NAME
SbDPRotation -
The SbDPRotation class represents a rotation in 3D space.
SbDPRotation is used extensively throughout the Coin library.
SYNOPSIS
#include <Inventor/SbLinear.h>
Public Member Functions
SbDPRotation (void)
SbDPRotation (const SbVec3d &axis, const double radians)
SbDPRotation (const double q[4])
SbDPRotation (const double q0, const double q1, const double q2, const
double q3)
SbDPRotation (const SbDPMatrix &m)
SbDPRotation (const SbVec3d &rotateFrom, const SbVec3d &rotateTo)
const double * getValue (void) const
void getValue (double &q0, double &q1, double &q2, double &q3) const
SbDPRotation & setValue (const double q0, const double q1, const double
q2, const double q3)
void getValue (SbVec3d &axis, double &radians) const
void getValue (SbDPMatrix &matrix) const
SbDPRotation & invert (void)
SbDPRotation inverse (void) const
SbDPRotation & setValue (const double q[4])
SbDPRotation & setValue (const SbDPMatrix &m)
SbDPRotation & setValue (const SbVec3d &axis, const double radians)
SbDPRotation & setValue (const SbVec3d &rotateFrom, const SbVec3d
&rotateTo)
SbDPRotation & operator*= (const SbDPRotation &q)
SbDPRotation & operator*= (const double s)
SbBool equals (const SbDPRotation &r, const double tolerance) const
void multVec (const SbVec3d &src, SbVec3d &dst) const
void scaleAngle (const double scaleFactor)
void print (FILE *fp) const
Static Public Member Functions
static SbDPRotation slerp (const SbDPRotation &rot0, const SbDPRotation
&rot1, double t)
static SbDPRotation identity (void)
Friends
int operator== (const SbDPRotation &q1, const SbDPRotation &q2)
int operator!= (const SbDPRotation &q1, const SbDPRotation &q2)
SbDPRotation operator* (const SbDPRotation &q1, const SbDPRotation &q2)
Detailed Description
The SbDPRotation class represents a rotation in 3D space.
SbDPRotation is used extensively throughout the Coin library.
An SbDPRotation is stored internally as a quaternion for speed and
storage reasons, but inquiries can be done to get and set axis and
angle values for convenience.
See also:
SbDPMatrix
Constructor & Destructor Documentation
SbDPRotation::SbDPRotation (void) The default constructor just initializes
a valid rotation. The actual value is unspecified, and you should not
depend on it.
SbDPRotation::SbDPRotation (const SbVec3d & axis, const double radians)
Construct a new SbDPRotation object initialized with the given axis-of-
rotation and rotation angle.
SbDPRotation::SbDPRotation (const double q[4]) Construct a new SbDPRotation
object initialized with the given quaternion components.
The array must be ordered as follows:
q[0] = x, q[1] = y, q[2] = z and q[3] = w, where the quaternion is
specified by q=w+xi+yj+zk.
SbDPRotation::SbDPRotation (const double q0, const double q1, const double
q2, const double q3) Construct a new SbDPRotation object initialized
with the given quaternion components.
SbDPRotation::SbDPRotation (const SbDPMatrix & m) Construct a new
SbDPRotation object initialized with the given rotation matrix.
SbDPRotation::SbDPRotation (const SbVec3d & rotateFrom, const SbVec3d &
rotateTo) Construct a rotation which is the minimum rotation necessary
to make vector rotateFrom point in the direction of vector rotateTo.
Member Function Documentation
const double * SbDPRotation::getValue (void) const Return pointer to an
array with the rotation expressed as four quaternion values.
See also:
setValue().
void SbDPRotation::getValue (double & q0, double & q1, double & q2, double
& q3) const Return the four quaternion components representing the
rotation.
See also:
setValue().
SbDPRotation & SbDPRotation::setValue (const double q0, const double q1,
const double q2, const double q3) Set the rotation.
See also:
getValue().
void SbDPRotation::getValue (SbVec3d & axis, double & radians) const Return
the rotation in the form of an axis-of-rotation and a rotation angle.
See also:
setValue().
void SbDPRotation::getValue (SbDPMatrix & matrix) const Return this
rotation in the form of a matrix.
See also:
setValue().
SbDPRotation & SbDPRotation::invert (void) Invert the rotation. Returns
reference to self.
See also:
inverse()
SbDPRotation SbDPRotation::inverse (void) const Non-destructively inverses
the rotation and returns the result.
See also:
invert()
SbDPRotation & SbDPRotation::setValue (const double q[4]) Reset the
rotation by the four quaternions in the array.
See also:
getValue().
SbDPRotation & SbDPRotation::setValue (const SbDPMatrix & m) Set the
rotation from the components of the given matrix. Returns reference to
self.
See also:
getValue().
SbDPRotation & SbDPRotation::setValue (const SbVec3d & axis, const double
radians) Reset rotation with the given axis-of-rotation and rotation
angle. Returns reference to self.
Make sure axis is not the null vector when calling this method.
See also:
getValue().
SbDPRotation & SbDPRotation::setValue (const SbVec3d & rotateFrom, const
SbVec3d & rotateTo) Construct a rotation which is the minimum rotation
necessary to make vector rotateFrom point in the direction of vector
rotateTo.
Returns reference to self.
See also:
getValue().
SbDPRotation & SbDPRotation::operator*= (const SbDPRotation & q) Multiplies
the quaternions.
Note that order is important when combining quaternions with the
multiplication operator.
SbDPRotation & SbDPRotation::operator*= (const double s) Multiplies
components of quaternion with scalar value s. Returns reference to
self.
SbBool SbDPRotation::equals (const SbDPRotation & r, const double
tolerance) const Check the internal quaternion representation vectors
for equality within the given tolerance.
void SbDPRotation::multVec (const SbVec3d & src, SbVec3d & dst) const
Rotate the src vector and put the result in dst.
void SbDPRotation::scaleAngle (const double scaleFactor) Scale the angle of
rotation by scaleFactor.
SbDPRotation slerp (const SbDPRotation & rot0, const SbDPRotation & rot1,
double t) [static] Interpolates along the shortest path between the two
rotation positions (from rot0 to rot1).
Returns the SbDPRotation which will rotate rot0 the given part t of the
spherical distance towards rot1, where t=0 will yield rot0 and t=1 will
yield rot1.
t should be in the interval [0, 1].
SbDPRotation SbDPRotation::identity (void) [static] Returns an identity
rotation.
void SbDPRotation::print (FILE * fp) const Dump the state of this object to
the file stream. Only works in debug version of library, method does
nothing in an optimized compile.
Friends And Related Function Documentation
int operator== (const SbDPRotation & q1, const SbDPRotation & q2) [friend]
Check if the two rotations are equal.
See also:
equals().
int operator!= (const SbDPRotation & q1, const SbDPRotation & q2) [friend]
Check if the two rotations are unequal.
See also:
equals().
SbDPRotation operator* (const SbDPRotation & q1, const SbDPRotation & q2)
[friend] Multiplies the two rotations and returns the result.
Note that order is important when combining quaternions with the
multiplication operator.
Author
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