GfMatrix4d Class Reference

Stores a 4x4 matrix of double elements. More...

#include <matrix4d.h>

Public Types
typedef double	ScalarType

Public Member Functions
	GfMatrix4d ()=default
	Default constructor. Leaves the matrix component values undefined.
	GfMatrix4d (double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
	Constructor.
	GfMatrix4d (const double m[4][4])
	Constructor.
	GfMatrix4d (double s)
	Constructor.
	GfMatrix4d (const GfVec4d &v)
	Constructor.
GF_API	GfMatrix4d (const std::vector< std::vector< double > > &v)
	Constructor.
GF_API	GfMatrix4d (const std::vector< std::vector< float > > &v)
	Constructor.
GF_API	GfMatrix4d (const std::vector< double > &r0, const std::vector< double > &r1, const std::vector< double > &r2, const std::vector< double > &r3)
	Constructor.
GF_API	GfMatrix4d (const std::vector< float > &r0, const std::vector< float > &r1, const std::vector< float > &r2, const std::vector< float > &r3)
	Constructor.
GF_API	GfMatrix4d (const GfRotation &rotate, const GfVec3d &translate)
	Constructor.
GF_API	GfMatrix4d (const GfMatrix3d &rotmx, const GfVec3d &translate)
	Constructor.
GF_API	GfMatrix4d (const class GfMatrix4f &m)
	This explicit constructor converts a "float" matrix to a "double" matrix.
void	SetRow (int i, const GfVec4d &v)
	Sets a row of the matrix from a Vec4.
void	SetColumn (int i, const GfVec4d &v)
	Sets a column of the matrix from a Vec4.
GfVec4d	GetRow (int i) const
	Gets a row of the matrix as a Vec4.
GfVec4d	GetColumn (int i) const
	Gets a column of the matrix as a Vec4.
GfMatrix4d &	Set (double m00, double m01, double m02, double m03, double m10, double m11, double m12, double m13, double m20, double m21, double m22, double m23, double m30, double m31, double m32, double m33)
	Sets the matrix from 16 independent double values, specified in row-major order.
GfMatrix4d &	Set (const double m[4][4])
	Sets the matrix from a 4x4 array of double values, specified in row-major order.
GfMatrix4d &	SetIdentity ()
	Sets the matrix to the identity matrix.
GfMatrix4d &	SetZero ()
	Sets the matrix to zero.
GF_API GfMatrix4d &	SetDiagonal (double s)
	Sets the matrix to s times the identity matrix.
GF_API GfMatrix4d &	SetDiagonal (const GfVec4d &)
	Sets the matrix to have diagonal (v[0], v[1], v[2], v[3]).
GF_API double *	Get (double m[4][4]) const
	Fills a 4x4 array of double values with the values in the matrix, specified in row-major order.
double *	data ()
	Returns raw access to components of matrix as an array of double values.
const double *	data () const
	Returns const raw access to components of matrix as an array of double values.
double *	GetArray ()
	Returns vector components as an array of double values.
const double *	GetArray () const
	Returns vector components as a const array of double values.
double *	operator[] (int i)
	Accesses an indexed row i of the matrix as an array of 4 double values so that standard indexing (such as m[0][1]) works correctly.
const double *	operator[] (int i) const
	Accesses an indexed row i of the matrix as an array of 4 double values so that standard indexing (such as m[0][1]) works correctly.
GF_API bool	operator== (const GfMatrix4d &m) const
	Tests for element-wise matrix equality.
GF_API bool	operator== (const GfMatrix4f &m) const
	Tests for element-wise matrix equality.
bool	operator!= (const GfMatrix4d &m) const
	Tests for element-wise matrix inequality.
bool	operator!= (const GfMatrix4f &m) const
	Tests for element-wise matrix inequality.
GF_API GfMatrix4d	GetTranspose () const
	Returns the transpose of the matrix.
GF_API GfMatrix4d	GetInverse (double *det=NULL, double eps=0) const
	Returns the inverse of the matrix, or FLT_MAX * SetIdentity() if the matrix is singular.
GF_API double	GetDeterminant () const
	Returns the determinant of the matrix.
void	SetRow3 (int i, const GfVec3d &v)
	Sets a row of the matrix from a Vec3.
GfVec3d	GetRow3 (int i) const
	Gets a row of the matrix as a Vec3.
double	GetDeterminant3 () const
	Returns the determinant of the upper 3x3 matrix.
bool	HasOrthogonalRows3 () const
	Returns true, if the row vectors of the upper 3x3 matrix form an orthogonal basis.
GF_API bool	Orthonormalize (bool issueWarning=true)
	Makes the matrix orthonormal in place.
GF_API GfMatrix4d	GetOrthonormalized (bool issueWarning=true) const
