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DecomposeAffineC Class Reference

Decomposes a matrix into affine parts. More...

#include <DecomposeAffineC.h>

List of all members.

Public Methods
	DecomposeAffineC (const PajaTypes::Matrix3C &rMat)
	Constructor.
	~DecomposeAffineC ()
	Desctructor.
PajaTypes::float32	get_sign ()
	Returns sign of the determinant.
Public Attributes
PajaTypes::Vector3C	get_translation ()
	Returns the translation part of the matrix.
PajaTypes::QuatC	get_rotation ()
	Return essential rotation part of the matrix.
PajaTypes::Vector3C	get_scale ()
	Return scale part of the matrix.
PajaTypes::QuatC	get_scale_rotation ()
	Return scale rotation part of the matrix.

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Detailed Description

Decomposes a matrix into affine parts.

Decomposes matrix into translation, rotation, scale and scael rotation parts. The class is based on the article: "Polar Matrix Decomposition" by Ken Shoemake, shoemake@graphics.cis.upenn.edu in "Graphics Gems IV", Academic Press, 1994

To reassemble the matrix use following:

        Matrix3C    rScaleMat, rScaleRotMat, rInvScaleRotMat;
        Matrix3C    rPosMat, rRotMat, rTM;
        QuatC       rInvScaleRot;
        // scale
        rScaleMat.set_scale( rScale );
        // scale rot
        rScaleRot.from_axis_angle( rScaleAxis, f32ScaleAngle );
        rScaleRotMat.set_rot( rScaleRot );
        // inv scale rot
        rInvScaleRot = rScaleRot.unit_inverse();
        rInvScaleRotMat.set_rot( rInvScaleRot );
        // rot
        rRot.from_axis_angle( rRotAxis, f32RotAngle );
        rRotMat.set_rot( rRot );
        // pos
        rPosMat.set_trans( rPos );
        // Compose matrix
        rTM = rInvScaleRotMat * rScaleMat * rScaleRotMat * rRotMat * rPosMat;

Or using OpenGL:

        float32     f32X, f32Y, f32Z, f32A;
        QuatC       rInvScaleRot = rScaleRot.unit_inverse();

        glTranslatef( rPos[0], rPos[1], rPos[2] );

        rRot.to_axis_angle( f32X, f32Y, f32Z, f32A );
        glRotatef( f32A / (float32)M_PI * 180.0f, f32X, f32Y, f32Z );

        rScaleRot.to_axis_angle( f32X, f32Y, f32Z, f32A );
        glRotatef( f32A / (float32)M_PI * 180.0f, f32X, f32Y, f32Z );

        glScalef( rScale[0], rScale[1], rScale[2] );

        rInvScaleRot.to_axis_angle( f32X, f32Y, f32Z, f32A );
        glRotatef( f32A / (float32)M_PI * 180.0f, f32X, f32Y, f32Z );

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Constructor & Destructor Documentation

DecomposeAffineC (  const PajaTypes::Matrix3C &    rMat )

Constructor.

~DecomposeAffineC (    )

Desctructor.

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Member Function Documentation

PajaTypes::float32 get_sign (    )

Returns sign of the determinant.

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Member Data Documentation

PajaTypes::QuatC get_rotation()

Return essential rotation part of the matrix.

PajaTypes::Vector3C get_scale()

Return scale part of the matrix.

PajaTypes::QuatC get_scale_rotation()

Return scale rotation part of the matrix.

PajaTypes::Vector3C get_translation()

Returns the translation part of the matrix.

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