4x4 matrix class (double precision). More...

#include <Inventor/SbMatrix.h>

Public Member Functions
	SbMatrixd ()
	Default constructor.

	SbMatrixd (double a11, double a12, double a13, double a14, double a21, double a22, double a23, double a24, double a31, double a32, double a33, double a34, double a41, double a42, double a43, double a44)
	Constructor.

	SbMatrixd (const SbMatd &m)
	Constructor.

void	setValue (const SbMatd &m)
	Sets value from 4x4 array of elements.

void	setValue (const double *pMat)
	Sets value from a 16 value double array.

void	setValue (const SbMatrix &m)
	Sets values from a single precision matrix.

void	makeIdentity ()
	Sets matrix to be identity.

void	setRotate (const SbRotationd &q)
	Sets matrix to rotate by given rotation.

void	setScale (double s)
	Sets matrix to scale by given uniform factor.

void	setScale (const SbVec3d &s)
	Sets matrix to scale by given vector.

void	setTranslate (const SbVec3d &t)
	Sets matrix to translate by given vector.

void	setTransform (const SbVec3d &translation, const SbRotationd &rotation, const SbVec3d &scaleFactor, const SbRotationd &scaleOrientation, const SbVec3d &center)
	Composes the matrix based on a translation, rotation, scale, orientation for scale, and center.

void	setTransform (const SbVec3d &t, const SbRotationd &r, const SbVec3d &s)
	Composes the matrix based on a translation, rotation, and scale.

void	setTransform (const SbVec3d &t, const SbRotationd &r, const SbVec3d &s, const SbRotationd &so)
	Composes the matrix based on a translation, rotation, scale, and orientation for scale.

void	getTransform (SbVec3d &translation, SbRotationd &rotation, SbVec3d &scaleFactor, SbRotationd &scaleOrientation, const SbVec3d &center) const
	Decomposes the matrix into a translation, rotation, scale, and scale orientation.

void	getTransform (SbVec3d &t, SbRotationd &r, SbVec3d &s, SbRotationd &so) const
	Return translation, rotation, scale, and scale orientation components of the matrix.

void	getValue (SbMatd &m) const
	Returns matrix as a 4x4 array of elements.

const SbMatd &	getValue () const
	Returns matrix as a 4x4 array of elements.

double	det3 (int r1, int r2, int r3, int c1, int c2, int c3) const
	Returns determinant of 3x3 submatrix composed of given row and column indices (0-3 for each).

double	det3 () const
	Returns determinant of upper-left 3x3 submatrix.

double	det4 () const
	Returns determinant of entire matrix.

SbBool	factor (SbMatrixd &r, SbVec3d &s, SbMatrixd &u, SbVec3d &t, SbMatrixd &proj) const
	Factors a matrix m into 5 pieces: m = r s r^ u t, where r^ means transpose of r, and r and u are rotations, s is a scale, and t is a translation.

SbMatrixd	inverse () const
	Returns inverse of matrix.

void	translate (const SbVec3d &translation)
	Translates this matrice by the given vector.

void	scale (const SbVec3d &scaleFactor)
	Scales this matrice by the given vector.

SbBool	LUDecomposition (int index[4], double &d)
	Perform in-place LU decomposition of matrix.

void	LUBackSubstitution (int index[4], double b[4]) const
	Perform back-substitution on LU-decomposed matrix.

SbMatrixd	transpose () const
	Returns transpose of matrix.

SbMatrixd &	multRight (const SbMatrixd &m)
	Post-multiplies the matrix by given matrix.

SbMatrixd &	multLeft (const SbMatrixd &m)
	Pre-multiplies the matrix by given matrix.

void	multMatrixVec (const SbVec3d &src, SbVec3d &dst) const
	Post-multiplies matrix by given column vector, giving a 3D vector result.

void	multVecMatrix (const SbVec3d &src, SbVec3d &dst) const
	Pre-multiplies matrix by the given row vector, giving a 3D vector result.

void	multVecMatrix (const SbVec3d &src, SbVec4d &dst) const
	Pre-multiplies matrix by the given row vector, giving vector result in homogeneous coordinates.

void	multDirMatrix (const SbVec3d &src, SbVec3d &dst) const
	Pre-multiplies the matrix by the given row vector, giving vector result.

void	multLineMatrix (const SbLined &src, SbLined &dst) const
	Multiplies the given line's origin by the matrix, and the line's direction by the rotation portion of the matrix.

