The Matrix struct represents a transformation matrix. More...

Public Member Functions
	Matrix ()
	Constructs an identity transformation matrix. More...

	Matrix (const Matrix &other)
	Constructs a copy of the specified Matrix object. More...

	Matrix (const Vector &_xBasis, const Vector &_yBasis, const Vector &_zBasis)
	Constructs a transformation matrix from the specified basis vectors. More...

	Matrix (const Vector &_xBasis, const Vector &_yBasis, const Vector &_zBasis, const Vector &_origin)
	Constructs a transformation matrix from the specified basis and translation vectors. More...

	Matrix (const Vector &axis, float angleRadians)
	Constructs a transformation matrix specifying a rotation around the specified vector. More...

	Matrix (const Vector &axis, float angleRadians, const Vector &translation)
	Constructs a transformation matrix specifying a rotation around the specified vector and a translation by the specified vector. More...

bool	operator!= (const Matrix &other) const
	Compare Matrix inequality component-wise. More...

Matrix	operator* (const Matrix &other) const
	Multiply transform matrices. More...

Matrix &	operator*= (const Matrix &other)
	Multiply transform matrices and assign the product. More...

bool	operator== (const Matrix &other) const
	Compare Matrix equality component-wise. More...

Matrix	rigidInverse () const
	Performs a matrix inverse if the matrix consists entirely of rigid transformations (translations and rotations). More...

void	setRotation (const Vector &axis, float angleRadians)
	Sets this transformation matrix to represent a rotation around the specified vector. More...

template<typename T >
T *	toArray3x3 (T *output) const
	Writes the 3x3 Matrix object to a 9 element row-major float or double array. More...

FloatArray	toArray3x3 () const
	Convert a 3x3 Matrix object to a 9 element row-major float array. More...

template<typename T >
T *	toArray4x4 (T *output) const
	Writes the 4x4 Matrix object to a 16 element row-major float or double array. More...

FloatArray	toArray4x4 () const
	Convert a 4x4 Matrix object to a 16 element row-major float array. More...

template<typename Matrix3x3Type >
const Matrix3x3Type	toMatrix3x3 () const
	Convert a Leap::Matrix object to another 3x3 matrix type. More...

template<typename Matrix4x4Type >
const Matrix4x4Type	toMatrix4x4 () const
	Convert a Leap::Matrix object to another 4x4 matrix type. More...

std::string	toString () const
	Write the matrix to a string in a human readable format. More...

Vector	transformDirection (const Vector &in) const
	Transforms a vector with this matrix by transforming its rotation and scale only. More...

Vector	transformPoint (const Vector &in) const
	Transforms a vector with this matrix by transforming its rotation, scale, and translation. More...

Static Public Member Functions
static const Matrix &	identity ()
	Returns the identity matrix specifying no translation, rotation, and scale. More...

Public Attributes
Vector	origin
	The translation factors for all three axes. More...

Vector	xBasis
	The basis vector for the x-axis. More...

Vector	yBasis
	The basis vector for the y-axis. More...

Vector	zBasis
	The basis vector for the z-axis. More...

Friends
std::ostream &	operator<< (std::ostream &out, const Matrix &matrix)
	Write the matrix to an output stream in a human readable format. More...

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.

Since: 1.0

Constructor & Destructor Documentation

Matrix ( )

inline

Constructs an identity transformation matrix.

Matrix identity = Matrix();

Since: 1.0

Matrix ( const Matrix & other )

inline

Constructs a copy of the specified Matrix object.

Matrix thisMatrix = Matrix(thatMatrix);

Since: 1.0

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

inline

Constructs a transformation matrix from the specified basis vectors.

Vector xBasis = Vector(23, 0, 0);
Vector yBasis = Vector(0, 12, 0);
Vector zBasis = Vector(0, 0, 45);
Matrix transformMatrix = Matrix(xBasis, yBasis, zBasis);

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.

Since: 1.0

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.

Hand leapHand = frame.hand(handID);
Vector handXBasis = leapHand.basis().xBasis;
Vector handYBasis = leapHand.basis().yBasis;
Vector handZBasis = leapHand.basis().zBasis;
Vector handOrigin = leapHand.palmPosition();
Matrix handTransform = Matrix(handXBasis, handYBasis, handZBasis, handOrigin);

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.

Since: 1.0

Matrix	(	const Vector &	axis,
		float	angleRadians
	)

inline

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

Vector axisOfRotation = leapHand.direction();
float angleOfRotation = 1.27;
Matrix rotator = Matrix(axisOfRotation, angleOfRotation);

Parameters

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

Since: 1.0

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.

Vector rotationAxis = Vector::yAxis();
float angle = .733;
Vector translation = Vector(10,220,103);
Matrix transform = Matrix(rotationAxis, angle, translation);

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.

Since: 1.0

Member Function Documentation

static const Matrix& identity ( )

inlinestatic

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

Matrix identity = Matrix::identity();

Returns: The identity matrix.

Since: 1.0

bool operator!= ( const Matrix & other ) const

inline

Compare Matrix inequality component-wise.

thisMatrix != thatMatrix;

Since: 1.0

Matrix operator* ( const Matrix & other ) const

inline

Multiply transform matrices.

Combines two transformations into a single equivalent transformation.

thisMatrix * thatMatrix;

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.

Since: 1.0

Matrix& operator*= ( const Matrix & other )

inline

Multiply transform matrices and assign the product.

thisMatrix *= thatMatrix;

Since: 1.0

bool operator== ( const Matrix & other ) const

inline

Compare Matrix equality component-wise.

thisMatrix == thatMatrix;

Since: 1.0

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.

thisMatrix = thatMatrix.rigidInverse();

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

Returns: The rigid inverse of the matrix.

Since: 1.0

void setRotation	(	const Vector &	axis,
		float	angleRadians
	)

inline

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

thisMatrix.setRotation(Vector::zAxis(), 1.46);

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.

Since: 1.0

T* 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.

Since: 1.0

FloatArray toArray3x3 ( ) const

inline

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

Translation factors are discarded.

FloatArray rotations = thisMatrix.toArray3x3();

Returns a FloatArray struct to avoid dynamic memory allocation.

Since: 1.0

T* 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.

Since: 1.0

FloatArray toArray4x4 ( ) const

inline

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

FloatArray transforms = thisMatrix.toArray4x4();

Returns a FloatArray struct to avoid dynamic memory allocation.

Since: 1.0

const Matrix3x3Type 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.

Since: 1.0

const Matrix4x4Type 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.

Since: 1.0

std::string toString ( ) const

inline

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

Since: 1.0

Vector transformDirection ( const Vector & in ) const

inline

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

Vector newDirection = thisMatrix.transformDirection(oldDirection);

Parameters

in	The Vector to transform.

Returns: A new Vector representing the transformed original.

Since: 1.0

Vector transformPoint ( const Vector & in ) const

inline

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

Vector newPosition = thisMatrix.transformPoint(oldPosition);

Translation is applied after rotation and scale.

Parameters

in	The Vector to transform.

Returns: A new Vector representing the transformed original.

Since: 1.0

Friends And Related Function Documentation

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

friend

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

std::cout << thisMatrix << std::endl;

Since: 1.0

Member Data Documentation

Vector origin

The translation factors for all three axes.

Vector thisTranslation = thisMatrix.origin;

Since: 1.0

Vector xBasis

The basis vector for the x-axis.

Vector xTransform = thisMatrix.xBasis;

Since: 1.0

Vector yBasis

The basis vector for the y-axis.

Vector yTransform = thisMatrix.yBasis;

Since: 1.0

Vector zBasis

The basis vector for the z-axis.

Vector zTransform = thisMatrix.zBasis;

Since: 1.0

Matrix¶

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation