#include <nnm.hpp>

Public Member Functions
constexpr	Transform3 ()
template<typename Other>
constexpr	Transform3 (const Transform3< Other > &transform)
constexpr	Transform3 (const Matrix4< Real > &matrix)
constexpr Real	trace () const
constexpr Real	determinant () const
constexpr Transform3	unchecked_inverse () const
constexpr std::optional< Transform3 >	inverse () const
constexpr bool	valid () const
constexpr bool	affine () const
constexpr Basis3< Real >	basis () const
constexpr Vector3< Real >	translation () const
constexpr Transform3	translate (const Vector3< Real > &offset) const
constexpr Transform3	translate_local (const Vector3< Real > &offset) const
Transform3	rotate_axis_angle (const Vector3< Real > &axis, const Real angle) const
Transform3	rotate_axis_angle_local (const Vector3< Real > &axis, const Real angle) const
constexpr Transform3	rotate_quaternion (const Quaternion< Real > &quaternion) const
constexpr Transform3	rotate_quaternion_local (const Quaternion< Real > &quaternion) const
constexpr Transform3	scale (const Vector3< Real > &factor) const
constexpr Transform3	scale_local (const Vector3< Real > &factor) const
constexpr Transform3	shear_x (const Real factor_y, const Real factor_z) const
constexpr Transform3	shear_x_local (const Real factor_y, const Real factor_z) const
constexpr Transform3	shear_y (const Real factor_x, const Real factor_z) const
constexpr Transform3	shear_y_local (const Real factor_x, const Real factor_z) const
constexpr Transform3	shear_z (const Real factor_x, const Real factor_y) const
constexpr Transform3	shear_z_local (const Real factor_x, const Real factor_y) const
constexpr Transform3	transform (const Transform3 &by) const
constexpr Transform3	transform_local (const Transform3 &by) const
constexpr bool	approx_equal (const Transform3 &other) const
constexpr const Vector4< Real > &	at (const uint8_t column) const
constexpr Vector4< Real > &	at (const uint8_t column)
constexpr const Real &	at (const uint8_t column, const uint8_t row) const
constexpr Real &	at (const uint8_t column, const uint8_t row)
constexpr const Vector4< Real > &	operator[] (const uint8_t column) const
constexpr Vector4< Real > &	operator[] (const uint8_t column)
constexpr bool	operator== (const Transform3 &other) const
constexpr bool	operator!= (const Transform3 &other) const
constexpr bool	operator< (const Transform3 &other) const

Static Public Member Functions
static constexpr Transform3	from_basis_translation (const Basis3< Real > &basis, const Vector3< Real > &translation)
static constexpr Transform3	from_basis (const Basis3< Real > &basis)
static constexpr Transform3	from_translation (const Vector3< Real > &translation)
static Transform3	from_rotation_axis_angle (const Vector3< Real > &axis, const Real angle)
static constexpr Transform3	from_rotation_quaternion (const Quaternion< Real > &quaternion)
static constexpr Transform3	from_scale (const Vector3< Real > &factor)
static constexpr Transform3	from_shear_x (const Real factor_y, const Real factor_z)
static constexpr Transform3	from_shear_y (const Real factor_x, const Real factor_z)
static constexpr Transform3	from_shear_z (const Real factor_x, const Real factor_y)
static Transform3	from_perspective_left_hand_neg1to1 (const Real fov, const Real aspect_ratio, const Real near_clip, const Real far_clip)
static Transform3	from_perspective_left_hand_0to1 (const Real fov, const Real aspect_ratio, const Real near_clip, const Real far_clip)
static Transform3	from_perspective_right_hand_neg1to1 (const Real fov, const Real aspect_ratio, const Real near_clip, const Real far_clip)
static Transform3	from_perspective_right_hand_0to1 (const Real fov, const Real aspect_ratio, const Real near_clip, const Real far_clip)
static constexpr Transform3	from_orthographic_left_hand_neg1to1 (const Real left, const Real right, const Real bottom, const Real top, const Real near_clip, const Real far_clip)
static constexpr Transform3	from_orthographic_left_hand_0to1 (const Real left, const Real right, const Real bottom, const Real top, const Real near_clip, const Real far_clip)
static constexpr Transform3	from_orthographic_right_hand_neg1to1 (const Real left, const Real right, const Real bottom, const Real top, const Real near_clip, const Real far_clip)
static constexpr Transform3	from_orthographic_right_hand_0to1 (const Real left, const Real right, const Real bottom, const Real top, const Real near_clip, const Real far_clip)

Public Attributes
Matrix4< Real >	matrix

Detailed Description

template<typename Real>
class nnm::Transform3< Real >

Three-dimensional transformation matrix.

