#include <FrameTypes.h>

Public Member Functions
	TFrame3 ()

	TFrame3 (const TVector< RealType > &OriginIn)

	TFrame3 (const TVector< RealType > &OriginIn, const TQuaternion< RealType > RotationIn)

	TFrame3 (const TVector< RealType > &OriginIn, const TVector< RealType > &SetZ)

	TFrame3 (const TVector< RealType > &OriginIn, const TVector< RealType > &X, const TVector< RealType > &Y, const TVector< RealType > &Z)

	TFrame3 (const FTransform &Transform)

	TFrame3 (const FPlane &Plane)

	TFrame3 (const FVector &OriginIn, const FQuat &RotationIn)

template<typename RealType2 >
	TFrame3 (const TFrame3< RealType2 > &OtherFrame)

TVector< RealType >	GetAxis (int AxisIndex) const

void	GetAxes (TVector< RealType > &X, TVector< RealType > &Y, TVector< RealType > &Z) const

TVector< RealType >	X () const

TVector< RealType >	Y () const

TVector< RealType >	Z () const

FTransform	ToFTransform () const

FTransform	ToInverseFTransform () const

FPlane	ToFPlane () const

TTransformSRT3< RealType >	ToTransform () const

TTransformSRT3< RealType >	ToInverseTransform () const

TVector< RealType >	PointAt (RealType X, RealType Y, RealType Z) const

TVector< RealType >	PointAt (const TVector< RealType > &Point) const

TVector< RealType >	ToFramePoint (const TVector< RealType > &Point) const

TVector< RealType >	FromFramePoint (const TVector< RealType > &Point) const

TVector< RealType >	ToFrameVector (const TVector< RealType > &Vector) const

TVector< RealType >	FromFrameVector (const TVector< RealType > &Vector) const

TQuaternion< RealType >	ToFrame (const TQuaternion< RealType > &Quat) const

TQuaternion< RealType >	FromFrame (const TQuaternion< RealType > &Quat) const

TRay< RealType >	ToFrame (const TRay< RealType > &Ray) const

TRay< RealType >	FromFrame (const TRay< RealType > &Ray) const

TFrame3< RealType >	ToFrame (const TFrame3< RealType > &Frame) const

TFrame3< RealType >	FromFrame (const TFrame3< RealType > &Frame) const

TVector2< RealType >	ToPlaneUV (const TVector< RealType > &Pos, int PlaneNormalAxis=2) const

TVector< RealType >	FromPlaneUV (const TVector2< RealType > &PosUV, int PlaneNormalAxis=2) const

TVector< RealType >	ToPlane (const TVector< RealType > &Pos, int PlaneNormalAxis=2) const

void	Rotate (const TQuaternion< RealType > &Quat)

void	Transform (const FTransform &XForm)

void	Transform (const TTransformSRT3< RealType > &XForm)

void	AlignAxis (int AxisIndex, const TVector< RealType > &ToDirection)

void	ConstrainedAlignAxis (int AxisIndex, const TVector< RealType > &ToDirection, const TVector< RealType > &AroundVector)

void	ConstrainedAlignPerpAxes (int PerpAxis1=0, int PerpAxis2=1, int NormalAxis=2, const TVector< RealType > &UpAxis=TVector< RealType >::UnitZ(), const TVector< RealType > &FallbackAxis=TVector< RealType >::UnitX(), RealType UpDotTolerance=(RealType) 0.707)

bool	RayPlaneIntersection (const TVector< RealType > &RayOrigin, const TVector< RealType > &RayDirection, int PlaneNormalAxis, UE::Math::TVector< RealType > &HitPointOut) const

Public Attributes
TVector< RealType >	Origin

TQuaternion< RealType >	Rotation

Detailed Description

template<typename RealType>
struct UE::Geometry::TFrame3< RealType >

TFrame3 is an object that represents an oriented 3D coordinate frame, ie orthogonal X/Y/Z axes at a point in space. One can think of this Frame as a local coordinate space measured along these axes. Functions are provided to map geometric objects to/from the Frame coordinate space.

Internally the representation is the same as an FTransform, except a Frame has no Scale.

Constructor & Destructor Documentation

◆ TFrame3() [1/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3 ( )

inline

Construct a frame positioned at (0,0,0) aligned to the unit axes

◆ TFrame3() [2/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3 ( const TVector< RealType > & OriginIn )

inlineexplicit

Construct a frame at the given Origin aligned to the unit axes

◆ TFrame3() [3/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3	(	const TVector< RealType > &	OriginIn,
		const TQuaternion< RealType >	RotationIn
	)

inline

Construct a Frame from the given Origin and Rotation

◆ TFrame3() [4/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3	(	const TVector< RealType > &	OriginIn,
		const TVector< RealType > &	SetZ
	)

inline

Construct a frame with the Z axis aligned to a target axis

Parameters

OriginIn	origin of frame
SetZ	target Z axis

◆ TFrame3() [5/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3	(	const TVector< RealType > &	OriginIn,
		const TVector< RealType > &	X,
		const TVector< RealType > &	Y,
		const TVector< RealType > &	Z
	)

inline

Construct Frame from X/Y/Z axis vectors. Vectors must be mutually orthogonal.

Parameters

OriginIn	origin of frame
X	desired X axis of frame
Y	desired Y axis of frame
Z	desired Z axis of frame

◆ TFrame3() [6/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3 ( const FTransform & Transform )

inlineexplicit

Construct a Frame from an FTransform

◆ TFrame3() [7/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3 ( const FPlane & Plane )

inlineexplicit

Construct a Frame from an FPlane

◆ TFrame3() [8/9]

template<typename RealType >

UE::Geometry::TFrame3< RealType >::TFrame3	(	const FVector &	OriginIn,
		const FQuat &	RotationIn
	)

inlineexplicit

Construct a Frame from an FVector and FQuat

◆ TFrame3() [9/9]

template<typename RealType >

template<typename RealType2 >

UE::Geometry::TFrame3< RealType >::TFrame3 ( const TFrame3< RealType2 > & OtherFrame )

inlineexplicit

Convert between TFrame of different types

Member Function Documentation

◆ AlignAxis()

template<typename RealType >

void UE::Geometry::TFrame3< RealType >::AlignAxis	(	int	AxisIndex,
		const TVector< RealType > &	ToDirection
	)

inline

Align an axis of this frame with a target direction

Parameters

AxisIndex	which axis to align
ToDirection	target direction

◆ ConstrainedAlignAxis()

template<typename RealType >

void UE::Geometry::TFrame3< RealType >::ConstrainedAlignAxis	(	int	AxisIndex,
		const TVector< RealType > &	ToDirection,
		const TVector< RealType > &	AroundVector
	)

inline

Compute rotation around vector that best-aligns axis of frame with target direction

Parameters

AxisIndex	which axis to try to align
ToDirection	target direction
AroundVector	rotation is constrained to be around this vector (ie this direction in frame stays constant)

◆ ConstrainedAlignPerpAxes()

template<typename RealType >

void UE::Geometry::TFrame3< RealType >::ConstrainedAlignPerpAxes	(	int	PerpAxis1 = `0`,
		int	PerpAxis2 = `1`,
		int	NormalAxis = `2`,
		const TVector< RealType > &	UpAxis = `TVector<RealType>::UnitZ()`,
		const TVector< RealType > &	FallbackAxis = `TVector<RealType>::UnitX()`,
		RealType	UpDotTolerance = `(RealType)0.707`
	)

inline

Compute rotation around NormalAxis that best-aligns one of the other two frame axes with either given UpAxis or FallbackAxis (FallbackAxis is required if Dot(NormalAxis,UpAxis) > UpDotTolerance, ie if the Normal and Up directions are too closely aligned. Basically this divides direction-sphere into three regions - polar caps with size defined by UpDotTolerance, and a wide equator band covering the rest. When crossing between these regions the alignment has a discontinuity. It is impossible to avoid this discontinuity because it is impossible to comb a sphere.

Parameters

PerpAxis1	Index of first axis orthogonal to NormalAxis
PerpAxis2	Index of second axis orthogonal to NormalAxis
NormalAxis	Axis of frame to rotate around
UpAxis	Target axis in equator region, defaults to UnitZ
FallbackAxis	Target axis in polar region, defaults to UnitX
UpDotTolerance	defaults to cos(45), ie flip between regions happens roughly half way to poles

◆ FromFrame() [1/3]

template<typename RealType >

TFrame3< RealType > UE::Geometry::TFrame3< RealType >::FromFrame ( const TFrame3< RealType > & Frame ) const

inline

Returns: input Frame transformed from local coordinate system of this Frame into "World" coordinate system

◆ FromFrame() [2/3]

template<typename RealType >

TQuaternion< RealType > UE::Geometry::TFrame3< RealType >::FromFrame ( const TQuaternion< RealType > & Quat ) const

inline

Returns: input Quaternion transformed from local coordinate system of Frame into "World" coordinate system

◆ FromFrame() [3/3]

template<typename RealType >

TRay< RealType > UE::Geometry::TFrame3< RealType >::FromFrame ( const TRay< RealType > & Ray ) const

inline

Returns: input Ray transformed from local coordinate system of Frame into "World" coordinate system

◆ FromFramePoint()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::FromFramePoint ( const TVector< RealType > & Point ) const

inline

Returns: input Point transformed from local coordinate system of Frame into "World" coordinate system

◆ FromFrameVector()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::FromFrameVector ( const TVector< RealType > & Vector ) const

inline

Returns: input Vector transformed from local coordinate system of Frame into "World" coordinate system

◆ FromPlaneUV()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::FromPlaneUV	(	const TVector2< RealType > &	PosUV,
		int	PlaneNormalAxis = `2`
	)		const

inline

Map a point from local UV plane coordinates to the corresponding 3D point in one of the planes of the frame

Parameters

PosUV	local UV plane coordinates
PlaneNormalAxis	which plane to map to, identified by perpendicular normal. Default is 2, ie normal is Z, plane is (X,Y)

Returns: 3D coordinates in frame's plane (including Origin translation)

◆ GetAxes()

template<typename RealType >

void UE::Geometry::TFrame3< RealType >::GetAxes	(	TVector< RealType > &	X,
		TVector< RealType > &	Y,
		TVector< RealType > &	Z
	)		const

inline

Returns: X/Y/Z axes of frame. This is more efficient than calculating each axis separately.

◆ GetAxis()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::GetAxis ( int AxisIndex ) const

inline

Parameters

AxisIndex index of axis of frame, either 0, 1, or 2

Returns: axis vector

◆ PointAt() [1/2]

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::PointAt ( const TVector< RealType > & Point ) const

inline

Returns: point at distances along frame axes

◆ PointAt() [2/2]

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::PointAt	(	RealType	X,
		RealType	Y,
		RealType	Z
	)		const

inline

Returns: point at distances along frame axes

◆ RayPlaneIntersection()

template<typename RealType >

bool UE::Geometry::TFrame3< RealType >::RayPlaneIntersection	(	const TVector< RealType > &	RayOrigin,
		const TVector< RealType > &	RayDirection,
		int	PlaneNormalAxis,
		UE::Math::TVector< RealType > &	HitPointOut
	)		const

inline

Compute intersection of ray with plane defined by frame origin and axis as normal

Parameters

RayOrigin	origin of ray
RayDirection	direction of ray
PlaneNormalAxis	which axis of frame to use as plane normal
HitPointOut	intersection point, or invalid point if ray does not hit plane or is parallel to plane

Returns: true if ray intersects plane and HitPointOut is valid

◆ Rotate()

template<typename RealType >

void UE::Geometry::TFrame3< RealType >::Rotate ( const TQuaternion< RealType > & Quat )

inline

Rotate this frame by given quaternion

◆ ToFPlane()

template<typename RealType >

FPlane UE::Geometry::TFrame3< RealType >::ToFPlane ( ) const

inline

Returns: conversion of this Frame to FPlane

◆ ToFrame() [1/3]

template<typename RealType >

TFrame3< RealType > UE::Geometry::TFrame3< RealType >::ToFrame ( const TFrame3< RealType > & Frame ) const

inline

Returns: input Frame transformed into local coordinate system of this Frame

◆ ToFrame() [2/3]

template<typename RealType >

TQuaternion< RealType > UE::Geometry::TFrame3< RealType >::ToFrame ( const TQuaternion< RealType > & Quat ) const

inline

Returns: input Quaternion transformed into local coordinate system of Frame

◆ ToFrame() [3/3]

template<typename RealType >

TRay< RealType > UE::Geometry::TFrame3< RealType >::ToFrame ( const TRay< RealType > & Ray ) const

inline

Returns: input Ray transformed into local coordinate system of Frame

◆ ToFramePoint()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::ToFramePoint ( const TVector< RealType > & Point ) const

inline

Returns: input Point transformed into local coordinate system of Frame

◆ ToFrameVector()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::ToFrameVector ( const TVector< RealType > & Vector ) const

inline

Returns: input Vector transformed into local coordinate system of Frame

◆ ToFTransform()

template<typename RealType >

FTransform UE::Geometry::TFrame3< RealType >::ToFTransform ( ) const

inline

Returns: conversion of this Frame to FTransform

◆ ToInverseFTransform()

template<typename RealType >

FTransform UE::Geometry::TFrame3< RealType >::ToInverseFTransform ( ) const

inline

Returns: conversion of this Frame to an inverse FTransform

◆ ToInverseTransform()

template<typename RealType >

TTransformSRT3< RealType > UE::Geometry::TFrame3< RealType >::ToInverseTransform ( ) const

inline

Returns: conversion of this Frame to an inverse TTransform

◆ ToPlane()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::ToPlane	(	const TVector< RealType > &	Pos,
		int	PlaneNormalAxis = `2`
	)		const

inline

Project a point onto one of the planes of the frame

Parameters

Pos	3D position
PlaneNormalAxis	which plane to project onto, identified by perpendicular normal. Default is 2, ie normal is Z, plane is (X,Y)

Returns: 3D coordinate in the plane

◆ ToPlaneUV()

template<typename RealType >

TVector2< RealType > UE::Geometry::TFrame3< RealType >::ToPlaneUV	(	const TVector< RealType > &	Pos,
		int	PlaneNormalAxis = `2`
	)		const

inline

Project 3D point into plane and convert to UV coordinates in that plane

Parameters

Pos	3D position
PlaneNormalAxis	which plane to project onto, identified by perpendicular normal. Default is 2, ie normal is Z, plane is (X,Y)

Returns: 2D coordinates in UV plane, relative to origin

◆ ToTransform()

template<typename RealType >

TTransformSRT3< RealType > UE::Geometry::TFrame3< RealType >::ToTransform ( ) const

inline

Returns: conversion of this Frame to TTransform

◆ Transform() [1/2]

template<typename RealType >

void UE::Geometry::TFrame3< RealType >::Transform ( const FTransform & XForm )

inline

transform this frame by the given transform. Note: Ignores scale, as TFrame3 does not support scaling

◆ Transform() [2/2]

template<typename RealType >

void UE::Geometry::TFrame3< RealType >::Transform ( const TTransformSRT3< RealType > & XForm )

inline

transform this frame by the given transform. Note: Ignores scale, as TFrame3 does not support scaling

◆ X()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::X ( ) const

inline

Returns: X axis of frame (axis 0)

◆ Y()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::Y ( ) const

inline

Returns: Y axis of frame (axis 1)

◆ Z()

template<typename RealType >

TVector< RealType > UE::Geometry::TFrame3< RealType >::Z ( ) const

inline

Returns: Z axis of frame (axis 2)

Member Data Documentation

◆ Origin

template<typename RealType >

TVector<RealType> UE::Geometry::TFrame3< RealType >::Origin

Origin of the frame

◆ Rotation

template<typename RealType >

TQuaternion<RealType> UE::Geometry::TFrame3< RealType >::Rotation

Rotation of the frame. Think of this as the rotation of the unit X/Y/Z axes to the 3D frame axes.

The documentation for this struct was generated from the following file:

Engine/Source/Runtime/GeometryCore/Public/FrameTypes.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TFrame3() [1/9]

◆ TFrame3() [2/9]

◆ TFrame3() [3/9]

◆ TFrame3() [4/9]

◆ TFrame3() [5/9]

◆ TFrame3() [6/9]

◆ TFrame3() [7/9]

◆ TFrame3() [8/9]

◆ TFrame3() [9/9]

Member Function Documentation

◆ AlignAxis()

◆ ConstrainedAlignAxis()

◆ ConstrainedAlignPerpAxes()

◆ FromFrame() [1/3]

◆ FromFrame() [2/3]

◆ FromFrame() [3/3]

◆ FromFramePoint()

◆ FromFrameVector()

◆ FromPlaneUV()

◆ GetAxes()

◆ GetAxis()

◆ PointAt() [1/2]

◆ PointAt() [2/2]

◆ RayPlaneIntersection()

◆ Rotate()

◆ ToFPlane()

◆ ToFrame() [1/3]

◆ ToFrame() [2/3]

◆ ToFrame() [3/3]

◆ ToFramePoint()

◆ ToFrameVector()

◆ ToFTransform()

◆ ToInverseFTransform()

◆ ToInverseTransform()

◆ ToPlane()

◆ ToPlaneUV()

◆ ToTransform()

◆ Transform() [1/2]

◆ Transform() [2/2]

◆ X()

◆ Y()

◆ Z()

Member Data Documentation

◆ Origin

◆ Rotation