	Returns an orthonormalized copy of the matrix.
GF_API double	GetHandedness () const
	Returns the sign of the determinant of the upper 3x3 matrix, i.e.
bool	IsRightHanded () const
	Returns true if the vectors in the upper 3x3 matrix form a right-handed coordinate system.
bool	IsLeftHanded () const
	Returns true if the vectors in the upper 3x3 matrix form a left-handed coordinate system.
GF_API GfMatrix4d &	operator*= (const GfMatrix4d &m)
	Post-multiplies matrix m into this matrix.
GF_API GfMatrix4d &	operator*= (double)
	Multiplies the matrix by a double.
GF_API GfMatrix4d &	operator+= (const GfMatrix4d &m)
	Adds matrix m to this matrix.
GF_API GfMatrix4d &	operator-= (const GfMatrix4d &m)
	Subtracts matrix m from this matrix.
GF_API GfMatrix4d &	SetScale (double scaleFactor)
	Sets matrix to specify a uniform scaling by scaleFactor.
GF_API GfMatrix4d	RemoveScaleShear () const
	Returns the matrix with any scaling or shearing removed, leaving only the rotation and translation.
3D Transformation Utilities
GF_API GfMatrix4d &	SetRotate (const GfQuatd &rot)
	Sets the matrix to specify a rotation equivalent to rot, and clears the translation.
GF_API GfMatrix4d &	SetRotateOnly (const GfQuatd &rot)
	Sets the matrix to specify a rotation equivalent to rot, without clearing the translation.
GF_API GfMatrix4d &	SetRotate (const GfRotation &rot)
	Sets the matrix to specify a rotation equivalent to rot, and clears the translation.
GF_API GfMatrix4d &	SetRotateOnly (const GfRotation &rot)
	Sets the matrix to specify a rotation equivalent to rot, without clearing the translation.
GF_API GfMatrix4d &	SetRotate (const GfMatrix3d &mx)
	Sets the matrix to specify a rotation equivalent to mx, and clears the translation.
GF_API GfMatrix4d &	SetRotateOnly (const GfMatrix3d &mx)
	Sets the matrix to specify a rotation equivalent to mx, without clearing the translation.
GF_API GfMatrix4d &	SetScale (const GfVec3d &scaleFactors)
	Sets the matrix to specify a nonuniform scaling in x, y, and z by the factors in vector scaleFactors.
GF_API GfMatrix4d &	SetTranslate (const GfVec3d &trans)
	Sets matrix to specify a translation by the vector trans, and clears the rotation.
GF_API GfMatrix4d &	SetTranslateOnly (const GfVec3d &t)
	Sets matrix to specify a translation by the vector trans, without clearing the rotation.
GF_API GfMatrix4d &	SetTransform (const GfRotation &rotate, const GfVec3d &translate)
	Sets matrix to specify a rotation by rotate and a translation by translate.
GF_API GfMatrix4d &	SetTransform (const GfMatrix3d &rotmx, const GfVec3d &translate)
	Sets matrix to specify a rotation by rotmx and a translation by translate.
GF_API GfMatrix4d &	SetLookAt (const GfVec3d &eyePoint, const GfVec3d &centerPoint, const GfVec3d &upDirection)
	Sets the matrix to specify a viewing matrix from parameters similar to those used by gluLookAt(3G).
GF_API GfMatrix4d &	SetLookAt (const GfVec3d &eyePoint, const GfRotation &orientation)
	Sets the matrix to specify a viewing matrix from a world-space eyePoint and a world-space rotation that rigidly rotates the orientation from its canonical frame, which is defined to be looking along the -z axis with the +y axis as the up direction.
GF_API bool	Factor (GfMatrix4d *r, GfVec3d *s, GfMatrix4d *u, GfVec3d *t, GfMatrix4d *p, double eps=1e-10) const
	Factors the matrix into 5 components:
GfVec3d	ExtractTranslation () const
	Returns the translation part of the matrix, defined as the first three elements of the last row.
GF_API GfRotation	ExtractRotation () const
	Returns the rotation corresponding to this matrix.
GF_API GfQuatd	ExtractRotationQuat () const
	Return the rotation corresponding to this matrix as a quaternion.
GF_API GfVec3d	DecomposeRotation (const GfVec3d &axis0, const GfVec3d &axis1, const GfVec3d &axis2) const
	Decompose the rotation corresponding to this matrix about 3 orthogonal axes.
GF_API GfMatrix3d	ExtractRotationMatrix () const
	Returns the rotation corresponding to this matrix.
GfVec3d	Transform (const GfVec3d &vec) const
	Transforms the row vector vec by the matrix, returning the result.
GfVec3d	TransformDir (const GfVec3d &vec) const
	Transforms row vector vec by the matrix, returning the result.
GfVec3d	TransformAffine (const GfVec3d &vec) const
	Transforms the row vector vec by the matrix, returning the result.

