatePivotTranslation ( const MVector vector,
MSpace::Space  space 
)

Set the pivot translation. This component is used to preserve existing transformations when moving pivot. This method will only be useful to advanced users.

Parameters:
[in] vector new rotation pivot translation
[in] space transform space in which to set the rotation translation
Returns:
Return status
Status Codes:

bool MTransformationMatrix::isEquivalent ( const MTransformationMatrix other,
double  tol = 1.0e-10 
) const

Returns true if this transform matrix is equivalent to the one passed in within a certain tolerance.

Parameters:
[in] other transform matrix to test against
[in] tol tolerance to test using
Returns:
True if equivalent

bool MTransformationMatrix::operator== ( const MTransformationMatrix other  )  const

Equality operator.

Parameters:
[in] other transform matrix to test against
Returns:
True if equal

bool MTransformationMatrix::operator!= ( const MTransformationMatrix other  )  const

Inequality operator.

Parameters:
[in] other transform matrix to test against
Returns:
True if not equal

MStatus MTransformationMatrix::getRotation ( double  rot[3],
MTransformationMatrix::RotationOrder order,
MSpace::Space  space 
) const

This method is obsolete.

Deprecated:
Use the other MTransformationMatrix::getRotation method instead.
This method will be removed in a future Maya release. The transformation space argument was always treated as MSpace::kTransform regardless of the actual argument.

Get the rotation component in radians of the transformation matrix.

Parameters:
[out] rot storage for the rotation in radians
[out] order storage for the rotation order
[in] space transform space in which to get the rotation
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::setRotation ( const double  rot[3],
MTransformationMatrix::RotationOrder  order,
MSpace::Space  space 
)

This method is obsolete.

Deprecated:
Use the other MTransformationMatrix::setRotation method instead.
The transformation space argument was always treated as MSpace::kTransform regardless of the actual argument.

Set the rotation component of the transformation matrix.

Parameters:
[in] rot new rotation component
[in] order order in which to apply rotations
[in] space transform space in which to perform the rotation
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::getRotationQuaternion ( double &  x,
double &  y,
double &  z,
double &  w,
MSpace::Space  space 
) const

This method is obsolete.

Deprecated:
Use the other MTransformationMatrix::getRotationQuaternion method instead.
The transformation space argument was always treated as MSpace::kTransform regardless of the actual argument.

Get the rotation component of the transformation matrix as a quaternion.

Parameters:
[out] x storage for the x component of the quaternion
[out] y storage for the y component of the quaternion
[out] z storage for the z component of the quaternion
[out] w storage for the w component of the quaternion
[in] space transform space in which to get the rotation
Returns:
Return status
Status Codes:

MStatus MTransformationMatrix::setRotationQuaternion ( double  x,
double  y,
double  z,
double  w,
MSpace::Space  space 
)

This method is obsolete.

Deprecated:
Use the other MTransformationMatrix::setRotationQuaternion method instead.
The transformation space argument was always treated as MSpace::kTransform regardless of the actual argument.

Set the rotation component of the transformation matrix using a quaternion.

Parameters:
[in] x x component of new quaternion
[in] y y component of new quaternion
[in] z z component of new quaternion
[in] w w component of new quaternion
[in] space transform space in which to perform the rotation
Returns:
Return status
Status Codes:

MVector MTransformationMatrix::translation ( MSpace::Space  space,
MStatus ReturnStatus = NULL 
) const

This method is obsolete.

Deprecated:
Use MTransformationMatrix::getTranslation instead.
Returns the translation component of the translation as a vector in centimeters.

Parameters:
[in] space space in which to perform the translation
[out] ReturnStatus return status
Returns:
Translation vector in centimeters
Status Codes:
Examples:


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