pbat::geometry::sdf::Transform< TScalar > Struct Template Reference

A 3D rigid transform. More...

#include <Transform.h>

Public Types
using	ScalarType = TScalar
	Scalar type.

Public Member Functions
	Transform ()=default
	Default constructor.
	Transform (Mat3< ScalarType > const &_R, Vec3< ScalarType > const &_t)
	Constructor with rotation matrix and translation vector.
PBAT_HOST_DEVICE Vec3< ScalarType >	operator() (Vec3< ScalarType > const &p) const
	Apply the transform to a point (technically, a vector)
PBAT_HOST_DEVICE Vec3< ScalarType >	operator/ (Vec3< ScalarType > const &p) const
	Apply the inverse transform to a point (technically, a vector)
void	CleanRotation ()
	Clean the rotation matrix to ensure it is a valid rotation (orthogonal with determinant 1)

Static Public Member Functions
static Transform	Identity ()
	Create an identity transform.

Public Attributes
Mat3< ScalarType >	R
	Rotation matrix.
Vec3< ScalarType >	t
	Translation vector.

Detailed Description

template<common::CArithmetic TScalar>
struct pbat::geometry::sdf::Transform< TScalar >

A 3D rigid transform.

Template Parameters

TScalar

Scalar type

Constructor & Destructor Documentation

Transform()

template<common::CArithmetic TScalar>

pbat::geometry::sdf::Transform< TScalar >::Transform ( Mat3< ScalarType > const & _R, Vec3< ScalarType > const & _t )

inline

Constructor with rotation matrix and translation vector.

Parameters

R	Rotation matrix
t	Translation vector

Member Function Documentation

Identity()

template<common::CArithmetic TScalar>

static Transform pbat::geometry::sdf::Transform< TScalar >::Identity ( )

inlinestatic

Create an identity transform.

Returns

Identity transform

operator()()

template<common::CArithmetic TScalar>

PBAT_HOST_DEVICE Vec3< ScalarType > pbat::geometry::sdf::Transform< TScalar >::operator() ( Vec3< ScalarType > const & p ) const

inline

Apply the transform to a point (technically, a vector)

Parameters

p	Point to transform

Returns

Transformed point

operator/()

template<common::CArithmetic TScalar>

PBAT_HOST_DEVICE Vec3< ScalarType > pbat::geometry::sdf::Transform< TScalar >::operator/ ( Vec3< ScalarType > const & p ) const

inline

Apply the inverse transform to a point (technically, a vector)

Parameters

p	Point to inverse transform

Returns

Inverse transformed point

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

• C:/git/PhysicsBasedAnimationToolkit/source/pbat/geometry/sdf/Transform.h