SbVec4d	operator* (const SbVec4d &v)
	Multiply matrix by given vector.

void	print (FILE *fp) const
	Prints a formatted version of the matrix to the given file pointer.

	operator double * ()
	Cast: returns pointer to storage of first element.

	operator SbMatd & ()
	Cast: returns reference to 4x4 array.

double *	operator[] (int i)
	Make it look like a usual matrix (so you can do m[3][2]).

const double *	operator[] (int i) const
	Make it look like a usual matrix (so you can do m[3][2]).

SbMatrixd &	operator= (const SbMatd &m)
	Sets value from 4x4 array of elements.

SbMatrixd &	operator= (const SbMatrixd &m)
	Set the matrix from another SbMatrixd.

SbMatrixd &	operator= (const SbRotationd &q)
	Set the matrix from an SbRotationd.

SbMatrixd &	operator*= (const SbMatrixd &m)
	Post-multiplies the matrix by the given matrix (equivalent to multRight() method).

SbBool	equals (const SbMatrixd &m, double tolerance) const
	Equality comparison within given tolerance, for each component.

bool	isInvertible () const
	Returns true if the matrix is invertible.

Static Public Member Functions
static SbMatrixd	identity ()
	Returns an identity matrix.

Friends
SbVec4d	operator* (const SbVec4d &v, const SbMatrixd &m)
	Multiplies matrices by vector, returning a vector result.

SbMatrixd	operator* (const SbMatrixd &m1, const SbMatrixd &m2)
	Multiplies two matrices, returning a matrix result.

int	operator== (const SbMatrixd &m1, const SbMatrixd &m2)
	Equality comparison operator.

int	operator!= (const SbMatrixd &m1, const SbMatrixd &m2)
	Inequality comparison operator.

Detailed Description

4x4 matrix class (double precision).

4x4 double precision matrix class/datatype. Although Open Inventor fields store only single precision values, for certain applications it is useful and convenient to be able to store and manipulate double precision values, for example, double precision coordinate data or values that will be used for further computation.

See SbMatrix for discussion of storage layout and usage of matrices.

Constructor & Destructor Documentation

◆ SbMatrixd() [1/3]

SbMatrixd::SbMatrixd ( )

inline

Default constructor.

The matrix is initialized with zeros.

Definition at line 762 of file SbMatrix.h.

◆ SbMatrixd() [2/3]

SbMatrixd::SbMatrixd	(	double	a11,
		double	a12,
		double	a13,
		double	a14,
		double	a21,
		double	a22,
		double	a23,
		double	a24,
		double	a31,
		double	a32,
		double	a33,
		double	a34,
		double	a41,
		double	a42,
		double	a43,
		double	a44
	)

Constructor.

◆ SbMatrixd() [3/3]

SbMatrixd::SbMatrixd ( const SbMatd & m )

Constructor.

Member Function Documentation

◆ det3() [1/2]

double SbMatrixd::det3 ( ) const

inline

Returns determinant of upper-left 3x3 submatrix.

Definition at line 924 of file SbMatrix.h.

◆ det3() [2/2]

double SbMatrixd::det3	(	int	r1,
		int	r2,
		int	r3,
		int	c1,
		int	c2,
		int	c3
	)		const

Returns determinant of 3x3 submatrix composed of given row and column indices (0-3 for each).

◆ det4()

double SbMatrixd::det4 ( ) const

Returns determinant of entire matrix.

◆ equals()

SbBool SbMatrixd::equals	(	const SbMatrixd &	m,
		double	tolerance
	)		const

Equality comparison within given tolerance, for each component.

◆ factor()

SbBool SbMatrixd::factor	(	SbMatrixd &	r,
		SbVec3d &	s,
		SbMatrixd &	u,
		SbVec3d &	t,
		SbMatrixd &	proj
	)		const

Factors a matrix m into 5 pieces: m = r s r^ u t, where r^ means transpose of r, and r and u are rotations, s is a scale, and t is a translation.

Any projection information is returned in proj.

◆ getTransform() [1/2]

void SbMatrixd::getTransform	(	SbVec3d &	t,
		SbRotationd &	r,
		SbVec3d &	s,
		SbRotationd &	so
	)		const

Return translation, rotation, scale, and scale orientation components of the matrix.

◆ getTransform() [2/2]

void SbMatrixd::getTransform	(	SbVec3d &	translation,
		SbRotationd &	rotation,
		SbVec3d &	scaleFactor,
		SbRotationd &	scaleOrientation,
		const SbVec3d &	center
	)		const

Decomposes the matrix into a translation, rotation, scale, and scale orientation.

Any projection information is discarded. The decomposition depends upon choice of center point for rotation and scaling, which is optional as the last parameter. Note that if the center is 0, decompose() is the same as factor() where t is translation, u is rotation, s is scaleFactor, and r is scaleOrientation.

◆ getValue() [1/2]

const SbMatd & SbMatrixd::getValue ( ) const

inline

Returns matrix as a 4x4 array of elements.

Definition at line 913 of file SbMatrix.h.

◆ getValue() [2/2]

void SbMatrixd::getValue ( SbMatd & m ) const

Returns matrix as a 4x4 array of elements.

◆ identity()

static SbMatrixd SbMatrixd::identity ( )

static

Returns an identity matrix.

◆ inverse()

SbMatrixd SbMatrixd::inverse ( ) const

Returns inverse of matrix.

Results are undefined for singular matrices. Uses LU decomposition.
Matrix is not modified.

◆ isInvertible()

bool SbMatrixd::isInvertible ( ) const

Returns true if the matrix is invertible.

◆ LUBackSubstitution()

void SbMatrixd::LUBackSubstitution	(	int	index[4],
		double	b[4]
	)		const

Perform back-substitution on LU-decomposed matrix.

Index is permutation of rows from original matrix.

◆ LUDecomposition()

SbBool SbMatrixd::LUDecomposition	(	int	index[4],
		double &	d
	)

Perform in-place LU decomposition of matrix.

index is index of rows in matrix. d is the parity of row swaps. Returns FALSE if singular.

◆ makeIdentity()

void SbMatrixd::makeIdentity ( )

Sets matrix to be identity.

◆ multDirMatrix()

void SbMatrixd::multDirMatrix	(	const SbVec3d &	src,
		SbVec3d &	dst
	)		const

Pre-multiplies the matrix by the given row vector, giving vector result.

src is assumed to be a direction vector, so translation part of matrix is ignored.

Note: If you need to transform surface points and normal vectors by a matrix, call multVecMatrix() for the points and call multDirMatrix() for the normals. Generally normals should be transformed by the inverse transpose of the matrix. However note that the inverse transpose is equal to the original matrix if the matrix is orthonormal, i.e. purely rotational with no scaling or shearing.

It is safe to let src and dst be the same instance of SbVec3f.

◆ multLeft()

SbMatrixd & SbMatrixd::multLeft ( const SbMatrixd & m )

Pre-multiplies the matrix by given matrix.

Matrix is replaced by the result.

◆ multLineMatrix()

void SbMatrixd::multLineMatrix	(	const SbLined &	src,
		SbLined &	dst
	)		const

Multiplies the given line's origin by the matrix, and the line's direction by the rotation portion of the matrix.

It is safe to let src and dst be the same instance of SbLine.

◆ multMatrixVec()

void SbMatrixd::multMatrixVec	(	const SbVec3d &	src,
		SbVec3d &	dst
	)		const

Post-multiplies matrix by given column vector, giving a 3D vector result.

The intermediate homogeneous (vec4) value is converted to 3D by dividing the X, Y and Z components by W.

It is safe to let src and dst be the same instance of SbVec3f.

◆ multRight()

SbMatrixd & SbMatrixd::multRight ( const SbMatrixd & m )

Post-multiplies the matrix by given matrix.

Matrix is replaced by the result.

◆ multVecMatrix() [1/2]

void SbMatrixd::multVecMatrix	(	const SbVec3d &	src,
		SbVec3d &	dst
	)		const

Pre-multiplies matrix by the given row vector, giving a 3D vector result.

The intermediate homogeneous (vec4) value is converted to 3D by dividing the X, Y and Z components by W.

Use this method to transform a point (position vector).
Use multDirMatrix() to transform a normal (direction vector).

It is safe to let src and dst be the same instance of SbVec3f.

◆ multVecMatrix() [2/2]

void SbMatrixd::multVecMatrix	(	const SbVec3d &	src,
		SbVec4d &	dst
	)		const

Pre-multiplies matrix by the given row vector, giving vector result in homogeneous coordinates.

Use this method to transform a point (position vector).
Use multDirMatrix() to transform a normal (direction vector).

Parameters

src	the source vector to transform
dst	the destination vector to retrieve the result It is safe to let src and dst be the same instance of SbVec3d.

◆ operator double *()

SbMatrixd::operator double * ( )

inline

Cast: returns pointer to storage of first element.

Definition at line 1057 of file SbMatrix.h.

◆ operator SbMatd &()

SbMatrixd::operator SbMatd & ( )

inline

Cast: returns reference to 4x4 array.

Definition at line 1062 of file SbMatrix.h.

◆ operator*()

SbVec4d SbMatrixd::operator* ( const SbVec4d & v )

Multiply matrix by given vector.

Return m * v

◆ operator*=()

SbMatrixd & SbMatrixd::operator*= ( const SbMatrixd & m )

inline

Post-multiplies the matrix by the given matrix (equivalent to multRight() method).

Matrix is replaced by the resulting matrix.

Definition at line 1093 of file SbMatrix.h.

◆ operator=() [1/3]

SbMatrixd & SbMatrixd::operator= ( const SbMatd & m )

Sets value from 4x4 array of elements.

◆ operator=() [2/3]

SbMatrixd & SbMatrixd::operator= ( const SbMatrixd & m )

Set the matrix from another SbMatrixd.

◆ operator=() [3/3]

SbMatrixd & SbMatrixd::operator= ( const SbRotationd & q )

inline

Set the matrix from an SbRotationd.

Definition at line 1087 of file SbMatrix.h.

◆ operator[]() [1/2]

double * SbMatrixd::operator[] ( int i )

inline

Make it look like a usual matrix (so you can do m[3][2]).

Definition at line 1067 of file SbMatrix.h.

◆ operator[]() [2/2]

const double * SbMatrixd::operator[] ( int i ) const

inline

Make it look like a usual matrix (so you can do m[3][2]).

Definition at line 1072 of file SbMatrix.h.

◆ print()

void SbMatrixd::print ( FILE * fp ) const

Prints a formatted version of the matrix to the given file pointer.

◆ scale()

void SbMatrixd::scale ( const SbVec3d & scaleFactor )

Scales this matrice by the given vector.

◆ setRotate()

void SbMatrixd::setRotate ( const SbRotationd & q )

Sets matrix to rotate by given rotation.

◆ setScale() [1/2]

void SbMatrixd::setScale ( const SbVec3d & s )

Sets matrix to scale by given vector.

◆ setScale() [2/2]

void SbMatrixd::setScale ( double s )

Sets matrix to scale by given uniform factor.

◆ setTransform() [1/3]

void SbMatrixd::setTransform	(	const SbVec3d &	t,
		const SbRotationd &	r,
		const SbVec3d &	s
	)

Composes the matrix based on a translation, rotation, and scale.