Static Public Attributes
static const size_t	numRows = 4
static const size_t	numColumns = 4

Friends
class	GfMatrix4f
size_t	hash_value (GfMatrix4d const &m)
	Hash.
GfMatrix4d	operator* (const GfMatrix4d &m1, double d)
	Returns the product of a matrix and a double.
GfMatrix4d	operator* (double d, const GfMatrix4d &m)
GF_API friend GfMatrix4d	operator- (const GfMatrix4d &m)
	Returns the unary negation of matrix m.
GfMatrix4d	operator+ (const GfMatrix4d &m1, const GfMatrix4d &m2)
	Adds matrix m2 to m1.
GfMatrix4d	operator- (const GfMatrix4d &m1, const GfMatrix4d &m2)
	Subtracts matrix m2 from m1.
GfMatrix4d	operator* (const GfMatrix4d &m1, const GfMatrix4d &m2)
	Multiplies matrix m1 by m2.
GfMatrix4d	operator/ (const GfMatrix4d &m1, const GfMatrix4d &m2)
	Divides matrix m1 by m2 (that is, m1 * inv(m2)).
GfVec4d	operator* (const GfMatrix4d &m, const GfVec4d &vec)
	Returns the product of a matrix m and a column vector vec.
GfVec4d	operator* (const GfVec4d &vec, const GfMatrix4d &m)
	Returns the product of row vector vec and a matrix m.

Detailed Description

Stores a 4x4 matrix of double elements.

A basic type.

Matrices are defined to be in row-major order, so matrix[i][j] indexes the element in the i th row and the j th column.

3D Transformations

The following methods interpret a GfMatrix4d as a 3D transformation: SetRotate(), SetScale(), SetTranslate(), SetLookAt(), Factor(), ExtractTranslation(), ExtractRotation(), Transform(), TransformDir(). By convention, vectors are treated primarily as row vectors, implying the following:

• Transformation matrices are organized to deal with row vectors, not column vectors. For example, the last row of a matrix contains the translation amounts.
• Each of the Set() methods below completely rewrites the matrix; for example, SetTranslate() yields a matrix which does nothing but translate.
• When multiplying two transformation matrices, the matrix on the left applies a more local transformation to a row vector. For example, if R represents a rotation matrix and T represents a translation matrix, the product R*T will rotate a row vector, then translate it.

