This reference page is linked to from the following overview topics: FBX SDK 2014.

Detailed Description

FBX SDK affine matrix class.

Matrices are defined using the Column Major scheme. When a FbxAMatrix represents a transformation (translation, rotation and scale), the last row of the matrix represents the translation part of the transformation.

Remarks:: It is important to realize that an affine matrix must respect a certain structure. To be sure the structure is respected, use SetT, SetR, SetS, SetQ, SetTRS or SetTQS. If by mistake bad data is entered in this affine matrix, some functions such as Inverse() will yield wrong results. If a matrix is needed to hold values that aren't associate with an affine matrix, please use FbxMatrix instead.

Definition at line 31 of file fbxaffinematrix.h.

#include <fbxaffinematrix.h>

Inheritance diagram for FbxAMatrix:

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List of all members.

Public Member Functions
bool	IsIdentity (const double pThreshold=FBXSDK_TOLERANCE)
	Find out if the matrix is equal to identity matrix.
	FbxAMatrix (const FbxVector4 &pT, const FbxQuaternion &pQ, const FbxVector4 &pS)
void	SetTRS (const FbxVector4 &pT, const FbxAMatrix &pRM, const FbxVector4 &pS)
void	SetRow (int pY, const FbxVector4 &pRow)
void	SetR (const FbxVector4 &pV, const int pOrd)
void	SetTOnly (const FbxVector4 &pT)
void	SetROnly (const FbxVector4 &pR)
void	SetQOnly (const FbxQuaternion &pQ)
FbxVector4	GetROnly () const
FbxVector4	GetR (const int pOrd) const
FbxQuaternion	GetUnnormalizedQ () const
void	MultRM (const FbxVector4 &pR)
void	MultSM (const FbxVector4 &pS)
bool	IsRightHand () const
double	Determinant () const
int	Compare (const FbxAMatrix pM, const double pThreshold=FBXSDK_TOLERANCE) const
Constructors and Destructor
	FbxAMatrix ()
	Constructor.
	FbxAMatrix (const FbxAMatrix &pOther)
	Copy constructor.
	FbxAMatrix (const FbxVector4 &pT, const FbxVector4 &pR, const FbxVector4 &pS)
	Constructor.
	~FbxAMatrix ()
	Destructor.
Access
double	Get (int pY, int pX) const
	Retrieve matrix element.
FbxVector4	GetT () const
	Extract translation vector.
FbxVector4	GetR () const
	Extract rotation vector.
FbxQuaternion	GetQ () const
	Extract quaternion vector.
FbxVector4	GetS () const
	Extract scale vector.
FbxVector4	GetRow (int pY) const
	Extract a row vector.
FbxVector4	GetColumn (int pX) const
	Extract a column vector.
void	SetIdentity ()
	Set matrix to identity.
void	SetT (const FbxVector4 &pT)
	Set matrix's translation.
void	SetR (const FbxVector4 &pR)
	Set matrix's Euler rotation.
void	SetQ (const FbxQuaternion &pQ)
	Set matrix's quaternion.
void	SetS (const FbxVector4 &pS)
	Set matrix's scale.
void	SetTRS (const FbxVector4 &pT, const FbxVector4 &pR, const FbxVector4 &pS)
	Set matrix.
void	SetTQS (const FbxVector4 &pT, const FbxQuaternion &pQ, const FbxVector4 &pS)
	Set matrix.
FbxAMatrix &	operator= (const FbxAMatrix &pM)
	Assignment operator.
Scalar Operations
FbxAMatrix	operator* (double pValue) const
	Multiply matrix by a scalar value.
FbxAMatrix	operator/ (double pValue) const
	Divide matrix by a scalar value.
FbxAMatrix &	operator*= (double pValue)
	Multiply matrix by a scalar value.
FbxAMatrix &	operator/= (double pValue)
	Divide matrix by a scalar value.
Vector Operations
FbxVector4	MultT (const FbxVector4 &pVector4) const
	Multiply matrix by a translation vector.
FbxVector4	MultR (const FbxVector4 &pVector4) const
	Multiply matrix by an Euler rotation vector.
FbxQuaternion	MultQ (const FbxQuaternion &pQuaternion) const
	Multiply matrix by a quaternion.
FbxVector4	MultS (const FbxVector4 &pVector4) const
	Multiply matrix by a scale vector.
Matrix Operations
FbxAMatrix	operator- () const
	Unary minus operator.
FbxAMatrix	operator* (const FbxAMatrix &pOther) const
	Multiply two matrices together.
FbxAMatrix &	operator*= (const FbxAMatrix &pOther)
	Multiply two matrices together.
FbxAMatrix	Inverse () const
	Calculate the matrix inverse.
FbxAMatrix	Transpose () const
	Calculate the matrix transpose.
Boolean Operations
bool	operator== (const FbxAMatrix &pOther) const
	Equivalence operator.
bool	operator!= (const FbxAMatrix &pOther) const
	Non-equivalence operator.
Casting
typedef const	double (kDouble44)[4][4]
	Define 4*4 array as a new type.
	operator double * ()
	Cast the matrix in a double pointer.
	operator const double * () const
	Cast the matrix in a const double pointer.
kDouble44 &	Double44 () const
	Cast the matrix in a reference to a 4*4 array.