Template Parameters

Real	Floating-point type.

Constructor & Destructor Documentation

◆ Transform3() [1/3]

template<typename Real>

nnm::Transform3< Real >::Transform3 ( )

inlineconstexpr

Initialize with identity.

◆ Transform3() [2/3]

template<typename Real>

template<typename Other>

nnm::Transform3< Real >::Transform3 ( const Transform3< Other > & transform )

inlineexplicitconstexpr

Cast from other transform.

Template Parameters

Other Other type.

Parameters

transform Other transform.

◆ Transform3() [3/3]

template<typename Real>

nnm::Transform3< Real >::Transform3 ( const Matrix4< Real > & matrix )

inlineexplicitconstexpr

Initialize from a 4x4 matrix. No validation/checks are done.

Parameters

matrix Matrix.

Member Function Documentation

◆ affine()

template<typename Real>

bool nnm::Transform3< Real >::affine ( ) const

inlinenodiscardconstexpr

Determines if transform is affine. Affine means that the transform preserves parallel lines.

Returns: True if affine, false otherwise.

◆ approx_equal()

template<typename Real>

bool nnm::Transform3< Real >::approx_equal ( const Transform3< Real > & other ) const

inlinenodiscardconstexpr

Determines if approximately equal to another transform.

Parameters

other Other transform.

Returns: True if all elements are approximately equal, false otherwise.

◆ at() [1/4]

template<typename Real>

Vector4< Real > & nnm::Transform3< Real >::at ( const uint8_t column )

inlineconstexpr

Reference to column at index.

Parameters

column Index of column.

Returns: Reference to column.

◆ at() [2/4]

template<typename Real>

const Vector4< Real > & nnm::Transform3< Real >::at ( const uint8_t column ) const

inlinenodiscardconstexpr

Constant reference to column at index.

Parameters

column Index of column.

Returns: Constant reference to column.

◆ at() [3/4]

template<typename Real>

Real & nnm::Transform3< Real >::at	(	const uint8_t	column,
		const uint8_t	row )

inlineconstexpr

Reference to element at column and row index.

Parameters

column	Index of column.
row	Index of row.

Returns: Reference to element.

◆ at() [4/4]

template<typename Real>

const Real & nnm::Transform3< Real >::at	(	const uint8_t	column,
		const uint8_t	row ) const

inlinenodiscardconstexpr

Constant reference to element at column and row index.

Parameters

column	Index of column.
row	Index of row.

Returns: Constant reference to element.

◆ basis()

template<typename Real>

Basis3< Real > nnm::Transform3< Real >::basis ( ) const

inlinenodiscardconstexpr

Basis of the transform.

Returns: Result.

◆ determinant()

template<typename Real>

Real nnm::Transform3< Real >::determinant ( ) const

inlinenodiscardconstexpr

Determinant of the matrix.

Returns: Result.

◆ from_basis()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_basis ( const Basis3< Real > & basis )

inlinestaticconstexpr

Transform from a 3D basis and no translation.

Parameters

basis 3D Basis.

Returns: Result.

◆ from_basis_translation()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_basis_translation	(	const Basis3< Real > &	basis,
		const Vector3< Real > &	translation )

inlinestaticconstexpr

Transform from a 3D basis and 3D translation.

Parameters

basis	3D basis.
translation	3D translation vector.

Returns: Result.

◆ from_orthographic_left_hand_0to1()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_orthographic_left_hand_0to1	(	const Real	left,
		const Real	right,
		const Real	bottom,
		const Real	top,
		const Real	near_clip,
		const Real	far_clip )

inlinestaticconstexpr

Transform with orthographic projection with left-handed coordinate system and normalized from 0 to 1.

Parameters

left	Left distance.
right	Right distance.
bottom	Bottom distance.
top	Top distance.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_orthographic_left_hand_neg1to1()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_orthographic_left_hand_neg1to1	(	const Real	left,
		const Real	right,
		const Real	bottom,
		const Real	top,
		const Real	near_clip,
		const Real	far_clip )

inlinestaticconstexpr

Transform with orthographic projection with left-handed coordinate system and normalized from -1 to 1.

