Package org.robwork.sdurw

Class ProjectionMatrix

java.lang.Object

org.robwork.sdurw.ProjectionMatrix

public class ProjectionMatrix
extends java.lang.Object

projection matrix

Constructor Summary

Constructors

Constructor	Description
ProjectionMatrix()	constructor
ProjectionMatrix(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
EigenMatrix4d	e()	get the boost matrix corresponding to this projection
pairDoubleDouble	getClipPlanes()	get near and far clipping plane
static long	getCPtr(ProjectionMatrix obj)
boolean	getFrustum(double left, double right, double bottom, double top, double zNear, double zFar)	get the projection matrix to the viewing frustum
boolean	getOrtho(double left, double right, double bottom, double top, double zNear, double zFar)	get ortographic projection.
boolean	getPerspective(double fovy, double aspectRatio, double zNear, double zFar)	set the projection matrix to perspective projection
boolean	isOrtographicProjection()	test if this is a ortographic projection
boolean	isPerspectiveProjection()	test if this is a perspective projection
static ProjectionMatrix	makeOrtho(double left, double right, double bottom, double top, double zNear, double zFar)	creates a projection matrix with a orthographic projection
static ProjectionMatrix	makePerspective(double fovy, double aspectRatio, double zNear, double zFar)	creates a projection matrix with a perspective projection
static ProjectionMatrix	makePerspective(double fovy, double width, double height, double zNear, double zFar)	creates a projection matrix with a perspective projection
void	setFrustum(double left, double right, double bottom, double top, double zNear, double zFar)	set the projection matrix to the viewing frustum
void	setOrtho(double left, double right, double bottom, double top, double zNear, double zFar)	set the projection matrix to an ortographic projection by defining the box with length to all sides (left, right, bottom, top, near and far)
void	setPerspective(double fovy, double aspectRatio, double zNear, double zFar)	set the projection matrix to perspective projection
void	setPerspective(double fovy, double width, double height, double zNear, double zFar)	set the projection matrix to perspective projection

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ProjectionMatrix

public ProjectionMatrix(long cPtr,
                        boolean cMemoryOwn)

ProjectionMatrix

public ProjectionMatrix()

constructor

Method Detail

getCPtr

public static long getCPtr(ProjectionMatrix obj)

delete

public void delete()

e

public EigenMatrix4d e()

get the boost matrix corresponding to this projection

isPerspectiveProjection

public boolean isPerspectiveProjection()

test if this is a perspective projection

Returns:

true if perspective projection, false otherwise.

isOrtographicProjection

public boolean isOrtographicProjection()

test if this is a ortographic projection

Returns:

true if ortographic projection, false otherwise.

setOrtho

public void setOrtho(double left,
                     double right,
                     double bottom,
                     double top,
                     double zNear,
                     double zFar)

set the projection matrix to an ortographic projection by defining
the box with length to all sides (left, right, bottom, top, near and far)

Parameters:

left - [in] length in m to left edge of image

right - [in] length in m to right edge of image

bottom - [in] length in m to bottom edge of image

top - [in] length in m to top edge of image

zNear - [in] length in m to near clipping plane

zFar - [in] length in m to far clipping plane

getOrtho

public boolean getOrtho(double left,
                        double right,
                        double bottom,
                        double top,
                        double zNear,
                        double zFar)

get ortographic projection. Onli valid if isOrtographicProjection is true

setFrustum

public void setFrustum(double left,
                       double right,
                       double bottom,
                       double top,
                       double zNear,
                       double zFar)

set the projection matrix to the viewing frustum

Parameters:

left - [in] distance in m near cutting plane from center to left edge

right - [in] distance in m near cutting plane from center to right edge

bottom - [in] distance in m near cutting plane from center to bottom edge

top - [in] distance in m near cutting plane from center to top edge

zNear - [in] distance in m along z-axis to near cutting plane

zFar - [in] distance in m along z-axis to far cutting plane

getFrustum

public boolean getFrustum(double left,
                          double right,
                          double bottom,
                          double top,
                          double zNear,
                          double zFar)

get the projection matrix to the viewing frustum

Parameters:

left - [out] distance in m near cutting plane from center to left edge

right - [out] distance in m near cutting plane from center to right edge

bottom - [out] distance in m near cutting plane from center to bottom edge

top - [out] distance in m near cutting plane from center to top edge

zNear - [out] distance in m along z-axis to near cutting plane

zFar - [out] distance in m along z-axis to far cutting plane

setPerspective

public void setPerspective(double fovy,
                           double aspectRatio,
                           double zNear,
                           double zFar)

set the projection matrix to perspective projection

Parameters:

fovy - [in] vertical field of view [degrees]

aspectRatio - [in] aspect ratio between width and height of image

zNear - [in] distance to near cutting plane

zFar - [in] distance to far cutting plane

setPerspective

public void setPerspective(double fovy,
                           double width,
                           double height,
                           double zNear,
                           double zFar)

set the projection matrix to perspective projection

Parameters:

fovy - [in] vertical field of view [degrees]

width - [in] width of image

height - [in] height of image

zNear - [in] distance to near cutting plane

zFar - [in] distance to far cutting plane

getPerspective

public boolean getPerspective(double fovy,
                              double aspectRatio,
                              double zNear,
                              double zFar)

set the projection matrix to perspective projection

Parameters:

fovy - [in] vertical field of view [degrees]

aspectRatio - [in] aspect ratio between width and height of image

zNear - [in] distance to near cutting plane

zFar - [in] distance to far cutting plane

makePerspective

public static ProjectionMatrix makePerspective(double fovy,
                                               double aspectRatio,
                                               double zNear,
                                               double zFar)

creates a projection matrix with a perspective projection

Parameters:

fovy - [in]

aspectRatio - [in]

zNear - [in]

zFar - [in]

Returns:

new ProjectionMatrix.

makePerspective

public static ProjectionMatrix makePerspective(double fovy,
                                               double width,
                                               double height,
                                               double zNear,
                                               double zFar)

creates a projection matrix with a perspective projection

Parameters:

fovy - [in]

width - [in] of image

height - [in] of image

zNear - [in]

zFar - [in]

Returns:

new ProjectionMatrix.

makeOrtho

public static ProjectionMatrix makeOrtho(double left,
                                         double right,
                                         double bottom,
                                         double top,
                                         double zNear,
                                         double zFar)

creates a projection matrix with a orthographic projection

Parameters:

left - [in]

right - [in]

bottom - [in]

top - [in]

zNear - [in]

zFar - [in]

Returns:

new ProjectionMatrix.

getClipPlanes

public pairDoubleDouble getClipPlanes()

get near and far clipping plane

Returns: