#include <LeapMath.h>

Detailed Description

The Matrix struct represents a transformation matrix.

To use this struct to transform a Vector, construct a matrix containing the desired transformation and then use the Matrix::transformPoint() or Matrix::transformDirection() functions to apply the transform.

Transforms can be combined by multiplying two or more transform matrices using the * operator.

Public Attributes
Vector	xBasis

Vector	yBasis

Vector	zBasis

Vector	origin

Public Member Functions
	Matrix ()

	Matrix (const Matrix &other)

	Matrix (const Vector &_xBasis, const Vector &_yBasis, const Vector &_zBasis)

	Matrix (const Vector &_xBasis, const Vector &_yBasis, const Vector &_zBasis, const Vector &_origin)

	Matrix (const Vector &axis, float angleRadians)

	Matrix (const Vector &axis, float angleRadians, const Vector &translation)

void	setRotation (const Vector &_axis, float angleRadians)

Vector	transformPoint (const Vector &in) const

Vector	transformDirection (const Vector &in) const

Matrix	rigidInverse () const

Matrix	operator* (const Matrix &other) const

Matrix &	operator*= (const Matrix &other)

bool	operator== (const Matrix &other) const

bool	operator!= (const Matrix &other) const

template<typename Matrix3x3Type >
const Matrix3x3Type	toMatrix3x3 () const

template<typename Matrix4x4Type >
const Matrix4x4Type	toMatrix4x4 () const

template<typename T >
T *	toArray3x3 (T *output) const

FloatArray	toArray3x3 () const

template<typename T >
T *	toArray4x4 (T *output) const

FloatArray	toArray4x4 () const

std::string	toString () const

Static Public Member Functions
static const Matrix &	identity ()

Friends
std::ostream &	operator<< (std::ostream &out, const Matrix &matrix)

Attribute details

◆ origin

Vector Leap::Matrix::origin

The translation factors for all three axes.

◆ xBasis

Vector Leap::Matrix::xBasis

The rotation and scale factors for the x-axis.

◆ yBasis

Vector Leap::Matrix::yBasis

The rotation and scale factors for the y-axis.

◆ zBasis

Vector Leap::Matrix::zBasis

The rotation and scale factors for the z-axis.

Constructor details

◆ Matrix() [1/6]

Leap::Matrix::Matrix ( )

inline

Constructs an identity transformation matrix.

◆ Matrix() [2/6]

Leap::Matrix::Matrix ( const Matrix & other )

inline

Constructs a copy of the specified Matrix object.

◆ Matrix() [3/6]

Leap::Matrix::Matrix	(	const Vector &	_xBasis,
		const Vector &	_yBasis,
		const Vector &	_zBasis
	)

inline

Constructs a transformation matrix from the specified basis vectors.

Parameters

_xBasis	A Vector specifying rotation and scale factors for the x-axis.
_yBasis	A Vector specifying rotation and scale factors for the y-axis.
_zBasis	A Vector specifying rotation and scale factors for the z-axis.

◆ Matrix() [4/6]

Leap::Matrix::Matrix	(	const Vector &	_xBasis,
		const Vector &	_yBasis,
		const Vector &	_zBasis,
		const Vector &	_origin
	)

inline

Constructs a transformation matrix from the specified basis and translation vectors.

Parameters

_xBasis	A Vector specifying rotation and scale factors for the x-axis.
_yBasis	A Vector specifying rotation and scale factors for the y-axis.
_zBasis	A Vector specifying rotation and scale factors for the z-axis.
_origin	A Vector specifying translation factors on all three axes.

◆ Matrix() [5/6]

Leap::Matrix::Matrix	(	const Vector &	axis,
		float	angleRadians
	)

inline

Constructs a transformation matrix specifying a rotation around the specified vector.

Parameters

axis	A Vector specifying the axis of rotation.
angleRadians	The amount of rotation in radians.

◆ Matrix() [6/6]

Leap::Matrix::Matrix	(	const Vector &	axis,
		float	angleRadians,
		const Vector &	translation
	)

inline

Constructs a transformation matrix specifying a rotation around the specified vector and a translation by the specified vector.

Parameters

axis	A Vector specifying the axis of rotation.
angleRadians	The angle of rotation in radians.
translation	A Vector representing the translation part of the transform.

Function details

◆ identity()

static const Matrix& Leap::Matrix::identity ( )

inlinestatic

Returns the identity matrix specifying no translation, rotation, and scale.

Returns: The identity matrix.

◆ operator!=()

bool Leap::Matrix::operator!= ( const Matrix & other ) const

inline

Compare Matrix inequality component-wise.

◆ operator*()

Matrix Leap::Matrix::operator* ( const Matrix & other ) const

inline

Multiply transform matrices.