Member Typedef Documentation

typedef const double(kDouble44)[4][4]

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Define 4*4 array as a new type.

Definition at line 297 of file fbxaffinematrix.h.

Constructor & Destructor Documentation

FbxAMatrix ( )

Constructor.

FbxAMatrix ( const FbxAMatrix & pOther )

Copy constructor.

Parameters:

pOther FbxAMatrix copied to this one.

FbxAMatrix	(	const FbxVector4 &	pT,
		const FbxVector4 &	pR,
		const FbxVector4 &	pS
	)

Constructor.

Parameters:

pT	Translation vector.
pR	Euler rotation vector.
pS	Scale vector.

~FbxAMatrix ( )

Destructor.

FbxAMatrix	(	const FbxVector4 &	pT,
		const FbxQuaternion &	pQ,
		const FbxVector4 &	pS
	)

Member Function Documentation

double Get	(	int	pY,
		int	pX
	)		const

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Retrieve matrix element.

Parameters:

pY	Row index.
pX	Column index.

Returns:: Cell [ pX, pY ] value.

FbxVector4 GetT ( ) const

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Extract translation vector.

Returns:: Translation vector.

FbxVector4 GetR ( ) const

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Extract rotation vector.

Returns:: Rotation vector.

Remarks:: The returned rotation vector is in Euler angle and the rotation order is XYZ.

FbxQuaternion GetQ ( ) const

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Extract quaternion vector.

Returns:: Quaternion vector.

FbxVector4 GetS ( ) const

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Extract scale vector.

Returns:: Scale vector.

FbxVector4 GetRow ( int pY ) const

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Extract a row vector.

Parameters:

pY	Row index.

Returns:: The row vector.

FbxVector4 GetColumn ( int pX ) const

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Extract a column vector.

Parameters:

pX	Column index.

Returns:: The column vector.

void SetIdentity ( )

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Set matrix to identity.

void SetT ( const FbxVector4 & pT )

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Set matrix's translation.

Parameters:

pT	Translation vector.

void SetR ( const FbxVector4 & pR )

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Set matrix's Euler rotation.

Parameters:

pR	X, Y and Z rotation values expressed as a vector.

Remarks:: The rotation transform is constructed in rotation order XYZ.

void SetQ ( const FbxQuaternion & pQ )

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Set matrix's quaternion.

Parameters:

pQ	The new quaternion.

void SetS ( const FbxVector4 & pS )

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Set matrix's scale.

Parameters:

pS	X, Y and Z scaling factors expressed as a vector.

void SetTRS	(	const FbxVector4 &	pT,
		const FbxVector4 &	pR,
		const FbxVector4 &	pS
	)

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Set matrix.

