Dubious::Math::Coordinate_space Class Reference

Representation of a position and rotation. More...

#include <Coordinate_space.h>

Public Member Functions
	Coordinate_space ()=default
std::tuple< Unit_vector, Unit_vector, Unit_vector >	get_axes () const
	Get 3 axis. More...
void	get_matrix (float matrix[16]) const
	Get the OpenGL rotation Matrix. More...
const Point &	position () const
	Position accessor. More...
Point &	position ()
const Unit_quaternion &	rotation () const
	Rotation accessor. More...
Unit_quaternion &	rotation ()
void	translate (const Vector &diff)
	Move by the amount specified. More...
void	translate (const Local_vector &diff)
	Move by the amount specified. More...
void	rotate (const Unit_quaternion &diff)
	Rotate the coordinate space. More...
void	rotate (const Local_unit_quaternion &diff)
	Rotate the coordinate space. More...
Vector	transform (const Local_vector &v) const
	Converts the local vector to the global coord space. More...
Local_vector	transform (const Vector &v) const
	Converts the vector to the local coord space. More...
Point	transform (const Local_point &p) const
	Converts the local point to the global coord space. More...
Local_point	transform (const Point &p) const
	Converts the point to the local coord space. More...

Friends
class	Physics_test::Collision_solver_test

Detailed Description

Representation of a position and rotation.

The Coordinate_space is meant to represent a position and rotation. It allows you to hide the complexities of world versus local rotation and position. You can easily specify that you want to move along the global X OR local X axis. Likewise you can rotate around the global OR local Z axis.

The system uses a "Right Handed" coordinate space, the same as OpenGL and Bullet Physics. This means that as you are reading this, positive X is to your right, positive Y is up, and positive Z is going from this text to your eye. If you hold up your right hand and place your thumb along positive X and your index finger along positive Y then your middle finger is pointing along positive Z (at you).

Constructor & Destructor Documentation

Dubious::Math::Coordinate_space::Coordinate_space ( )

default

Member Function Documentation

std::tuple< Unit_vector, Unit_vector, Unit_vector > Dubious::Math::Coordinate_space::get_axes

(

)

const

Get 3 axis.

It's common to want the X, Y, and Z axis that make up a coordinate system

Returns

a tuple with X, Y, and Z Unit_vectors

void Dubious::Math::Coordinate_space::get_matrix

(

float

matrix[16]

)

const

Get the OpenGL rotation Matrix.

Get the rotation matrix from the Quaternion. This is directly usable by openGL

Parameters

matrix

- [out] The rotation matrix

const Point& Dubious::Math::Coordinate_space::position ( ) const

inline

Position accessor.

Point& Dubious::Math::Coordinate_space::position ( )

inline

void Dubious::Math::Coordinate_space::rotate

(

const Unit_quaternion &

diff

)

Rotate the coordinate space.

This version takes a global quaternion, therefore it rotates relative to global space

Parameters

diff	- [in] The amount to rotate

void Dubious::Math::Coordinate_space::rotate

(

const Local_unit_quaternion &

diff

)

Rotate the coordinate space.

This version takes a local quaternion, therefore it rotates relative to local space

Parameters

diff	- [in] The amount to rotate

const Unit_quaternion& Dubious::Math::Coordinate_space::rotation ( ) const

inline

Rotation accessor.

Unit_quaternion& Dubious::Math::Coordinate_space::rotation ( )

inline

Vector Dubious::Math::Coordinate_space::transform

(

const Local_vector &

v

)

const

Converts the local vector to the global coord space.

Parameters

v	- [in] a vector in local coordinate space

Returns

The same vector in world coordinate space

Local_vector Dubious::Math::Coordinate_space::transform

(

const Vector &

v

)

const

Converts the vector to the local coord space.

Parameters

v	- [in] a vector in world coordinate space

Returns

The same vector in local coordinate space

Point Dubious::Math::Coordinate_space::transform

(

const Local_point &

p

)

const

Converts the local point to the global coord space.

Note that this is not a vector, it's a point. As such this takes the coordinate space position into account.

Parameters

p	- [in] a point in local coordinate space

Returns

The same point in world coordinate space

Local_point Dubious::Math::Coordinate_space::transform

(

const Point &

p

)

const

Converts the point to the local coord space.

Note that this is not a vector, it's a point. As such this takes the coordinate space position into account.

Parameters

p	- [in] a point in world coordinate space

Returns

The same point in local coordinate space

void Dubious::Math::Coordinate_space::translate

(

const Vector &

diff

)

Move by the amount specified.

This version takes a global vector, therefore it moves relative to global space.

Parameters

diff	- [in] The amount to move

void Dubious::Math::Coordinate_space::translate

(

const Local_vector &

diff

)

Move by the amount specified.

This version takes a local vector, therefore it moves relative to local space.

Parameters

diff	- [in] The amount to move

Friends And Related Function Documentation

friend class Physics_test::Collision_solver_test

friend

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

• Math/src/Coordinate_space.h
• Math/src/Coordinate_space.cpp