Combines two transformations into a single equivalent transformation.

Parameters

other A Matrix to multiply on the right hand side.

Returns: A new Matrix representing the transformation equivalent to applying the other transformation followed by this transformation.

◆ operator*=()

Matrix& Leap::Matrix::operator*= ( const Matrix & other )

inline

Multiply transform matrices and assign the product.

◆ operator==()

bool Leap::Matrix::operator== ( const Matrix & other ) const

inline

Compare Matrix equality component-wise.

◆ rigidInverse()

Matrix Leap::Matrix::rigidInverse ( ) const

inline

Performs a matrix inverse if the matrix consists entirely of rigid transformations (translations and rotations). If the matrix is not rigid, this operation will not represent an inverse.

Note that all matrices that are directly returned by the API are rigid.

Returns: The rigid inverse of the matrix.

◆ setRotation()

void Leap::Matrix::setRotation	(	const Vector &	_axis,
		float	angleRadians
	)

inline

Sets this transformation matrix to represent a rotation around the specified vector.

This function erases any previous rotation and scale transforms applied to this matrix, but does not affect translation.

Parameters

_axis	A Vector specifying the axis of rotation.
angleRadians	The amount of rotation in radians.

◆ toArray3x3() [1/2]

FloatArray Leap::Matrix::toArray3x3 ( ) const

inline

Convert a 3x3 Matrix object to a 9 element row-major float array.

Translation factors are discarded.

Returns a FloatArray struct to avoid dynamic memory allocation.

◆ toArray3x3() [2/2]

template<typename T >

T* Leap::Matrix::toArray3x3 ( T * output ) const

inline

Writes the 3x3 Matrix object to a 9 element row-major float or double array.

Translation factors are discarded.

Returns a pointer to the same data.

◆ toArray4x4() [1/2]

FloatArray Leap::Matrix::toArray4x4 ( ) const

inline

Convert a 4x4 Matrix object to a 16 element row-major float array.

Returns a FloatArray struct to avoid dynamic memory allocation.

◆ toArray4x4() [2/2]

template<typename T >

T* Leap::Matrix::toArray4x4 ( T * output ) const

inline

Writes the 4x4 Matrix object to a 16 element row-major float or double array.

Returns a pointer to the same data.

◆ toMatrix3x3()

template<typename Matrix3x3Type >

const Matrix3x3Type Leap::Matrix::toMatrix3x3 ( ) const

inline

Convert a Leap::Matrix object to another 3x3 matrix type.

The new type must define a constructor function that takes each matrix element as a parameter in row-major order.

Translation factors are discarded.

◆ toMatrix4x4()

template<typename Matrix4x4Type >

const Matrix4x4Type Leap::Matrix::toMatrix4x4 ( ) const

inline

Convert a Leap::Matrix object to another 4x4 matrix type.

The new type must define a constructor function that takes each matrix element as a parameter in row-major order.

◆ toString()

std::string Leap::Matrix::toString ( ) const

inline

Write the matrix to a string in a human readable format.

◆ transformDirection()

Vector Leap::Matrix::transformDirection ( const Vector & in ) const

inline

Transforms a vector with this matrix by transforming its rotation and scale only.

Parameters

in	The Vector to transform.

Returns: A new Vector representing the transformed original.

◆ transformPoint()

Vector Leap::Matrix::transformPoint ( const Vector & in ) const

inline

Transforms a vector with this matrix by transforming its rotation, scale, and translation.

Translation is applied after rotation and scale.

Parameters

in	The Vector to transform.

Returns: A new Vector representing the transformed original.

Related details

◆ operator<<

std::ostream& operator<<	(	std::ostream &	out,
		const Matrix &	matrix
	)

friend

Write the matrix to an output stream in a human readable format.

Detailed Description

Public Attributes

Public Member Functions

Static Public Member Functions

Friends

Attribute details

◆ origin

◆ xBasis

◆ yBasis

◆ zBasis

Constructor details

◆ Matrix() [1/6]

◆ Matrix() [2/6]

◆ Matrix() [3/6]

◆ Matrix() [4/6]

◆ Matrix() [5/6]

◆ Matrix() [6/6]

Function details

◆ identity()

◆ operator!=()

◆ operator*()

◆ operator*=()

◆ operator==()

◆ rigidInverse()

◆ setRotation()

◆ toArray3x3() [1/2]

◆ toArray3x3() [2/2]

◆ toArray4x4() [1/2]

◆ toArray4x4() [2/2]

◆ toMatrix3x3()

◆ toMatrix4x4()

◆ toString()

◆ transformDirection()

◆ transformPoint()

Related details

◆ operator<<