Motor3D::GetTransformMatrices

Defined in: TSMotor3D.h

Converts a motor to its corresponding 4 × 4 matrix and its inverse simultaneously.

Prototype

void GetTransformMatrices(Transform4D *M, Transform4D *Minv) const;

Parameters

`M`	A pointer to the location where the transform matrix is returned.
`Minv`	A pointer to the location where the inverse transform matrix is returned.

Description

The GetTransformMatrices function converts a motor to the Transform4D object that represents the same transformation when it premultiplies a Vector3D or Point3D object and stores it in the location specified by the M parameter. The inverse of this matrix is stored in the location specified by the Minv parameter.

Calling this function is much faster than making separate calls to the Motor3D::GetTransformMatrix and Motor3D::GetInverseTransformMatrix functions.