Definition at line 70 of file matrix4d.h.

Member Typedef Documentation

ScalarType

typedef double ScalarType

Definition at line 73 of file matrix4d.h.

Constructor & Destructor Documentation

GfMatrix4d() [1/12]

GfMatrix4d ( )

default

Default constructor. Leaves the matrix component values undefined.

GfMatrix4d() [2/12]

GfMatrix4d ( double  m00, double  m01, double  m02, double  m03, double  m10, double  m11, double  m12, double  m13, double  m20, double  m21, double  m22, double  m23, double  m30, double  m31, double  m32, double  m33  )

inline

Constructor.

Initializes the matrix from 16 independent double values, specified in row-major order. For example, parameter m10 specifies the value in row 1 and column 0.

Definition at line 84 of file matrix4d.h.

GfMatrix4d() [3/12]

GfMatrix4d ( const double  m[4][4] )

inline

Constructor.

Initializes the matrix from a 4x4 array of double values, specified in row-major order.

Definition at line 96 of file matrix4d.h.

GfMatrix4d() [4/12]

GfMatrix4d ( double  s )

inlineexplicit

Constructor.

Explicitly initializes the matrix to s times the identity matrix.

Definition at line 102 of file matrix4d.h.

GfMatrix4d() [5/12]

GfMatrix4d ( const GfVec4d &  v )

inlineexplicit

Constructor.

Explicitly initializes the matrix to diagonal form, with the i th element on the diagonal set to v[i].

Definition at line 108 of file matrix4d.h.

GfMatrix4d() [6/12]

GF_API GfMatrix4d ( const std::vector< std::vector< double > > &  v )

explicit

Constructor.

Initialize the matrix from a vector of vectors of double. The vector is expected to be 4x4. If it is too big, only the first 4 rows and/or columns will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GfMatrix4d() [7/12]

GF_API GfMatrix4d ( const std::vector< std::vector< float > > &  v )

explicit

Constructor.

Initialize the matrix from a vector of vectors of float. The vector is expected to be 4x4. If it is too big, only the first 4 rows and/or columns will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GfMatrix4d() [8/12]

GF_API GfMatrix4d ( const std::vector< double > &  r0, const std::vector< double > &  r1, const std::vector< double > &  r2, const std::vector< double > &  r3  )

explicit

Constructor.

Initialize the matrix from 4 row vectors of double. Each vector is expected to length 4. If it is too big, only the first 4 items will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GfMatrix4d() [9/12]

GF_API GfMatrix4d ( const std::vector< float > &  r0, const std::vector< float > &  r1, const std::vector< float > &  r2, const std::vector< float > &  r3  )

explicit

Constructor.

Initialize the matrix from 4 row vectors of float. Each vector is expected to length 4. If it is too big, only the first 4 items will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GfMatrix4d() [10/12]

GF_API GfMatrix4d	(	const GfRotation &	rotate,
		const GfVec3d &	translate
	)

Constructor.

Initializes a transformation matrix to perform the indicated rotation and translation.

GfMatrix4d() [11/12]

GF_API GfMatrix4d	(	const GfMatrix3d &	rotmx,
		const GfVec3d &	translate
	)

Constructor.

Initializes a transformation matrix to perform the indicated rotation and translation.

GfMatrix4d() [12/12]

GF_API GfMatrix4d ( const class GfMatrix4f &  m )

explicit

This explicit constructor converts a "float" matrix to a "double" matrix.

Member Function Documentation

data() [1/2]

double * data ( )

inline

Returns raw access to components of matrix as an array of double values.

Components are in row-major order.

Definition at line 256 of file matrix4d.h.

data() [2/2]

const double * data ( ) const

inline

Returns const raw access to components of matrix as an array of double values.

Components are in row-major order.

Definition at line 262 of file matrix4d.h.

