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| Frame (const Matrix &=Matrix::Identity, const Vector &=Vector::Null) |
| Creates a frame given a rotation matrix and a translation vector. More...
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| Frame (const Vector &, const Vector &, const Vector &, const Vector &) |
| Creates a frame given the origin and its orthogonal unit vectors. More...
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| ~Frame () |
| Empty.
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Matrix | R () const |
| Returns the rotation matrix of the frame.
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Vector | T () const |
| Returns the translation vector of the frame.
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Vector | GetVector (int) const |
| Returns the i-th basis vector of the frame. More...
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void | Compose (const Frame &) |
| Compose the frame with another one. More...
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Frame | Composed (const Frame &) const |
| Compose the frame with another one. More...
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Frame | Inverse () const |
| Compute the inverse transformation.
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Vector | Transform (const Vector &) const |
| Transform a point out of the frame coordinate system. More...
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Vector | InverseTransform (const Vector &) const |
| Transform a point into the frame coordinate system. More...
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Vector | TransformDirection (const Vector &) const |
| Transform a direction vector out of the frame coordinate system. More...
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Vector | InverseTransformDirection (const Vector &) const |
| Transform a direction vector into the frame coordinate system.
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Ray | Transform (const Ray &) const |
| Transform a ray out of the frame coordinate system. More...
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Ray | InverseTransform (const Ray &) const |
| Transform a ray into the frame coordinate system. More...
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Vector | CircleVertex (const double &, int=1, int=2) const |
| Compute the coordinates of a point on a circle inside the frame;. More...
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Vector | CircleNormal (const double &, int=1, int=2) const |
| Compute the coordinates of the normal a point on a circle inside the frame;. More...
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Vector | SphereVertex (const double &, const double &, const double &, int=1, int=2, int=0) const |
| Compute the coordinates of a point on a sphere inside the frame. More...
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Vector | SphereNormal (const double &, const double &, int=1, int=2, int=0) const |
| Compute the coordinates of the normal of a point on a sphere inside the frame. More...
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static Frame | Translation (const Vector &) |
| Creates a translation transformation. More...
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static Frame | Rotation (const Vector &) |
| Creates a rotation frame. More...
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static Frame | Rotation (const Vector &, const double &) |
| Create a rotation frame about an arbitrary axis. More...
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static Frame | Rotation (const Vector &, const Vector &) |
| Create a frame that rotates a normalized vector into another one. More...
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static Frame | Canonical (const Vector &, const Vector &) |
| Given a point and a direction, compute the frame that brings these into a canonical coordinate system. More...
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static Frame | Orthonormal (const Vector &, const Vector &) |
| Compute a frame given an origin and direction vector. More...
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Matrix | r |
| Rotation matrix.
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Vector | t |
| Translation vector.
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static const Frame | Id |
| Identity.
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An oriented box.
The frame stores the center of the box and the axes as vectors. The size of the box is defined using a half-size length vector.