jumbo.euclid
Class Transform3

java.lang.Object
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  +--jumbo.euclid.Status
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        +--jumbo.euclid.RealMatrix
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              +--jumbo.euclid.RealSquareMatrix
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                    +--jumbo.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.

Field Summary

static int	ROT_ORIG
static int	ROT_TRANS
static int	ROT_TRANS_AXIAL_SCALE
static int	ROT_TRANS_SCALE
static int	ROT_TRANS_SCALE_PERSP
static int	TRFORM3_ANY
static int	TRFORM3_NULL

Fields inherited from class jumbo.euclid.RealMatrix

cols, flmat, rows

Constructor Summary

Transform3()
default is a unit matrix

Transform3(Angle xrot, Angle yrot, Angle zrot)
from rotation about the three orthogonal axes (X then Y then Z)

Transform3(Choice3 axis, Angle rot)
from rotation about an axis (use (Choice3.X), etc.

Transform3(double[] array)
Formed by feeding in an existing array to a cols*cols matrix.

Transform3(int t)
This gives a default unit matrix of type t (default ROT_ORIG).

Transform3(Line3 l, Angle a)
Rotation about a line

Transform3(RealSquareMatrix m)
from a 3x3 or 4x4 matrix

Transform3(RealSquareMatrix m, Vector3 v)
from a 3x3 rotation matrix and a translation vector

Transform3(Transform3 m)
copy constructors - assumed to be an OK matrix

Transform3(Transform3 t, Point3 p)
from rotation about a point, given a matrix

Transform3(Vector3 v)
identity matrix with translation component

Transform3(Vector3 v, Angle a)
from rotation about a vector

Transform3(Vector3 v1, Vector3 v2)
rotation of one vector onto another

Transform3(Vector3 v1, Vector3 v2, Vector3 v3)
from 3 vector components - NOT checked

Method Summary

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

Methods inherited from class jumbo.euclid.RealSquareMatrix

copyLowerToUpper, copyUpperToLower, determinant, diagonal, diagonaliseAndReturnRank, equals, getInverse, isImproperRotation, isLowerTriangular, isOrthogonal, isOrthonormal, isSymmetric, isUnit, isUnitary, isUpperTriangular, lowerTriangle, multiply, orthogonalise, orthonormalise, outerProduct, plus, shallowCopy, subtract, trace, transpose

Methods inherited from class jumbo.euclid.RealMatrix

appendColumnData, appendColumnData, appendRowData, appendRowData, clearMatrix, clone, columnwiseDivide, deleteColumn, deleteColumns, deleteRow, deleteRows, elementAt, elementAt, elementsInRange, equals, euclideanColumnLength, euclideanColumnLengths, euclideanRowLength, euclideanRowLengths, extractColumnData, extractRowData, extractSubMatrixData, getCols, getMatrix, getMatrixAsArray, getRows, getTranspose, indexOfLargestElement, indexOfLargestElementInColumn, indexOfLargestElementInRow, indexOfSmallestElement, indexOfSmallestElementInColumn, indexOfSmallestElementInRow, insertColumnData, insertColumnData, insertColumns, insertRowData, insertRowData, insertRows, isSquare, largestElement, largestElementInColumn, largestElementInRow, multiply, multiply, multiplyBy, negative, normaliseByColumns, normaliseByRows, plus, reorderColumnsBy, reorderRowsBy, replaceColumnData, replaceColumnData, replaceColumnData, replaceRowData, replaceRowData, replaceRowData, replaceSubMatrixData, setAllElements, setElementAt, shallowCopy, smallestElement, smallestElementInColumn, smallestElementInRow, subtract, toString

Methods inherited from class jumbo.euclid.Status

NYI

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

TRFORM3_NULL

public static final int TRFORM3_NULL

ROT_ORIG

public static final int ROT_ORIG

ROT_TRANS

public static final int ROT_TRANS

ROT_TRANS_SCALE

public static final int ROT_TRANS_SCALE

ROT_TRANS_AXIAL_SCALE

public static final int ROT_TRANS_AXIAL_SCALE

ROT_TRANS_SCALE_PERSP

public static final int ROT_TRANS_SCALE_PERSP

TRFORM3_ANY

public static final int TRFORM3_ANY

Constructor Detail

Transform3

public Transform3()

default is a unit matrix

Transform3

public Transform3(int t)

This gives a default unit matrix of type t (default ROT_ORIG).

Transform3

public Transform3(Vector3 v)

identity matrix with translation component

Transform3

public Transform3(Choice3 axis,
                  Angle rot)

from rotation about an axis (use (Choice3.X), etc.

Transform3

public Transform3(Angle xrot,
                  Angle yrot,
                  Angle zrot)

from rotation about the three orthogonal axes (X then Y then Z)

Transform3

public Transform3(Transform3 t,
                  Point3 p)

from rotation about a point, given a matrix

Transform3

public Transform3(Vector3 v,
                  Angle a)

from rotation about a vector

Transform3

public Transform3(Line3 l,
                  Angle a)

Rotation about a line

Transform3

public Transform3(Vector3 v1,
                  Vector3 v2)
           throws ZeroVectorException

rotation of one vector onto another

Throws:

ZeroVectorException - v1 or v2 is zero length

Transform3

public Transform3(Vector3 v1,
                  Vector3 v2,
                  Vector3 v3)

from 3 vector components - NOT checked

Transform3

public Transform3(double[] array)
           throws BadArgumentException

Formed by feeding in an existing array to a cols*cols matrix. array is or type m00, m01, m02, m03, m13 ...

Throws:

BadArgumentException - array must have 16 elements

Transform3

public Transform3(Transform3 m)

copy constructors - assumed to be an OK matrix

Transform3

public Transform3(RealSquareMatrix m)
           throws UnequalArraysException

from a 3x3 or 4x4 matrix

Throws:

UnequalArraysException - m must be 3*3 or 4*4

Transform3

public Transform3(RealSquareMatrix m,
                  Vector3 v)
           throws UnequalArraysException

from a 3x3 rotation matrix and a translation vector

Throws:

UnequalArraysException - m must be 3*3

Method Detail

clone

public Transform3 clone(Transform3 m)

clone

equals

public boolean equals(Transform3 m)

concatenate

public Transform3 concatenate(Transform3 m2)

concatenate

setTransformationType

public int setTransformationType(int option)

set transformation type

getTransformationType

public int getTransformationType()

get transformation type

checkMatrix

public int checkMatrix()

get new matrix type

getAxisAndAngle

public int getAxisAndAngle(Vector3 axis,
                           Angle ang)

returns chirality

getTranslation

public Vector3 getTranslation()

get translation component only

getCentreOfRotation

public Point3 getCentreOfRotation()

get centre of rotation

getRotationMatrix

public RealSquareMatrix getRotationMatrix()

get Unitary matrix (i.e. eliminate scales and translation)

main

public static void main(java.lang.String[] args)

tests Transform3 routines