DecomposeRotation()

GF_API GfVec3d DecomposeRotation	(	const GfVec3d &	axis0,
		const GfVec3d &	axis1,
		const GfVec3d &	axis2
	)		const

Decompose the rotation corresponding to this matrix about 3 orthogonal axes.

If the axes are not orthogonal, warnings will be spewed.

This is a convenience method that is equivalent to calling ExtractRotation().Decompose().

ExtractRotation()

GF_API GfRotation ExtractRotation

(

)

const

Returns the rotation corresponding to this matrix.

This works well only if the matrix represents a rotation.

For good results, consider calling Orthonormalize() before calling this method.

ExtractRotationMatrix()

GF_API GfMatrix3d ExtractRotationMatrix

(

)

const

Returns the rotation corresponding to this matrix.

This works well only if the matrix represents a rotation.

For good results, consider calling Orthonormalize() before calling this method.

ExtractRotationQuat()

GF_API GfQuatd ExtractRotationQuat

(

)

const

Return the rotation corresponding to this matrix as a quaternion.

This works well only if the matrix represents a rotation.

For good results, consider calling Orthonormalize() before calling this method.

ExtractTranslation()

GfVec3d ExtractTranslation ( ) const

inline

Returns the translation part of the matrix, defined as the first three elements of the last row.

Definition at line 601 of file matrix4d.h.

Factor()

GF_API bool Factor	(	GfMatrix4d *	r,
		GfVec3d *	s,
		GfMatrix4d *	u,
		GfVec3d *	t,
		GfMatrix4d *	p,
		double	eps = 1e-10
	)		const

Factors the matrix into 5 components:

• M = r * s * -r * u * t where
• t is a translation.
• u and r are rotations, and -r is the transpose (inverse) of r. The u matrix may contain shear information.
• s is a scale. Any projection information could be returned in matrix p, but currently p is never modified.

Returns false if the matrix is singular (as determined by eps). In that case, any zero scales in s are clamped to eps to allow computation of u.

Get()

GF_API double * Get

(

double

m[4][4]

)

const

Fills a 4x4 array of double values with the values in the matrix, specified in row-major order.

GetArray() [1/2]

double * GetArray ( )

inline

Returns vector components as an array of double values.

Definition at line 267 of file matrix4d.h.

GetArray() [2/2]

const double * GetArray ( ) const

inline

Returns vector components as a const array of double values.

Definition at line 272 of file matrix4d.h.

GetColumn()

GfVec4d GetColumn ( int  i ) const

inline

Gets a column of the matrix as a Vec4.

Definition at line 191 of file matrix4d.h.

GetDeterminant()

GF_API double GetDeterminant

(

)

const

Returns the determinant of the matrix.

GetDeterminant3()

double GetDeterminant3 ( ) const

inline

Returns the determinant of the upper 3x3 matrix.

This method is useful when the matrix describes a linear transformation such as a rotation or scale because the other values in the 4x4 matrix are not important.

Definition at line 362 of file matrix4d.h.

GetHandedness()

GF_API double GetHandedness

(

)

const

Returns the sign of the determinant of the upper 3x3 matrix, i.e.

1 for a right-handed matrix, -1 for a left-handed matrix, and 0 for a singular matrix.

GetInverse()

GF_API GfMatrix4d GetInverse	(	double *	det = NULL,
		double	eps = 0
	)		const

Returns the inverse of the matrix, or FLT_MAX * SetIdentity() if the matrix is singular.

(FLT_MAX is the largest value a float can have, as defined by the system.) The matrix is considered singular if the determinant is less than or equal to the optional parameter eps. If det is non-null, *det is set to the determinant.

GetOrthonormalized()

GF_API GfMatrix4d GetOrthonormalized

(

bool

issueWarning = true

)

const

Returns an orthonormalized copy of the matrix.

GetRow()

GfVec4d GetRow ( int  i ) const

inline

Gets a row of the matrix as a Vec4.

Definition at line 186 of file matrix4d.h.

GetRow3()

GfVec3d GetRow3 ( int  i ) const

inline

Gets a row of the matrix as a Vec3.

