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M3dgeoMatrixSetTransform

See also

User Guide:

3D Geometry module overview Defining transformation matrix objects How to fixture in 3D Moving or scaling a point cloud or 3D geometry Preregistration Working with 3D

Reference:

M3dgeoAlloc M3dgeoInquire

Availability

Availability

Available in MIL-Lite

Available in MIL

Available on Windows

Available on Linux

Available on Non-Matrox computer

Available on Matrox 4Sight-X

Available on Matrox 4Sight GP/GPm

Available on Matrox Supersight

function map

Function map

Examples

3dcadregistration.cpp
3dplanarity.cpp
3dprofilemetrology.cpp
m3ddisp.cpp
m3ddisp.cs
m3ddisp.vb
m3dgra.cpp
m3dgra.cs
m3dgra.vb
mechanicalpartscan.cpp
pointcloudprojection.cpp
simple3dbinpicking.cpp

M3dgeoMatrixPut

M3dgeoMatrixSetWithAxes

Function Map

- Matrix3dgeoId

- TransformType

Table:

For specifying how to apply the transformation

Parameter Associations

Table:

For specifying the transformation type

Compilation information

Synopsis

Set the transformation values of a transformation matrix object.

Syntax

void M3dgeoMatrixSetTransform(

MIL_ID Matrix3dgeoId,	//in
MIL_INT64 TransformType,	//in
MIL_DOUBLE Param1,	//in
MIL_DOUBLE Param2,	//in
MIL_DOUBLE Param3,	//in
MIL_DOUBLE Param4,	//in
MIL_INT64 ControlFlag	//in

)

Description

This function assigns a transformation to a transformation matrix object or composes a transformation with a transformation matrix object. The transformation can be defined as a translation, rotation, scale, or the result of a matrix composition.

Note that all angles should be given in degrees. However, unlike most other MIL functions, angles are interpreted using the right-hand grip rule around the axis of rotation; if you wrap your right hand around the axis of rotation, pointing your thumb in the positive direction of the axis, your fingers wrap in the direction of rotation. For example, a positive rotation around the Z-axis corresponds to a rotation that turns the positive X-axis toward the positive Y-axis.

All coordinates are expressed in world units in the working coordinate system.

Note that this function reference has not been updated for a MIL system added during a MIL update. Refer to the MIL system's release note to see if there is complementary information.

Parameters

This function is not supported on the selected boards.

Parameters

Matrix3dgeoId

Specifies the identifier of the transformation matrix object. The transformation matrix object must have been previously allocated using M3dgeoAlloc() with M_TRANSFORMATION_MATRIX.

TransformType

Specifies the type of transformation to apply.

See the Parameter associations section for possible values that can be specified.

Param1

Specifies the first parameter used to define the transformation matrix.

See the Parameter associations section for possible values that can be specified.

Param2

Specifies the second parameter used to define the transformation matrix.

Set this parameter to M_DEFAULT if not used.

See the Parameter associations section for possible values that can be specified.

Param3

Specifies the third parameter used to define the transformation matrix.

Set this parameter to M_DEFAULT if not used.

See the Parameter associations section for possible values that can be specified.

Param4

Specifies the fourth parameter used to define the transformation matrix.

Set this parameter to M_DEFAULT if not used.

See the Parameter associations section for possible values that can be specified.

ControlFlag

Specifies how to apply the transformation.

For specifying how to apply the transformation
Value	Description
M_DEFAULT	Same as M_ASSIGN.
M_ASSIGN	Specifies to assign the specified transformation to the given transformation matrix object.
M_COMPOSE_WITH_CURRENT	Specifies to compose the specified transformation with the given matrix. The matrix composition follows the equation AB = C, where A is the transformation matrix specified by Matrix3dgeoId, B is the transformation matrix defined by the parameter associations, and C is the resulting transformation matrix. The values of the resulting transformation matrix are written to the transformation matrix object specified by Matrix3dgeoId. Note that transformation matrix B is applied before transformation matrix A. Therefore, transformation matrix C describes the transformation obtained by applying transformation matrix B followed by transformation matrix A. (summarize) Specifies to compose the specified transformation with the given matrix. (more details...)

Parameter associations

The table below lists possible values for the TransformType, Param1, Param2, Param3, and Param4 parameters.

For specifying the transformation type

Set unused parameters to M_DEFAULT.