Parameters:

pT	Translation vector.
pR	Rotation vector.
pS	Scale vector.

void SetTQS	(	const FbxVector4 &	pT,
		const FbxQuaternion &	pQ,
		const FbxVector4 &	pS
	)

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Set matrix.

Parameters:

pT	Translation vector.
pQ	Quaternion vector.
pS	Scale vector.

FbxAMatrix& operator= ( const FbxAMatrix & pM )

Assignment operator.

Parameters:

pM	FbxAMatrix assigned to this one.

FbxAMatrix operator* ( double pValue ) const

Multiply matrix by a scalar value.

Parameters:

pValue Scalar value.

Returns:: The scaled matrix.

Remarks:: The passed value is not checked. This operator operates on the first three rows and columns of the matrix. So only the rotation and scaling are scaled, not the translation part. After operation, the translation vector will be set as (0,0,0,1);

FbxAMatrix operator/ ( double pValue ) const

Divide matrix by a scalar value.

Parameters:

pValue Scalar value.

Returns:: The divided matrix.

Remarks:: The passed value is not checked. This operator operates on the first three rows and columns of the matrix. So only the rotation and scaling are scaled, not the translation part. After operation, the translation vector will be set as (0,0,0,1);

FbxAMatrix& operator*= ( double pValue )

Multiply matrix by a scalar value.

Parameters:

pValue Scalar value.

Returns:: this updated with the result of the multiplication.

Remarks:: The passed value is not checked. This operator operates on the first three rows and columns of the matrix. So only the rotation and scaling are scaled, not the translation part. After operation, the translation vector will keep original value.

FbxAMatrix& operator/= ( double pValue )

Divide matrix by a scalar value.

Parameters:

pValue Scalar value.

Returns:: this updated with the result of the division.

Remarks:: The passed value is not checked. This operator operates on the first three rows and columns of the matrix. So only the rotation and scaling are scaled, not the translation part. After operation, the translation vector will keep original value.

FbxVector4 MultT ( const FbxVector4 & pVector4 ) const

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Multiply matrix by a translation vector.

Parameters:

pVector4 Translation vector.

Returns:: t' = M * t

FbxVector4 MultR ( const FbxVector4 & pVector4 ) const

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Multiply matrix by an Euler rotation vector.

Parameters:

pVector4 Euler Rotation vector.

Returns:: r' = M * r

FbxQuaternion MultQ ( const FbxQuaternion & pQuaternion ) const

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Multiply matrix by a quaternion.

Parameters:

pQuaternion Rotation value.

Returns:: q' = M * q

FbxVector4 MultS ( const FbxVector4 & pVector4 ) const

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Multiply matrix by a scale vector.

Parameters:

pVector4 Scaling vector.

Returns:: s' = M * s

FbxAMatrix operator- ( ) const

Unary minus operator.

Returns:: A matrix where each element is multiplied by -1.

FbxAMatrix operator* ( const FbxAMatrix & pOther ) const

Multiply two matrices together.

Parameters:

pOther A Matrix.

Returns:: this * pMatrix.

Remarks:

Transformations are pre-multiplied. That means to scale, then rotate, and then translate a vector V, the transform should be T * R * S * V.
Below is an example of code that shows how to construct rotation transform in XYZ rotation order.

  FbxAMatrix lRotateXM, lRotateYM, lRotateZM, lRotateXYZM, lRotateM;
  // Construct rotation matrix around X, Y and Z axises separately and then combine them.
  FbxVector4 lRotateX(10, 0, 0);
  FbxVector4 lRotateY(0, 10, 0);
  FbxVector4 lRotateZ(0, 0, 10);
  lRotateXM.SetR(lRotateX);
  lRotateYM.SetR(lRotateY);
  lRotateZM.SetR(lRotateZ);
  lRotateXYZM = lRotateZM * lRotateYM * lRotateXM;

  // Alternatively, we can use SetR() directly.
  // lRotateXYZM and lRotateM will be the same.
  FbxVector4 lRotateXYZ (10, 10, 10);
  lRotateM.SetR(lRotateXYZ);