Definition at line 355 of file matrix4d.h.

GetTranspose()

GF_API GfMatrix4d GetTranspose

(

)

const

Returns the transpose of the matrix.

HasOrthogonalRows3()

bool HasOrthogonalRows3 ( ) const

inline

Returns true, if the row vectors of the upper 3x3 matrix form an orthogonal basis.

Note they do not have to be unit length for this test to return true.

Definition at line 369 of file matrix4d.h.

IsLeftHanded()

bool IsLeftHanded ( ) const

inline

Returns true if the vectors in the upper 3x3 matrix form a left-handed coordinate system.

Definition at line 407 of file matrix4d.h.

IsRightHanded()

bool IsRightHanded ( ) const

inline

Returns true if the vectors in the upper 3x3 matrix form a right-handed coordinate system.

Definition at line 401 of file matrix4d.h.

operator!=() [1/2]

bool operator!= ( const GfMatrix4d &  m ) const

inline

Tests for element-wise matrix inequality.

All elements must match exactly for matrices to be considered equal.

Definition at line 320 of file matrix4d.h.

operator!=() [2/2]

bool operator!= ( const GfMatrix4f &  m ) const

inline

Tests for element-wise matrix inequality.

All elements must match exactly for matrices to be considered equal.

Definition at line 326 of file matrix4d.h.

operator*=() [1/2]

GF_API GfMatrix4d & operator*=

(

const GfMatrix4d &

m

)

Post-multiplies matrix m into this matrix.

operator*=() [2/2]

GF_API GfMatrix4d & operator*=

(

double

)

Multiplies the matrix by a double.

operator+=()

GF_API GfMatrix4d & operator+=

(

const GfMatrix4d &

m

)

Adds matrix m to this matrix.

operator-=()

GF_API GfMatrix4d & operator-=

(

const GfMatrix4d &

m

)

Subtracts matrix m from this matrix.

operator==() [1/2]

GF_API bool operator==

(

const GfMatrix4d &

m

)

const

Tests for element-wise matrix equality.

All elements must match exactly for matrices to be considered equal.

operator==() [2/2]

GF_API bool operator==

(

const GfMatrix4f &

m

)

const

Tests for element-wise matrix equality.

All elements must match exactly for matrices to be considered equal.

operator[]() [1/2]

double * operator[] ( int  i )

inline

Accesses an indexed row i of the matrix as an array of 4 double values so that standard indexing (such as m[0][1]) works correctly.

Definition at line 279 of file matrix4d.h.

operator[]() [2/2]

const double * operator[] ( int  i ) const

inline

Accesses an indexed row i of the matrix as an array of 4 double values so that standard indexing (such as m[0][1]) works correctly.

Definition at line 284 of file matrix4d.h.

Orthonormalize()

GF_API bool Orthonormalize

(

bool

issueWarning = true

)

Makes the matrix orthonormal in place.

This is an iterative method that is much more stable than the previous cross/cross method. If the iterative method does not converge, a warning is issued.

Returns true if the iteration converged, false otherwise. Leaves any translation part of the matrix unchanged. If issueWarning is true, this method will issue a warning if the iteration does not converge, otherwise it will be silent.

RemoveScaleShear()

GF_API GfMatrix4d RemoveScaleShear

(

)

const

Returns the matrix with any scaling or shearing removed, leaving only the rotation and translation.

If the matrix cannot be decomposed, returns the original matrix.

Set() [1/2]

GfMatrix4d & Set ( const double  m[4][4] )

inline

Sets the matrix from a 4x4 array of double values, specified in row-major order.

Definition at line 211 of file matrix4d.h.

Set() [2/2]

GfMatrix4d & Set ( double  m00, double  m01, double  m02, double  m03, double  m10, double  m11, double  m12, double  m13, double  m20, double  m21, double  m22, double  m23, double  m30, double  m31, double  m32, double  m33  )

inline

Sets the matrix from 16 independent double values, specified in row-major order.

For example, parameter m10 specifies the value in row 1 and column 0.

Definition at line 198 of file matrix4d.h.

SetColumn()

void SetColumn ( int  i, const GfVec4d &  v  )

inline

Sets a column of the matrix from a Vec4.

Definition at line 178 of file matrix4d.h.

SetDiagonal() [1/2]

GF_API GfMatrix4d & SetDiagonal

(

const GfVec4d &

)

Sets the matrix to have diagonal (v[0], v[1], v[2], v[3]).

SetDiagonal() [2/2]

GF_API GfMatrix4d & SetDiagonal

(

double

s

)

Sets the matrix to s times the identity matrix.

SetIdentity()

GfMatrix4d & SetIdentity ( )

inline

Sets the matrix to the identity matrix.

Definition at line 232 of file matrix4d.h.

SetLookAt() [1/2]

GF_API GfMatrix4d & SetLookAt	(	const GfVec3d &	eyePoint,
		const GfRotation &	orientation
	)

Sets the matrix to specify a viewing matrix from a world-space eyePoint and a world-space rotation that rigidly rotates the orientation from its canonical frame, which is defined to be looking along the -z axis with the +y axis as the up direction.

SetLookAt() [2/2]

GF_API GfMatrix4d & SetLookAt	(	const GfVec3d &	eyePoint,
		const GfVec3d &	centerPoint,
		const GfVec3d &	upDirection
	)

Sets the matrix to specify a viewing matrix from parameters similar to those used by gluLookAt(3G).

eyePoint represents the eye point in world space. centerPoint represents the world-space center of attention. upDirection is a vector indicating which way is up.

SetRotate() [1/3]

GF_API GfMatrix4d & SetRotate

(

const GfMatrix3d &

mx

)

Sets the matrix to specify a rotation equivalent to mx, and clears the translation.

SetRotate() [2/3]

GF_API GfMatrix4d & SetRotate

(

const GfQuatd &

rot

)

Sets the matrix to specify a rotation equivalent to rot, and clears the translation.

SetRotate() [3/3]

GF_API GfMatrix4d & SetRotate

(

const GfRotation &

rot

)

Sets the matrix to specify a rotation equivalent to rot, and clears the translation.

SetRotateOnly() [1/3]

GF_API GfMatrix4d & SetRotateOnly

(

const GfMatrix3d &

mx

)

Sets the matrix to specify a rotation equivalent to mx, without clearing the translation.

SetRotateOnly() [2/3]

GF_API GfMatrix4d & SetRotateOnly

(

const GfQuatd &

rot

)

Sets the matrix to specify a rotation equivalent to rot, without clearing the translation.

SetRotateOnly() [3/3]

GF_API GfMatrix4d & SetRotateOnly

(

const GfRotation &

rot

)

Sets the matrix to specify a rotation equivalent to rot, without clearing the translation.

SetRow()

void SetRow ( int  i, const GfVec4d &  v  )

inline

Sets a row of the matrix from a Vec4.

Definition at line 170 of file matrix4d.h.

SetRow3()

void SetRow3 ( int  i, const GfVec3d &  v  )

inline

Sets a row of the matrix from a Vec3.

The fourth element of the row is ignored.

Definition at line 348 of file matrix4d.h.

SetScale() [1/2]

GF_API GfMatrix4d & SetScale

(

const GfVec3d &

scaleFactors

)

Sets the matrix to specify a nonuniform scaling in x, y, and z by the factors in vector scaleFactors.

SetScale() [2/2]

GF_API GfMatrix4d & SetScale

(

double

scaleFactor

)

Sets matrix to specify a uniform scaling by scaleFactor.

SetTransform() [1/2]

GF_API GfMatrix4d & SetTransform	(	const GfMatrix3d &	rotmx,
		const GfVec3d &	translate
	)

Sets matrix to specify a rotation by rotmx and a translation by translate.

SetTransform() [2/2]

GF_API GfMatrix4d & SetTransform	(	const GfRotation &	rotate,
		const GfVec3d &	translate
	)

Sets matrix to specify a rotation by rotate and a translation by translate.

SetTranslate()

GF_API GfMatrix4d & SetTranslate

(

const GfVec3d &

trans

)

Sets matrix to specify a translation by the vector trans, and clears the rotation.

SetTranslateOnly()

GF_API GfMatrix4d & SetTranslateOnly

(

const GfVec3d &

t

)

Sets matrix to specify a translation by the vector trans, without clearing the rotation.

SetZero()

GfMatrix4d & SetZero ( )

inline

Sets the matrix to zero.

Definition at line 237 of file matrix4d.h.

Transform()

GfVec3d Transform ( const GfVec3d &  vec ) const

inline

Transforms the row vector vec by the matrix, returning the result.

This treats the vector as a 4-component vector whose fourth component is 1.

Definition at line 642 of file matrix4d.h.

TransformAffine()

GfVec3d TransformAffine ( const GfVec3d &  vec ) const

inline

Transforms the row vector vec by the matrix, returning the result.

This treats the vector as a 4-component vector whose fourth component is 1 and ignores the fourth column of the matrix (i.e. assumes it is (0, 0, 0, 1)).

Definition at line 665 of file matrix4d.h.

TransformDir()

GfVec3d TransformDir ( const GfVec3d &  vec ) const

inline

Transforms row vector vec by the matrix, returning the result.

This treats the vector as a direction vector, so the translation information in the matrix is ignored. That is, it treats the vector as a 4-component vector whose fourth component is 0.

Definition at line 654 of file matrix4d.h.

Friends And Related Function Documentation

GfMatrix4f

friend class GfMatrix4f

friend

Definition at line 693 of file matrix4d.h.

hash_value

size_t hash_value ( GfMatrix4d const &  m )

friend

Hash.

Definition at line 287 of file matrix4d.h.

operator* [1/5]

GfVec4d operator* ( const GfMatrix4d &  m, const GfVec4d &  vec  )

friend

Returns the product of a matrix m and a column vector vec.

Definition at line 476 of file matrix4d.h.

operator* [2/5]

GfMatrix4d operator* ( const GfMatrix4d &  m1, const GfMatrix4d &  m2  )

friend

Multiplies matrix m1 by m2.

Definition at line 462 of file matrix4d.h.

operator* [3/5]

GfMatrix4d operator* ( const GfMatrix4d &  m1, double  d  )

friend

Returns the product of a matrix and a double.

Definition at line 420 of file matrix4d.h.

operator* [4/5]

GfVec4d operator* ( const GfVec4d &  vec, const GfMatrix4d &  m  )

friend

Returns the product of row vector vec and a matrix m.

Definition at line 484 of file matrix4d.h.

operator* [5/5]

GfMatrix4d operator* ( double  d, const GfMatrix4d &  m  )

friend

Definition at line 428 of file matrix4d.h.

operator+

GfMatrix4d operator+ ( const GfMatrix4d &  m1, const GfMatrix4d &  m2  )

friend

Adds matrix m2 to m1.

Definition at line 446 of file matrix4d.h.

operator- [1/2]

GF_API friend GfMatrix4d operator- ( const GfMatrix4d &  m )

friend

Returns the unary negation of matrix m.

operator- [2/2]

GfMatrix4d operator- ( const GfMatrix4d &  m1, const GfMatrix4d &  m2  )

friend

Subtracts matrix m2 from m1.

Definition at line 454 of file matrix4d.h.

operator/

GfMatrix4d operator/ ( const GfMatrix4d &  m1, const GfMatrix4d &  m2  )

friend

Divides matrix m1 by m2 (that is, m1 * inv(m2)).

Definition at line 470 of file matrix4d.h.

Member Data Documentation

numColumns

const size_t numColumns = 4

static

Definition at line 76 of file matrix4d.h.

numRows

const size_t numRows = 4

static

Definition at line 75 of file matrix4d.h.

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

• pxr/base/gf/matrix4d.h