MatrixMath

Functions
string	MatrixCreate (posVec, rotVec)
string	MatrixCreateFromEuler (rotVec)
string	MatrixMulPoint (transform, point)
string	MatrixMultiply (transformA, transformB)
string	MatrixMulVector (transform, vector)

Detailed Description

Matrix manipulation functions.

Function Documentation

string MatrixCreate	(	posVec	,
		rotVec
	)

Use the matrixCreate function to create a transform matrix from a three-element floating-point translation vector and a four-element floating-point rotation vector.

Parameters

posVec	A three-element floating-point translation vector: "PosX PosY PosZ".
rotVec	A four-element floating-point rotation vector: "RotX RotY RotZ".
These	re rotations about the specified axes.

Returns

Returns a transform matrix of the form "PosX PosY PosZ RotX RotY RotZ theta".

See Also

MatrixCreateFromEuler

string MatrixCreateFromEuler

(

rotVec

)

Use the MatrixCreateFromEuler function to calculate a transform matrix from a three-element floating-point rotation vector.

Parameters

rotVec

A three-element floating-point rotation vector: "RotX RotY RotZ". These are rotations about the specified axes.

Returns

Returns a transform matrix of the form "0 0 0 X Y Z theta".

See Also

MatrixCreate

string MatrixMulPoint	(	transform	,
		point
	)

Use the MatrixMulPoint function to multiply a seven element transform matrix by a three element point vector, producing a three element position vector.

Parameters

transform	A seven-element transform matrix.
point	A three-element point/position vector.

Returns

Returns a three-element position vector.

See Also

MatrixMultiply, MatrixMulVector

string MatrixMultiply	(	transformA	,
		transformB
	)

Use the MatrixMultiply function to multiply two seven-element transform matrices to produce a new seven element matrix.

Parameters

transformA	A seven-element transform matrix of the form "PosX PosY PosZ RotX RotY RotZ theta".
transformB	A seven-element transform matrix of the form "PosX PosY PosZ RotX RotY RotZ theta".

Returns

Returns a seven-element matrix resulting from transiformA x transformB.

See Also

MatrixMulPoint, MatrixMulVector

string MatrixMulVector	(	transform	,
		vector
	)

Use the MatrixMulVector function to multiply a seven-element transform matrix with a three-element matrix.

Parameters

transform	A seven-element transform matrix of the form "PosX PosY PosZ RotX RotY RotZ theta".
vector	A three-element vector.

Returns

Returns three-element resulting from vector * transform.

See Also

MatrixMulPoint, MatrixMultiply