Add a scaling to a homogeneous 3D transformation matrix.

hom_mat3d_scale_local adds a scaling by the scale factors Sx, Sy, and Sz to the homogeneous 3D transformation matrix HomMat3D and returns the resulting matrix in HomMat3DScale. The scaling is described by a 3x3 scaling matrix S. In contrast to hom_mat3d_scale, it is performed relative to the local coordinate system, i.e., the coordinate system described by HomMat3D; this corresponds to the following chain of transformation matrices:

                             /        0 \          / Sx 0  0  \
  HomMat3DScale = HomMat3D * |   S    0 |      S = | 0  Sy 0  | 
                             |        0 |          \ 0  0  Sz /
                             \ 0 0 0  1 /

The fixed point of the transformation is the origin of the local coordinate system, i.e., this point remains unchanged when transformed using HomMat3DScale.

Note that homogeneous matrices are stored row-by-row as a tuple; the last row is not stored because it is identical for all homogeneous matrices that describe an affine transformation. For example, the homogeneous matrix

    / ra rb rc td \
    | re rf rg th |
    | ri rj rk tl |
    \ 0  0  0  1  /

is stored as the tuple [ra, rb, rc, td, re, rf, rg, th, ri, rj, rk, tl].

hom_mat3d_scale_local returns 2 (H_MSG_TRUE) if all three scale factors are not 0. If necessary, an exception is raised.

hom_mat3d_scale_local is reentrant and processed without parallelization.

hom_mat3d_identity, hom_mat3d_translate_local, hom_mat3d_scale_local, hom_mat3d_rotate_local

hom_mat3d_translate_local, hom_mat3d_scale_local, hom_mat3d_rotate_local

hom_mat3d_invert, hom_mat3d_identity, hom_mat3d_scale, pose_to_hom_mat3d, hom_mat3d_to_pose, hom_mat3d_compose

Foundation