In file include/csgeom/transfrm.h:

## class csTransform

> A class which defines a transformation from one coordinate system to another

## Inheritance:

### Public Methods

  | csTransform (const csMatrix3& other2this, const csVector3& origin_pos) Initialize with the given transformation
  | csTransform () Initialize with the identity transformation
  inline const csMatrix3& | GetO2T () Get 'other' to 'this' transformation matrix
  inline const csVector3& | GetO2TTranslation () Get 'world' to 'this' translation
  inline const csVector3& | GetOrigin () Get origin of transformed coordinate system
  static csTransform | GetReflect (const csPlane& pl) Return a transform that represents a mirroring across a plane
  friend csTransform | operator* (const csTransform& t1, const csReversibleTransform& t2) Combine two transforms, rightmost first.
  friend csPlane | operator* (const csPlane& p, const csTransform& t) Apply a transformation to a Plane.
  friend csMatrix3 | operator* (const csTransform& t, const csMatrix3& m) Multiply a matrix with the transformation matrix.
  friend csMatrix3 | operator* (const csMatrix3& m, const csTransform& t) Multiply a matrix with the transformation matrix.
  friend csVector3 | operator* (const csTransform& t, const csVector3& v) Apply a transformation to a 3D vector.
  friend csPlane | operator* (const csTransform& t, const csPlane& p) Apply a transformation to a Plane.
  friend csVector3 | operator* (const csVector3& v, const csTransform& t) Apply a transformation to a 3D vector
  friend csPlane& | operator*= (csPlane& p, const csTransform& t) Apply a transformation to a Plane.
  friend csMatrix3& | operator*= (csMatrix3& m, const csTransform& t) Multiply a matrix with the transformation matrix.
  friend csVector3& | operator*= (csVector3& v, const csTransform& t) Apply a transformation to a 3D vector.
  inline csVector3 | Other2This (const csVector3& v) Transform vector in 'other' space v to a vector in 'this' space
  void | Other2This (const csPlane& p, const csVector3& point, csPlane& result) Convert a plane in 'other' space to 'this' space
  csPlane | Other2This (const csPlane& p) Convert a plane in 'other' space to 'this' space
  csVector3 | Other2ThisRelative (const csVector3& v) Convert vector v in 'other' space to a vector in 'this' space
  virtual void | SetO2T (const csMatrix3& m) Set 'other' to 'this' transformation matrix
  inline void | SetO2TTranslation (const csVector3& v) Set 'world' to 'this' translation
  inline void | SetOrigin (const csVector3& v) Set origin of transformed coordinate system
  inline void | Translate (const csVector3& v) Move the 'other' to 'this' translation by a specified amount

### Protected Fields

  csMatrix3 | m_o2t Transformation matrix from 'other' space to 'this' space.
  csVector3 | v_o2t Location of the origin for 'this' space.

## Documentation

> A class which defines a transformation from one coordinate system to another. The two coordinate systems are refered to as 'other' and 'this'. The transform defines a transformation from 'other' to 'this'.

`csMatrix3 m_o2t`
  Transformation matrix from 'other' space to 'this' space.

`csVector3 v_o2t`
  Location of the origin for 'this' space.

`csTransform()`
  Initialize with the identity transformation

`csTransform(const csMatrix3& other2this, const csVector3& origin_pos)`
  Initialize with the given transformation. The transformation is given as a 3x3 matrix and a vector. The transformation is defined to mean T=M*(O-V) with T the vector in 'this' space, O the vector in 'other' space, M the transformation matrix and V the transformation vector.

`inline const csMatrix3& GetO2T()`
  Get 'other' to 'this' transformation matrix. This is the 3x3 matrix M from the transform equation T=M*(O-V).

`inline const csVector3& GetO2TTranslation()`
  Get 'world' to 'this' translation. This is the vector V from the transform equation T=M*(O-V).

`inline const csVector3& GetOrigin()`
  Get origin of transformed coordinate system

`virtual void SetO2T(const csMatrix3& m)`
  Set 'other' to 'this' transformation matrix. this is the 3x3 matrix M from the transform equation T=M*(O-V).

`inline void SetO2TTranslation(const csVector3& v)`
  Set 'world' to 'this' translation. This is the vector V from the transform equation T=M*(O-V).

`inline void SetOrigin(const csVector3& v)`
  Set origin of transformed coordinate system

`inline void Translate(const csVector3& v)`
  Move the 'other' to 'this' translation by a specified amount

`inline csVector3 Other2This(const csVector3& v)`
  Transform vector in 'other' space v to a vector in 'this' space. This is the basic transform function.

`csVector3 Other2ThisRelative(const csVector3& v)`
  Convert vector v in 'other' space to a vector in 'this' space. Use the origin of 'other' space.

`csPlane Other2This(const csPlane& p)`
  Convert a plane in 'other' space to 'this' space

`void Other2This(const csPlane& p, const csVector3& point, csPlane& result)`
  Convert a plane in 'other' space to 'this' space. This is an optimized version for which a point on the new plane is known (point). The result is stored in 'result'.

`friend csVector3 operator* (const csVector3& v, const csTransform& t)`
  Apply a transformation to a 3D vector

`friend csVector3 operator* (const csTransform& t, const csVector3& v)`
  Apply a transformation to a 3D vector.

`friend csVector3& operator*= (csVector3& v, const csTransform& t)`
  Apply a transformation to a 3D vector.

`friend csPlane operator* (const csPlane& p, const csTransform& t)`
  Apply a transformation to a Plane.

`friend csPlane operator* (const csTransform& t, const csPlane& p)`
  Apply a transformation to a Plane.

`friend csPlane& operator*= (csPlane& p, const csTransform& t)`
  Apply a transformation to a Plane.

`friend csMatrix3 operator* (const csMatrix3& m, const csTransform& t)`
  Multiply a matrix with the transformation matrix.

`friend csMatrix3 operator* (const csTransform& t, const csMatrix3& m)`
  Multiply a matrix with the transformation matrix.

`friend csMatrix3& operator*= (csMatrix3& m, const csTransform& t)`
  Multiply a matrix with the transformation matrix.

`friend csTransform operator* (const csTransform& t1, const csReversibleTransform& t2)`
  Combine two transforms, rightmost first.

`static csTransform GetReflect(const csPlane& pl)`
  Return a transform that represents a mirroring across a plane. This function will return a csTransform which represents a reflection across the plane pl.

Direct child classes:
  csReversibleTransform

alphabetic index hierarchy of classes

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