For specifying the transformation type
TransformType			Description
	Param1
	Param2
	Param3
	Param4
M_COMPOSE_TWO_MATRICES			Specifies the transformation resulting from the composition of two matrices. The matrix composition follows the equation AB = C, where A is the transformation matrix specified by Param1, B is the transformation matrix specified by Param2, and C is the resulting transformation matrix. Note that transformation matrix B is applied before transformation matrix A. Therefore, transformation matrix C describes the transformation obtained by applying transformation matrix B followed by transformation matrix A. (summarize) Specifies the transformation resulting from the composition of two matrices. (more details...)
	Param1		Specifies the first source matrix (that is, source matrix A). (summarize) Specifies the first source matrix (that is, source matrix A). (more details...)
		M_IDENTITY_MATRIX	Specifies the identity matrix.
		MIL transformation matrix object identifier	Specifies the identifier of a transformation matrix object.
	Param2		Specifies the second source matrix (that is, source matrix B). (summarize) Specifies the second source matrix (that is, source matrix B). (more details...)
		M_IDENTITY_MATRIX	Specifies the identity matrix.
		MIL transformation matrix object identifier	Specifies the identifier of a transformation matrix object.
M_FIXTURE_TO_GEOMETRY			Specifies a transformation that can move the working coordinate system to a 3D geometry object. (summarize) Specifies a transformation that can move the working coordinate system to a 3D geometry object. (more details...)
	Param1		Specifies a 3D geometry object. (summarize) Specifies a 3D geometry object. (more details...)
		MIL 3D box geometry object identifier	Specifies a 3D box geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a box. The result is the transformation that can move the working coordinate system such that its origin moves to the box's center, and the box's orientation is applied. (summarize) Specifies a 3D box geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a box. (more details...)
		MIL 3D cylinder geometry object identifier	Specifies a 3D cylinder geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a cylinder. The result is the transformation that can move the working coordinate system such that its origin moves to the cylinder's start point, and the cylinder's central axis becomes the positive Z-axis. The rotation of the X- and Y-axis is determined by the minimal rotation that must be applied to align the positive Z-axis with the cylinder's central axis. (summarize) Specifies a 3D cylinder geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a cylinder. (more details...)
		MIL 3D plane geometry object identifier	Specifies a 3D plane geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a plane. The result is the transformation that can move the working coordinate system such that its XY (Z=0) plane is moved to the specified plane, and the plane's normal becomes the positive Z-axis. The working coordinate system's origin is moved to the closest point on the plane (the projection). (summarize) Specifies a 3D plane geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a plane. (more details...)
		MIL 3D sphere geometry object identifier	Specifies a 3D sphere geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a sphere. The result is the transformation that can move the working coordinate system such that its origin is moved to the sphere's center. No rotation is applied. (summarize) Specifies a 3D sphere geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a sphere. (more details...)
M_FIXTURE_TO_PLANE			Specifies a transformation that can move the XY (Z=0) plane of the working coordinate system to a plane specified by Param1. By default, the origin is moved using the same transformation. You can optionally specify a point on the plane where the origin should be moved, using Param2, Param3, and Param4. If the point is not on the plane, or if you set Param2, Param3, and Param4 to M_DEFAULT, the closest point on the plane (the projection) is chosen instead. (summarize) Specifies a transformation that can move the XY (Z=0) plane of the working coordinate system to a plane specified by Param1. (more details...)
	Param1		Specifies a 3D geometry plane. (summarize) Specifies a 3D geometry plane. (more details...)
		M_XY_PLANE	Specifies the XY (Z=0) plane. The result is the transformation that can move the origin of the working coordinate system to a point on its XY (Z=0) plane, specified by Param2, Param3, and Param4. If these parameters are set to M_DEFAULT, the result is the identity transformation. (summarize) Specifies the XY (Z=0) plane. (more details...)
		MIL 3D geometry object identifier	Specifies a 3D plane geometry object identifier previously allocated using M3dgeoAlloc() with M_GEOMETRY and successfully defined as a plane.
	Param2		Specifies the X-coordinate of a point on the plane where the origin will be moved.
	Param3		Specifies the Y-coordinate of a point on the plane where the origin will be moved.
	Param4		Specifies the Z-coordinate of a point on the plane where the origin will be moved.
M_IDENTITY			Specifies the identity transformation. This resets the matrix to the identity matrix, removing all transformations from the transformation matrix object, when ControlFlag is M_ASSIGN. (summarize) Specifies the identity transformation. (more details...)
M_INVERSE			Specifies the inverse transformation. (summarize) Specifies the inverse transformation. (more details...)
	Param1		Specifies the source matrix. (summarize) Specifies the source matrix. (more details...)
		MIL transformation matrix object identifier	Specifies the identifier of a transformation matrix object previously allocated using M3dgeoAlloc() with M_TRANSFORMATION_MATRIX.
M_ROTATION_AXIS_ANGLE			Specifies a rotation described by an axis and angle of rotation. The axis of rotation is defined by a vector. The angle of rotation is measured in the counter-clockwise direction around the axis of rotation. INQ (summarize) Specifies a rotation described by an axis and angle of rotation. INQ (more details...)
	Param1		Specifies the X-component of the vector that defines the axis of rotation.
	Param2		Specifies the Y-component of the vector that defines the axis of rotation.
	Param3		Specifies the Z-component of the vector that defines the axis of rotation.
	Param4		Specifies the angle of the rotation, in degrees, around the axis of rotation. (summarize) Specifies the angle of the rotation, in degrees, around the axis of rotation. (more details...)
M_ROTATION_AXIS_X			Specifies the minimal rotation that can align the working coordinate system's X-axis with the specified vector. INQ (summarize) Specifies the minimal rotation that can align the working coordinate system's X-axis with the specified vector. INQ (more details...)
	Param1		Specifies the X-component of the vector.
	Param2		Specifies the Y-component of the vector.
	Param3		Specifies the Z-component of the vector.
M_ROTATION_AXIS_Y			Specifies the minimal rotation that can align the working coordinate system's Y-axis with the specified vector. INQ (summarize) Specifies the minimal rotation that can align the working coordinate system's Y-axis with the specified vector. INQ (more details...)
	Param1		Specifies the X-component of the vector.
	Param2		Specifies the Y-component of the vector.
	Param3		Specifies the Z-component of the vector.
M_ROTATION_AXIS_Z			Specifies the minimal rotation that can align the working coordinate system's Z-axis with the specified vector. INQ (summarize) Specifies the minimal rotation that can align the working coordinate system's Z-axis with the specified vector. INQ (more details...)
	Param1		Specifies the X-component of the vector.
	Param2		Specifies the Y-component of the vector.
	Param3		Specifies the Z-component of the vector.
M_ROTATION_QUATERNION			Specifies a rotation operation that is described by a rotation quaternion. INQ (summarize) Specifies a rotation operation that is described by a rotation quaternion. INQ (more details...)
	Param1		Specifies the scalar component of the quaternion.
	Param2		Specifies the X-component of the quaternion.
	Param3		Specifies the Y-component of the quaternion.
	Param4		Specifies the Z-component of the quaternion.
M_ROTATION_X			Specifies a rotation operation around the X-axis. (summarize) Specifies a rotation operation around the X-axis. (more details...)
	Param1		Specifies the X-axis rotation, in degrees. (summarize) Specifies the X-axis rotation, in degrees. (more details...)
M_ROTATION_XYZ			Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the X-axis, a rotation about the Y-axis, and a rotation about the Z-axis rotation. INQ (summarize) Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the X-axis, a rotation about the Y-axis, and a rotation about the Z-axis rotation. INQ (more details...)
	Param1		Specifies the X-axis rotation, in degrees. (summarize) Specifies the X-axis rotation, in degrees. (more details...)
	Param2		Specifies the Y-axis rotation, in degrees. (summarize) Specifies the Y-axis rotation, in degrees. (more details...)
	Param3		Specifies the Z-axis rotation, in degrees. (summarize) Specifies the Z-axis rotation, in degrees. (more details...)
M_ROTATION_XZY			Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the X-axis, a rotation about the Z-axis, and a rotation about the Y-axis rotation. INQ (summarize) Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the X-axis, a rotation about the Z-axis, and a rotation about the Y-axis rotation. INQ (more details...)
	Param1		Specifies the X-axis rotation, in degrees. (summarize) Specifies the X-axis rotation, in degrees. (more details...)
	Param2		Specifies the Z-axis rotation, in degrees. (summarize) Specifies the Z-axis rotation, in degrees. (more details...)
	Param3		Specifies the Y-axis rotation, in degrees. (summarize) Specifies the Y-axis rotation, in degrees. (more details...)
M_ROTATION_Y			Specifies a rotation operation around the Y-axis. (summarize) Specifies a rotation operation around the Y-axis. (more details...)
	Param1		Specifies the Y-axis rotation, in degrees. (summarize) Specifies the Y-axis rotation, in degrees. (more details...)
M_ROTATION_YXZ			Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Y-axis, a rotation about the X-axis, and a rotation about the Z-axis rotation. INQ (summarize) Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Y-axis, a rotation about the X-axis, and a rotation about the Z-axis rotation. INQ (more details...)
	Param1		Specifies the Y-axis rotation, in degrees. (summarize) Specifies the Y-axis rotation, in degrees. (more details...)
	Param2		Specifies the X-axis rotation, in degrees. (summarize) Specifies the X-axis rotation, in degrees. (more details...)
	Param3		Specifies the Z-axis rotation, in degrees. (summarize) Specifies the Z-axis rotation, in degrees. (more details...)
M_ROTATION_YZX			Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Y-axis, a rotation about the Z-axis, and a rotation about the X-axis rotation. INQ (summarize) Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Y-axis, a rotation about the Z-axis, and a rotation about the X-axis rotation. INQ (more details...)
	Param1		Specifies the Y-axis rotation, in degrees. (summarize) Specifies the Y-axis rotation, in degrees. (more details...)
	Param2		Specifies the Z-axis rotation, in degrees. (summarize) Specifies the Z-axis rotation, in degrees. (more details...)
	Param3		Specifies the X-axis rotation, in degrees. (summarize) Specifies the X-axis rotation, in degrees. (more details...)
M_ROTATION_Z			Specifies a rotation operation around the Z-axis. (summarize) Specifies a rotation operation around the Z-axis. (more details...)
	Param1		Specifies the Z-axis rotation, in degrees. (summarize) Specifies the Z-axis rotation, in degrees. (more details...)
M_ROTATION_ZXY			Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Z-axis, a rotation about the X-axis, and a rotation about the Y-axis rotation. INQ (summarize) Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Z-axis, a rotation about the X-axis, and a rotation about the Y-axis rotation. INQ (more details...)
	Param1		Specifies the Z-axis rotation, in degrees. (summarize) Specifies the Z-axis rotation, in degrees. (more details...)
	Param2		Specifies the X-axis rotation, in degrees. (summarize) Specifies the X-axis rotation, in degrees. (more details...)
	Param3		Specifies the Y-axis rotation, in degrees. (summarize) Specifies the Y-axis rotation, in degrees. (more details...)
M_ROTATION_ZYX			Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Z-axis, a rotation about the Y-axis, and a rotation about the X-axis rotation. INQ (summarize) Specifies a rotation that is described by three distinct rotations about the axes of the working coordinate system in the following order: a rotation about the Z-axis, a rotation about the Y-axis, and a rotation about the X-axis rotation. INQ (more details...)
	Param1		Specifies the Z-axis rotation, in degrees. (summarize) Specifies the Z-axis rotation, in degrees. (more details...)
	Param2		Specifies the Y-axis rotation, in degrees. (summarize) Specifies the Y-axis rotation, in degrees. (more details...)
	Param3		Specifies the X-axis rotation, in degrees. (summarize) Specifies the X-axis rotation, in degrees. (more details...)
M_SCALE			Specifies a scaling operation. INQ (summarize) Specifies a scaling operation. INQ (more details...)
	Param1		Specifies the scaling factor in X.
	Param2		Specifies the scaling factor in Y.
	Param3		Specifies the scaling factor in Z.
M_TRANSLATION			Specifies a translation along each of the axes of the working coordinate system. INQ (summarize) Specifies a translation along each of the axes of the working coordinate system. INQ (more details...)
	Param1		Specifies the displacement along the X-axis.
	Param2		Specifies the displacement along the Y-axis.
	Param3		Specifies the displacement along the Z-axis.

Compilation information

Header	Include mil.h.
Library	Use mil.lib; mil3d.lib.
DLL	Requires mil.dll; mil3d.dll.

DEFAULT ASSIGN COMPOSE WITH CURRENT COMPOSE TWO MATRICES IDENTITY MATRIX IDENTITY MATRIX FIXTURE TO GEOMETRY BOX CYLINDER PLANE SPHERE FIXTURE TO PLANE XY PLANE PLANE IDENTITY INVERSE ROTATION AXIS ANGLE ROTATION AXIS X ROTATION AXIS Y ROTATION AXIS Z ROTATION QUATERNION ROTATION X ROTATION XYZ ROTATION XZY ROTATION Y ROTATION YXZ ROTATION YZX ROTATION Z ROTATION ZXY ROTATION ZYX SCALE TRANSLATION