JPL::Basis< Vec3 > Struct Template Reference

Orthonormal basis (column-major) More...

#include <JPLSpatial/Math/MinimalBasis.h>

Public Types
using	Float = Internal::FloatOf< Vec3 >

Public Member Functions
JPL_INLINE Vec3	InverseTransform (const Vec3 &pWorld) const noexcept
	Apply rotation world -> local.
JPL_INLINE Vec3	Transform (const Vec3 &vector) const noexcept
	Apply rotation local -> world.
JPL_INLINE void	Transform (simd &inOutX, simd &inOutY, simd &inOutZ) const noexcept
JPL_INLINE Basis	Transform (const Basis &otherBasis) const noexcept
	Compose orientations: apply 'this' basis mapping to the other's axes.
JPL_INLINE Basis	InverseTransform (const Basis &otherBasis) const noexcept
	Re-express 'other' in 'this' local frame.

Static Public Member Functions
static const Basis &	Identity () noexcept
static JPL_INLINE Basis	FromForward (const Vec3 &forward) noexcept
static Basis	FromUpAndForward (const Vec3 &up, const Vec3 &forward) noexcept
	Creates a basis from the given up and forward normalized unit vectors.
static Basis	Rotation (const Vec3 &axis, Float angleRad) noexcept

Public Attributes
Vec3	X
Vec3	Y
Vec3	Z

Detailed Description

template<CVec3 Vec3>
struct JPL::Basis< Vec3 >

Orthonormal basis (column-major)

Member Typedef Documentation

Float

template<CVec3 Vec3>

using JPL::Basis< Vec3 >::Float = Internal::FloatOf<Vec3>

Member Function Documentation

FromForward()

template<CVec3 Vec3>

static JPL_INLINE Basis JPL::Basis< Vec3 >::FromForward ( const Vec3 &  forward )

inlinestaticnoexcept

Creates a basis from the given forward (normal vector).

Parameters

n	: normal vector, must be normalized

FromUpAndForward()

template<CVec3 Vec3>

static Basis JPL::Basis< Vec3 >::FromUpAndForward ( const Vec3 &  up, const Vec3 &  forward  )

inlinestaticnoexcept

Creates a basis from the given up and forward normalized unit vectors.

Identity()

template<CVec3 Vec3>

static const Basis & JPL::Basis< Vec3 >::Identity ( )

inlinestaticnoexcept

InverseTransform() [1/2]

template<CVec3 Vec3>

JPL_INLINE Basis JPL::Basis< Vec3 >::InverseTransform ( const Basis< Vec3 > &  otherBasis ) const

inlinenoexcept

Re-express 'other' in 'this' local frame.

InverseTransform() [2/2]

template<CVec3 Vec3>

JPL_INLINE Vec3 JPL::Basis< Vec3 >::InverseTransform ( const Vec3 &  pWorld ) const

inlinenoexcept

Apply rotation world -> local.

Rotation()

template<CVec3 Vec3>

static Basis JPL::Basis< Vec3 >::Rotation ( const Vec3 &  axis, Float  angleRad  )

inlinestaticnoexcept

Build a rotation "matrix" axis–angle. Columns are R*ex, R*ey, R*ez (column-major). (this is cheaper than Quat if > 2 vectors need the same rotation)

Parameters

axis	: must be a normalized direction vector

Transform() [1/3]

template<CVec3 Vec3>

JPL_INLINE Basis JPL::Basis< Vec3 >::Transform ( const Basis< Vec3 > &  otherBasis ) const

inlinenoexcept

Compose orientations: apply 'this' basis mapping to the other's axes.

Transform() [2/3]

template<CVec3 Vec3>

JPL_INLINE Vec3 JPL::Basis< Vec3 >::Transform ( const Vec3 &  vector ) const

inlinenoexcept

Apply rotation local -> world.

Transform() [3/3]

template<CVec3 Vec3>

JPL_INLINE void JPL::Basis< Vec3 >::Transform ( simd &  inOutX, simd &  inOutY, simd &  inOutZ  ) const

inlinenoexcept

Apply rotation local -> world. Performs transform on 4 directions packed into simd vectors at the same time.

Member Data Documentation

X

template<CVec3 Vec3>

Vec3 JPL::Basis< Vec3 >::X

Y

template<CVec3 Vec3>

Vec3 JPL::Basis< Vec3 >::Y

Z

template<CVec3 Vec3>

Vec3 JPL::Basis< Vec3 >::Z

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

• JPLSpatial/Math/MinimalBasis.h