NAME¶

SbDPRotation - The SbDPRotation class represents a rotation in 3D space. SbDPRotation is used extensively throughout the Coin library.

SYNOPSIS¶

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)

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:

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 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 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:

void SbDPRotation::getValue (double &q0, double &q1, double &q2, double &q3) const¶

Return the four quaternion components representing the rotation. See also:

SbDPRotation & SbDPRotation::setValue (const doubleq0, const doubleq1, const doubleq2, const doubleq3)¶

Set the rotation. See also:

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:

void SbDPRotation::getValue ( SbDPMatrix &matrix) const¶

Return this rotation in the form of a matrix. See also:

SbDPRotation & SbDPRotation::invert (void)¶

Invert the rotation. Returns reference to self. See also:

SbDPRotation SbDPRotation::inverse (void) const¶

Non-destructively inverses the rotation and returns the result. See also:

SbDPRotation & SbDPRotation::setValue (const doubleq[4])¶

Reset the rotation by the four quaternions in the array. See also:

SbDPRotation & SbDPRotation::setValue (const SbDPMatrix &m)¶

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

SbDPRotation & SbDPRotation::setValue (const SbVec3d &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:

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:

SbBool SbDPRotation::equals (const SbDPRotation &r, doubletolerance) 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 doublescaleFactor)¶

Scale the angle of rotation by scaleFactor.

SbDPRotation slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, doublet) [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.

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 doubles)¶

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

Friends And Related Function Documentation¶

int operator== (const SbDPRotation &q1, const SbDPRotation &q2) [friend]¶

Check if the two rotations are equal. See also:

int operator!= (const SbDPRotation &q1, const SbDPRotation &q2) [friend]¶

Check if the two rotations are unequal. See also:

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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