Parameters

left	Left distance.
right	Right distance.
bottom	Bottom distance.
top	Top distance.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_orthographic_right_hand_0to1()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_orthographic_right_hand_0to1	(	const Real	left,
		const Real	right,
		const Real	bottom,
		const Real	top,
		const Real	near_clip,
		const Real	far_clip )

inlinestaticconstexpr

Transform with orthographic projection with right-handed coordinate system and normalized from 0 to 1.

Parameters

left	Left distance.
right	Right distance.
bottom	Bottom distance.
top	Top distance.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_orthographic_right_hand_neg1to1()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_orthographic_right_hand_neg1to1	(	const Real	left,
		const Real	right,
		const Real	bottom,
		const Real	top,
		const Real	near_clip,
		const Real	far_clip )

inlinestaticconstexpr

Transform with orthographic projection with right-handed coordinate system and normalized from -1 to 1.

Parameters

left	Left distance.
right	Right distance.
bottom	Bottom distance.
top	Top distance.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_perspective_left_hand_0to1()

template<typename Real>

Transform3 nnm::Transform3< Real >::from_perspective_left_hand_0to1	(	const Real	fov,
		const Real	aspect_ratio,
		const Real	near_clip,
		const Real	far_clip )

inlinestatic

Transform with perspective projection with left-handed coordinate system and normalized from 0 to 1.

Parameters

fov	Field-of-view in radians.
aspect_ratio	Aspect ratio.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_perspective_left_hand_neg1to1()

template<typename Real>

Transform3 nnm::Transform3< Real >::from_perspective_left_hand_neg1to1	(	const Real	fov,
		const Real	aspect_ratio,
		const Real	near_clip,
		const Real	far_clip )

inlinestatic

Transform with perspective projection with left-handed coordinate system and normalized from -1 to 1.

Parameters

fov	Field-of-view in radians.
aspect_ratio	Aspect ratio.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_perspective_right_hand_0to1()

template<typename Real>

Transform3 nnm::Transform3< Real >::from_perspective_right_hand_0to1	(	const Real	fov,
		const Real	aspect_ratio,
		const Real	near_clip,
		const Real	far_clip )

inlinestatic

Transform with perspective projection with right-handed coordinate system and normalized from 0 to 1.

Parameters

fov	Field-of-view in radians.
aspect_ratio	Aspect ratio.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_perspective_right_hand_neg1to1()

template<typename Real>

Transform3 nnm::Transform3< Real >::from_perspective_right_hand_neg1to1	(	const Real	fov,
		const Real	aspect_ratio,
		const Real	near_clip,
		const Real	far_clip )

inlinestatic

Transform with perspective projection with right-handed coordinate system and normalized from -1 to 1.

Parameters

fov	Field-of-view in radians.
aspect_ratio	Aspect ratio.
near_clip	Near clipping plane distance.
far_clip	Far clipping plane distance.

Returns: Result.

◆ from_rotation_axis_angle()

template<typename Real>

Transform3 nnm::Transform3< Real >::from_rotation_axis_angle	(	const Vector3< Real > &	axis,
		const Real	angle )

inlinestatic

Transform rotated about a normalized axis and angle.

Parameters

axis	Normalized 3D axis vector.
angle	Angle in radians.

Returns: Result.

◆ from_rotation_quaternion()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_rotation_quaternion ( const Quaternion< Real > & quaternion )

inlinestaticconstexpr

Transform rotated by quaternion.

Parameters

quaternion Quaternion.

Returns: Result.

◆ from_scale()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_scale ( const Vector3< Real > & factor )

inlinestaticconstexpr

Transform scaled by per-axis factor.

Parameters

factor Scale factor vector.

Returns: Result.

◆ from_shear_x()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_shear_x	(	const Real	factor_y,
		const Real	factor_z )

inlinestaticconstexpr

Transform sheared about the x-axis.

Parameters

factor_y	Y-Axis factor.
factor_z	Z-Axis factor.

Returns: Result.

◆ from_shear_y()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_shear_y	(	const Real	factor_x,
		const Real	factor_z )

inlinestaticconstexpr

Transform sheared about the y-axis.

Parameters

factor_x	X-Axis factor.
factor_z	Z-Axis factor.

Returns: Result.

◆ from_shear_z()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_shear_z	(	const Real	factor_x,
		const Real	factor_y )

inlinestaticconstexpr

Transform sheared about the z-axis.

Parameters

factor_x	X-Axis factor.
factor_y	Z-Axis factor.

Returns: Result.

