SbDPRotation (3)

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)

SbBool equals (const SbDPRotation &r, double tolerance) const

void multVec (const SbVec3d &src, SbVec3d &dst) const

void scaleAngle (const double scaleFactor)

void print (FILE *fp) const

SbDPRotation & operator*= (const SbDPRotation &q)

SbDPRotation & operator*= (const double s)

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)

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

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 \fBSbVec3d\fP &axis, const doubleradians)

Construct a new SbDPRotation object initialized with the given axis-of-rotation and rotation angle.

SbDPRotation::SbDPRotation (const doubleq[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 doubleq0, const doubleq1, const doubleq2, const doubleq3)

Construct a new SbDPRotation object initialized with the given quaternion components.

SbDPRotation::SbDPRotation (const \fBSbDPMatrix\fP &m)

Construct a new SbDPRotation object initialized with the given rotation matrix.

SbDPRotation::SbDPRotation (const \fBSbVec3d\fP &rotateFrom, const \fBSbVec3d\fP &rotateTo)

Construct a rotation which is the minimum rotation necessary to make vector rotateFrom point in the direction of vector rotateTo.

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().

\fBSbDPRotation\fP & SbDPRotation::setValue (const doubleq0, const doubleq1, const doubleq2, const doubleq3)

Set the rotation.

See also:

getValue().

void SbDPRotation::getValue (\fBSbVec3d\fP &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 (\fBSbDPMatrix\fP &matrix) const

Return this rotation in the form of a matrix.

See also:

setValue().

\fBSbDPRotation\fP & SbDPRotation::invert (void)

Invert the rotation. Returns reference to self.

See also:

inverse()

\fBSbDPRotation\fP SbDPRotation::inverse (void) const

Non-destructively inverses the rotation and returns the result.

See also:

invert()

\fBSbDPRotation\fP & SbDPRotation::setValue (const doubleq[4])

Reset the rotation by the four quaternions in the array.

See also:

getValue().

\fBSbDPRotation\fP & SbDPRotation::setValue (const \fBSbDPMatrix\fP &m)

Set the rotation from the components of the given matrix. Returns reference to self.

See also:

getValue().

\fBSbDPRotation\fP & SbDPRotation::setValue (const \fBSbVec3d\fP &axis, const doubleradians)

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().

\fBSbDPRotation\fP & SbDPRotation::setValue (const \fBSbVec3d\fP &rotateFrom, const \fBSbVec3d\fP &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().

SbBool SbDPRotation::equals (const \fBSbDPRotation\fP &r, doubletolerance) const

Check the internal quaternion representation vectors for equality within the given tolerance.

void SbDPRotation::multVec (const \fBSbVec3d\fP &src, \fBSbVec3d\fP &dst) const

Rotate the src vector and put the result in dst.

void SbDPRotation::scaleAngle (const doublescaleFactor)

Scale the angle of rotation by scaleFactor.

\fBSbDPRotation\fP slerp (const \fBSbDPRotation\fP &rot0, const \fBSbDPRotation\fP &rot1, doublet)\fC [static]\fP

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].

\fBSbDPRotation\fP SbDPRotation::identity (void)\fC [static]\fP

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.

\fBSbDPRotation\fP & SbDPRotation::operator*= (const \fBSbDPRotation\fP &q)

Multiplies the quaternions.

Note that order is important when combining quaternions with the multiplication operator.

\fBSbDPRotation\fP & SbDPRotation::operator*= (const doubles)

Multiplies components of quaternion with scalar value s. Returns reference to self.

int operator== (const \fBSbDPRotation\fP &q1, const \fBSbDPRotation\fP &q2)\fC [friend]\fP

Check if the two rotations are equal.

See also:

equals().

int operator!= (const \fBSbDPRotation\fP &q1, const \fBSbDPRotation\fP &q2)\fC [friend]\fP

Check if the two rotations are unequal.

See also:

equals().

\fBSbDPRotation\fP operator* (const \fBSbDPRotation\fP &q1, const \fBSbDPRotation\fP &q2)\fC [friend]\fP

Multiplies the two rotations and returns the result.

Note that order is important when combining quaternions with the multiplication operator.

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