Frame Functions¶
Functions to compute coordinate frames.
#include <Imath/ImathFrame.h>
-
template<class T>
constexpr Matrix44<T> Imath::firstFrame(const Vec3<T> &pi, const Vec3<T> &pj, const Vec3<T> &pk) noexcept¶ Compute the first reference frame along a curve.
This function returns the transformation matrix to the reference frame defined by the three points
pi
,pj
andpk
. Note that if the two vectors <pi
,pj
> and <pi
,pk
> are colinears, an arbitrary twist value will be choosen.Throw
std::domain_error
ifpi
andpj
are equal.- Parameters:
pi – First point
pj – Second point
pk – Third point
-
template<class T>
constexpr Matrix44<T> Imath::nextFrame(const Matrix44<T> &Mi, const Vec3<T> &pi, const Vec3<T> &pj, Vec3<T> &ti, Vec3<T> &tj) noexcept¶ Compute the next reference frame along a curve.
This function returns the transformation matrix to the next reference frame defined by the previously computed transformation matrix and the new point and tangent vector along the curve.
- Parameters:
Mi – The previous matrix
pi – The previous point
pj – The current point
ti – The previous tangent vector
tj – The current tangent vector
-
template<class T>
constexpr Matrix44<T> Imath::lastFrame(const Matrix44<T> &Mi, const Vec3<T> &pi, const Vec3<T> &pj) noexcept¶ Compute the last reference frame along a curve.
This function returns the transformation matrix to the last reference frame defined by the previously computed transformation matrix and the last point along the curve.
- Parameters:
Mi – The previous matrix
pi – The previous point
pj – The last point