◆ from_translation()

template<typename Real>

constexpr Transform3 nnm::Transform3< Real >::from_translation ( const Vector3< Real > & translation )

inlinestaticconstexpr

Transform with a translation.

Parameters

translation 3D translation vector.

Returns: Result.

◆ inverse()

template<typename Real>

std::optional< Transform3 > nnm::Transform3< Real >::inverse ( ) const

inlinenodiscardconstexpr

Inverse of the transform.

Returns: Inverse if one exists, null otherwise.

◆ operator!=()

template<typename Real>

bool nnm::Transform3< Real >::operator!= ( const Transform3< Real > & other ) const

inlinenodiscardconstexpr

Element-wise inequality

Parameters

other Other transform.

Returns: True if any element is not equal, false otherwise.

◆ operator<()

template<typename Real>

bool nnm::Transform3< Real >::operator< ( const Transform3< Real > & other ) const

inlinenodiscardconstexpr

Lexicographical comparison.

Parameters

other Other transform.

Returns: True if less than, false otherwise.

◆ operator==()

template<typename Real>

bool nnm::Transform3< Real >::operator== ( const Transform3< Real > & other ) const

inlinenodiscardconstexpr

Element-wise equality.

Parameters

other Other transform.

Returns: True if all elements are equal, false otherwise.

◆ operator[]() [1/2]

template<typename Real>

Vector4< Real > & nnm::Transform3< Real >::operator[] ( const uint8_t column )

inlineconstexpr

Reference to column at column index.

Parameters

column Index of column.

Returns: Reference to column.

◆ operator[]() [2/2]

template<typename Real>

const Vector4< Real > & nnm::Transform3< Real >::operator[] ( const uint8_t column ) const

inlinenodiscardconstexpr

Constant reference to column at column index.

Parameters

column Index of column.

Returns: Constant reference to column.

◆ rotate_axis_angle()

template<typename Real>

Transform3 nnm::Transform3< Real >::rotate_axis_angle	(	const Vector3< Real > &	axis,
		const Real	angle ) const

inlinenodiscard

Rotation about an axis by an angle.

Parameters

axis	Normalized 3D vector axis.
angle	Angle in radians.

Returns: Result.

◆ rotate_axis_angle_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::rotate_axis_angle_local	(	const Vector3< Real > &	axis,
		const Real	angle ) const

inlinenodiscard

Local rotation about an axis by an angle.

Parameters

axis	Normalized 3D vector axis.
angle	Angle in radians.

Returns: Result.

◆ rotate_quaternion()

template<typename Real>

Transform3 nnm::Transform3< Real >::rotate_quaternion ( const Quaternion< Real > & quaternion ) const

inlinenodiscardconstexpr

Rotation by quaternion.

Parameters

quaternion Quaternion.

Returns: Result.

◆ rotate_quaternion_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::rotate_quaternion_local ( const Quaternion< Real > & quaternion ) const

inlinenodiscardconstexpr

Location rotation by quaternion.

Parameters

quaternion Quaternion.

Returns: Result.

◆ scale()

template<typename Real>

Transform3 nnm::Transform3< Real >::scale ( const Vector3< Real > & factor ) const

inlinenodiscardconstexpr

Per-axis scale by factor.

Parameters

factor 3D scale factor vector.

Returns: Result.

◆ scale_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::scale_local ( const Vector3< Real > & factor ) const

inlinenodiscardconstexpr

Local per-axis scale by factor.

Parameters

factor 3D scale factor vector.

Returns: Result.

◆ shear_x()

template<typename Real>

Transform3 nnm::Transform3< Real >::shear_x	(	const Real	factor_y,
		const Real	factor_z ) const

inlinenodiscardconstexpr

Shear about the x-axis.

Parameters

factor_y	Y-Axis factor.
factor_z	Z-Axis factor.

Returns: Result.

◆ shear_x_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::shear_x_local	(	const Real	factor_y,
		const Real	factor_z ) const

inlinenodiscardconstexpr

Local shear about the x-axis.

Parameters

factor_y	Y-Axis factor.
factor_z	Z-Axis factor.

Returns: Result.

◆ shear_y()

template<typename Real>

Transform3 nnm::Transform3< Real >::shear_y	(	const Real	factor_x,
		const Real	factor_z ) const

inlinenodiscardconstexpr

Shear about the y-axis.

Parameters

factor_x	X-Axis factor.
factor_z	Z-Axis factor.

Returns: Result.

