frame-transformer

Helper functions for transforming matrices, vectors, and quaternions between frames.

Use

import { Matrix4, Vector3 } from 'three';
import { FrameTransformer } from '@gov.nasa.jpl.honeycomb/frame-transformer';

const
    point = new Vector3(),
    frameA = new Matrix4(),
    frameB = new Matrix4();

// ...

// Transform a positon from frame A to frame B and write the result
// back into the point vector
FrameTransformer.transformPoint(frameA, frameB, point, point);

API

FrameTransformer

Class with static methods for transforming between frames

transformFrame

static transformFrame(
	fromFrame : Matrix4, 
	toFrame : Matrix4, 
	mat : Matrix4, 
	outputMat : Matrix4
) : void

Transforms the provided input matrix from being relative to the fromFrame to being relative to the toFrame. The result is written to the output matrix. The input and output matrices can be the same object.

transformPoint

static transformPoint(
	fromFrame : Matrix4, 
	toFrame : Matrix4, 
	pos : Vector3, 
	outputVec : Vector3
) : void

Same as transformFrame but for points.

transformDirection

static transformDirection(
	fromFrame : Matrix4, 
	toFrame : Matrix4, 
	dir : Vector3, 
	outputVec : Vector3
) : void

Same as transformFrame but for directions.

transformQuaternion

static transformQuaternion(
	fromFrame : Matrix4, 
	toFrame : Matrix4, 
	quat : Quaternion, 
	outputQuat : Quaternion
) : void

Same as transformFrame but for quaternions.

constructor

constructor( fromFrame : Matrix4, toFrame : Matrix4 ) : void

The FrameTransformer can be instantiated such that it will only transform between a fixed set of frames. The instance retains the same static methods but they only take the input and the output parameters.

Note that a reference to the passed matrices are saved so updates to them will effect results.

transformMatrix

transformMatrix( mat : Matrix4, output : Matrix4 ) : void

transformPoint

transformPoint( pos : Vector3, output : Vector3 ) : void

transformDirection

transformDirection( dir : Vector3, output : Vector3 ) : void

transformQuaternion

transformQuaternion( quat : Quaternion, output : Quaternion ) : void