Class pmr.euclid.Transform3 
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Class pmr.euclid.Transform3 

java.lang.Object
   |
   +----pmr.euclid.Status
           |
           +----pmr.euclid.RealMatrix
                   |
                   +----pmr.euclid.RealSquareMatrix
                           |
                           +----pmr.euclid.Transform3
public class Transform3
extends RealSquareMatrix
Transform3 - 3-D transformation matrix class

Transform3 represents a transformation matrix for 3-D objects. Its actual form may be implementation-dependent, but we have started with 4x4 matrices. The following transformations will be supported as the class is developed:


TRFORM3_NULL no transformation allowed
ROT_ORIG rotation about the origin
ROT_TRANS rotation and translation
ROT_TRANS_SCALE rotation, translation and single scale factor
ROT_TRANS_AXIAL_SCALE rotation, translation + 3 axial scale factors
ROT_TRANS_SCALE_PERSP rotation, translation, scale, perspective
TRFORM3_ANY any matrix at all - user beware!

The basic stuff is all there - the user will do best to look at examples.

Author:
(C) P. Murray-Rust, 1996

Variable Index

o ROT_ORIG
o ROT_TRANS
o ROT_TRANS_AXIAL_SCALE
o ROT_TRANS_SCALE
o ROT_TRANS_SCALE_PERSP
o TRFORM3_ANY
o TRFORM3_NULL

Constructor Index

o Transform3()
default is a unit matrix
o Transform3(Angle, Angle, Angle)
from rotation about the three orthogonal axes (X then Y then Z)
o Transform3(Choice3, Angle)
from rotation about an axis (use (Choice3.X), etc.
o Transform3(double[])
Formed by feeding in an existing array to a cols*cols matrix.
o Transform3(int)
This gives a default unit matrix of type t (default ROT_ORIG).
o Transform3(Line3, Angle)
Rotation about a line
o Transform3(RealSquareMatrix)
from a 3x3 or 4x4 matrix
o Transform3(RealSquareMatrix, Vector3)
from a 3x3 rotation matrix and a translation vector
o Transform3(Transform3)
copy constructors - assumed to be an OK matrix
o Transform3(Transform3, Point3)
from rotation about a point, given a matrix
o Transform3(Vector3)
identity matrix with translation component
o Transform3(Vector3, Angle)
from rotation about a vector
o Transform3(Vector3, Vector3)
rotation of one vector onto another
o Transform3(Vector3, Vector3, Vector3)
from 3 vector components - NOT checked

Method Index

o checkMatrix()
get new matrix type
o clone(Transform3)
clone
o concatenate(Transform3)
concatenate
o equals(Transform3)
o getAxisAndAngle(Vector3, Angle)
returns chirality
o getCentreOfRotation()
get centre of rotation
o getRotationMatrix()
get Unitary matrix (i.e.
o getTransformationType()
get transformation type
o getTranslation()
get translation component only
o main(String[])
tests Transform3 routines
o setTransformationType(int)
set transformation type

Variables

o TRFORM3_NULL 
  public final static int TRFORM3_NULL
o ROT_ORIG 
  public final static int ROT_ORIG
o ROT_TRANS 
  public final static int ROT_TRANS
o ROT_TRANS_SCALE 
  public final static int ROT_TRANS_SCALE
o ROT_TRANS_AXIAL_SCALE 
  public final static int ROT_TRANS_AXIAL_SCALE
o ROT_TRANS_SCALE_PERSP 
  public final static int ROT_TRANS_SCALE_PERSP
o TRFORM3_ANY 
  public final static int TRFORM3_ANY

Constructors

o Transform3 
  public Transform3()
default is a unit matrix
o Transform3 
  public Transform3(int t)
This gives a default unit matrix of type t (default ROT_ORIG).
o Transform3 
  public Transform3(Vector3 v)
identity matrix with translation component
o Transform3 
  public Transform3(Choice3 axis,
                    Angle rot)
from rotation about an axis (use (Choice3.X), etc.
o Transform3 
  public Transform3(Angle xrot,
                    Angle yrot,
                    Angle zrot)
from rotation about the three orthogonal axes (X then Y then Z)
o Transform3 
  public Transform3(Transform3 t,
                    Point3 p)
from rotation about a point, given a matrix
o Transform3 
  public Transform3(Vector3 v,
                    Angle a)
from rotation about a vector
o Transform3 
  public Transform3(Line3 l,
                    Angle a)
Rotation about a line
o Transform3 
  public Transform3(Vector3 v1,
                    Vector3 v2) throws ZeroLengthVectorException
rotation of one vector onto another
Throws: ZeroLengthVectorException
v1 or v2 is zero length
o Transform3 
  public Transform3(Vector3 v1,
                    Vector3 v2,
                    Vector3 v3)
from 3 vector components - NOT checked
o Transform3 
  public Transform3(double array[]) throws InvalidArgumentException
Formed by feeding in an existing array to a cols*cols matrix. array is or type m00, m01, m02, m03, m13 ...
Throws: InvalidArgumentException
array must have 16 elements
o Transform3 
  public Transform3(Transform3 m)
copy constructors - assumed to be an OK matrix
o Transform3 
  public Transform3(RealSquareMatrix m) throws UnequalLengthArraysException
from a 3x3 or 4x4 matrix
Throws: UnequalLengthArraysException
m must be 3*3 or 4*4
o Transform3 
  public Transform3(RealSquareMatrix m,
                    Vector3 v) throws UnequalLengthArraysException
from a 3x3 rotation matrix and a translation vector
Throws: UnequalLengthArraysException
m must be 3*3

Methods

o clone 
  public Transform3 clone(Transform3 m)
clone
o equals 
  public boolean equals(Transform3 m)
o concatenate 
  public Transform3 concatenate(Transform3 m2)
concatenate
o setTransformationType 
  public int setTransformationType(int option)
set transformation type
o getTransformationType 
  public int getTransformationType()
get transformation type
o checkMatrix 
  public int checkMatrix()
get new matrix type
o getAxisAndAngle 
  public int getAxisAndAngle(Vector3 axis,
                             Angle ang)
returns chirality
o getTranslation 
  public Vector3 getTranslation()
get translation component only
o getCentreOfRotation 
  public Point3 getCentreOfRotation()
get centre of rotation
o getRotationMatrix 
  public RealSquareMatrix getRotationMatrix()
get Unitary matrix (i.e. eliminate scales and translation)
o main 
  public static void main(String args[])
tests Transform3 routines 
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