◆ shear_y_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::shear_y_local	(	const Real	factor_x,
		const Real	factor_z ) const

inlinenodiscardconstexpr

Local shear about the y-axis.

Parameters

factor_x	X-Axis factor.
factor_z	Z-Axis factor.

Returns: Result.

◆ shear_z()

template<typename Real>

Transform3 nnm::Transform3< Real >::shear_z	(	const Real	factor_x,
		const Real	factor_y ) const

inlinenodiscardconstexpr

Shear about the z-axis.

Parameters

factor_x	X-Axis factor.
factor_y	Z-Axis factor.

Returns: Result.

◆ shear_z_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::shear_z_local	(	const Real	factor_x,
		const Real	factor_y ) const

inlinenodiscardconstexpr

Local shear about the z-axis.

Parameters

factor_x	X-Axis factor.
factor_y	Z-Axis factor.

Returns: Result.

◆ trace()

template<typename Real>

Real nnm::Transform3< Real >::trace ( ) const

inlinenodiscardconstexpr

Trace which is the sum of the matrix diagonal.

Returns: Result.

◆ transform()

template<typename Real>

Transform3 nnm::Transform3< Real >::transform ( const Transform3< Real > & by ) const

inlinenodiscardconstexpr

Transform by another transform.

Parameters

by	Other transform.

Returns: Result.

◆ transform_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::transform_local ( const Transform3< Real > & by ) const

inlinenodiscardconstexpr

Local transform by another transform.

Parameters

by	Other transform.

Returns: Result.

◆ translate()

template<typename Real>

Transform3 nnm::Transform3< Real >::translate ( const Vector3< Real > & offset ) const

inlinenodiscardconstexpr

Translation.

Parameters

offset Offset vector.

Returns: Result.

◆ translate_local()

template<typename Real>

Transform3 nnm::Transform3< Real >::translate_local ( const Vector3< Real > & offset ) const

inlinenodiscardconstexpr

Local translation.

Parameters

offset Offset vector.

Returns: Result.

◆ translation()

template<typename Real>

Vector3< Real > nnm::Transform3< Real >::translation ( ) const

inlinenodiscardconstexpr

Translation vector of the transform.

Returns: Result.

◆ unchecked_inverse()

template<typename Real>

Transform3 nnm::Transform3< Real >::unchecked_inverse ( ) const

inlinenodiscardconstexpr

Inverse of the transform without checking if a valid inverse is possible.

Returns: Result.

◆ valid()

template<typename Real>

bool nnm::Transform3< Real >::valid ( ) const

inlinenodiscardconstexpr

Determines if transform is valid. Validity is determined based on if the transform's basis is valid.

Returns: True if valid, false otherwise.

Member Data Documentation

◆ matrix

template<typename Real>

Matrix4<Real> nnm::Transform3< Real >::matrix

Matrix of transform

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

include/nnm/nnm.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Transform3() [1/3]

◆ Transform3() [2/3]

◆ Transform3() [3/3]

Member Function Documentation

◆ affine()

◆ approx_equal()

◆ at() [1/4]

◆ at() [2/4]

◆ at() [3/4]

◆ at() [4/4]

◆ basis()

◆ determinant()

◆ from_basis()

◆ from_basis_translation()

◆ from_orthographic_left_hand_0to1()

◆ from_orthographic_left_hand_neg1to1()

◆ from_orthographic_right_hand_0to1()

◆ from_orthographic_right_hand_neg1to1()

◆ from_perspective_left_hand_0to1()

◆ from_perspective_left_hand_neg1to1()

◆ from_perspective_right_hand_0to1()

◆ from_perspective_right_hand_neg1to1()

◆ from_rotation_axis_angle()

◆ from_rotation_quaternion()

◆ from_scale()

◆ from_shear_x()

◆ from_shear_y()

◆ from_shear_z()

◆ from_translation()

◆ inverse()

◆ operator!=()

◆ operator<()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ rotate_axis_angle()

◆ rotate_axis_angle_local()

◆ rotate_quaternion()

◆ rotate_quaternion_local()

◆ scale()

◆ scale_local()

◆ shear_x()

◆ shear_x_local()

◆ shear_y()

◆ shear_y_local()

◆ shear_z()

◆ shear_z_local()

◆ trace()

◆ transform()

◆ transform_local()

◆ translate()

◆ translate_local()

◆ translation()

◆ unchecked_inverse()

◆ valid()

Member Data Documentation

◆ matrix