A scale orientation value of (0,0,0,1) is used. The center point for scaling and rotation is (0,0,0).

◆ setTransform() [2/3]

void SbMatrixd::setTransform	(	const SbVec3d &	t,
		const SbRotationd &	r,
		const SbVec3d &	s,
		const SbRotationd &	so
	)

Composes the matrix based on a translation, rotation, scale, and orientation for scale.

The scaleOrientation chooses the primary axes for the scale. The center point for scaling and rotation is (0,0,0).

◆ setTransform() [3/3]

void SbMatrixd::setTransform	(	const SbVec3d &	translation,
		const SbRotationd &	rotation,
		const SbVec3d &	scaleFactor,
		const SbRotationd &	scaleOrientation,
		const SbVec3d &	center
	)

Composes the matrix based on a translation, rotation, scale, orientation for scale, and center.

The scaleOrientation chooses the primary axes for the scale. The center is the center point for scaling and rotation.

◆ setTranslate()

void SbMatrixd::setTranslate ( const SbVec3d & t )

Sets matrix to translate by given vector.

◆ setValue() [1/3]

void SbMatrixd::setValue ( const double * pMat )

inline

Sets value from a 16 value double array.

Definition at line 786 of file SbMatrix.h.

◆ setValue() [2/3]

void SbMatrixd::setValue ( const SbMatd & m )

Sets value from 4x4 array of elements.

◆ setValue() [3/3]

void SbMatrixd::setValue ( const SbMatrix & m )

Sets values from a single precision matrix.

◆ translate()

void SbMatrixd::translate ( const SbVec3d & translation )

Translates this matrice by the given vector.

◆ transpose()

SbMatrixd SbMatrixd::transpose ( ) const

Returns transpose of matrix.

Matrix is not modified.

Friends And Related Symbol Documentation

◆ operator!=

int operator!=	(	const SbMatrixd &	m1,
		const SbMatrixd &	m2
	)

friend

Inequality comparison operator.

Definition at line 1113 of file SbMatrix.h.

◆ operator* [1/2]

SbMatrixd operator*	(	const SbMatrixd &	m1,
		const SbMatrixd &	m2
	)

friend

Multiplies two matrices, returning a matrix result.

◆ operator* [2/2]

SbVec4d operator*	(	const SbVec4d &	v,
		const SbMatrixd &	m
	)

friend

Multiplies matrices by vector, returning a vector result.

Return v*m.

◆ operator==

int operator==	(	const SbMatrixd &	m1,
		const SbMatrixd &	m2
	)

friend

Equality comparison operator.

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

Inventor/SbMatrix.h

Open Inventor Release 2023.2.3

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

SEE ALSO

Constructor & Destructor Documentation

◆ SbMatrixd() [1/3]

◆ SbMatrixd() [2/3]

◆ SbMatrixd() [3/3]

Member Function Documentation

◆ det3() [1/2]

◆ det3() [2/2]

◆ det4()

◆ equals()

◆ factor()

◆ getTransform() [1/2]

◆ getTransform() [2/2]

◆ getValue() [1/2]

◆ getValue() [2/2]

◆ identity()

◆ inverse()

◆ isInvertible()

◆ LUBackSubstitution()

◆ LUDecomposition()

◆ makeIdentity()

◆ multDirMatrix()

◆ multLeft()

◆ multLineMatrix()

◆ multMatrixVec()

◆ multRight()

◆ multVecMatrix() [1/2]

◆ multVecMatrix() [2/2]

◆ operator double *()

◆ operator SbMatd &()

◆ operator*()

◆ operator*=()

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ print()

◆ scale()

◆ setRotate()

◆ setScale() [1/2]

◆ setScale() [2/2]

◆ setTransform() [1/3]

◆ setTransform() [2/3]

◆ setTransform() [3/3]

◆ setTranslate()

◆ setValue() [1/3]

◆ setValue() [2/3]

◆ setValue() [3/3]

◆ translate()

◆ transpose()

Friends And Related Symbol Documentation

◆ operator!=

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator==