PMath Class Reference

#include <PExtension.h>

List of all members.

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Detailed Description

Contains mathematical functions needed in various LoopTK computations, such as cyclic coordinate descent (CCD) and chain manipulations.

Static Public Member Functions
static Real	AngleBetweenPlanes (const Vector3 &p1, const Vector3 &p2, const Vector3 &p3, const Vector3 &p4)
static Real	getAngle (const Vector3 &v1, const Vector3 &v2)
static Vector3	ComputePos (const Vector3 &prev, const Vector3 &cur, Real angle, Real bondLength)
static bool	sphereIntersectsCube (const Vector3 &sphereCenter, Real sphereRadius, const Vector3 &cubeVertex1, const Vector3 &cubeVertex2)
static Vector3	ArbitraryNonParallel (const Vector3 &v)
static void	normalize (vector< double > &v)
static Matrix4	Find2PtTransform (Vector3 s1, Vector3 s2, Vector3 e1, Vector3 e2)
static Matrix3	FindRotationMatrix (const Vector3 &axis, Real angle)
static Vector3	LocalToGlobalCoord (const vector< Vector3 > definedRelativeCoordinates, const vector< Vector3 > definedGlobalCoordinates)
static void	ConvertToQuaternion (double **input, Vector4 *output, vector< int > sign)
static void	InterpolateQuaternion (Vector4 qi, Vector4 qf, Vector4 *qu, double u)
static void	DeltaQuaterToDeltaVel (Vector4 qi, Vector4 qf, Vector3 *delatV)
static int	signum (double a)
static double	TorsionAngle (Vector3 u, Vector3 v, Vector3 w)

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Member Function Documentation

Real PMath::AngleBetweenPlanes	(	const Vector3 &	p1,
		const Vector3 &	p2,
		const Vector3 &	p3,
		const Vector3 &	p4
	)			[static]

Computes the angle between the planes determined by the specified four points.

Real PMath::getAngle	(	const Vector3 &	v1,
		const Vector3 &	v2
	)			[static]

Computes the angle (in radians) between vectors v1 and v2.

Vector3 PMath::ComputePos	(	const Vector3 &	prev,
		const Vector3 &	cur,
		Real	angle,
		Real	bondLength
	)			[static]

Computes the position of the point "next" given points prev and cur, the angle prev-cur-next, and the distance between cur and next.

bool PMath::sphereIntersectsCube	(	const Vector3 &	sphereCenter,
		Real	sphereRadius,
		const Vector3 &	cubeVertex1,
		const Vector3 &	cubeVertex2
	)			[static]

Returns true if the sphere with specified center and radius intersects any part of the cube with the specified pair of opposing vertices.

Vector3 PMath::ArbitraryNonParallel

(

const Vector3 &

v

)

[static]

Given the vector v, computes and returns a vector not parallel to v.

void PMath::normalize

(

vector< double > &

v

)

[static]

Divides each element in v by the sum of all elements in v.

Matrix4 PMath::Find2PtTransform	(	Vector3	s1,
		Vector3	s2,
		Vector3	e1,
		Vector3	e2
	)			[static]

Matrix3 PMath::FindRotationMatrix	(	const Vector3 &	axis,
		Real	angle
	)			[static]

Finds and returns a rotation matrix for rotating a vector the specified number of radians around the specified axis according to left-hand rule.

Vector3 PMath::LocalToGlobalCoord	(	const vector< Vector3 >	definedRelativeCoordinates,
		const vector< Vector3 >	definedGlobalCoordinates
	)			[static]

Converts the vector of defined relative coordinates into a vector of global coordinates.

void PMath::ConvertToQuaternion	(	double **	input,
		Vector4 *	output,
		vector< int >	sign
	)			[static]

Converts a 3X3 rotation matrix specified by input to a quaternion vector returned in output.

void PMath::InterpolateQuaternion	(	Vector4	qi,
		Vector4	qf,
		Vector4 *	qu,
		double	u
	)			[static]

Interpolates between two quaternions specified by qi and qf and returns the interpolated quternion in qu. u ranges from 0.0 to 1.0

void PMath::DeltaQuaterToDeltaVel	(	Vector4	qi,
		Vector4	qf,
		Vector3 *	delatV
	)			[static]

Converts a change in quaternion space specified by difference between qi and qf to a change in velocity space and returns it in deltaV.

int PMath::signum

(

double

a

)

[static]

Returns the signum of a

double PMath::TorsionAngle	(	Vector3	u,
		Vector3	v,
		Vector3	w
	)			[static]

returns the torsion angle between the plane defined by vectors w and u and the plane defined by vectors w and v.

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

• src/core/PExtension.h
• src/core/PMath.cc

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