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SbRotation Class Reference

The SbRotation class represents a rotation in 3D space. More...

#include <Inventor/SbLinear.h>

List of all members.

Public Methods
	SbRotation (void)
	SbRotation (const SbVec3f &axis, const float radians)
	SbRotation (const float q[4])
	SbRotation (const float q0, const float q1, const float q2, const float q3)
	SbRotation (const SbMatrix &m)
	SbRotation (const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
const float *	getValue (void) const
void	getValue (float &q0, float &q1, float &q2, float &q3) const
SbRotation &	setValue (const float q0, const float q1, const float q2, const float q3)
void	getValue (SbVec3f &axis, float &radians) const
void	getValue (SbMatrix &matrix) const
SbRotation &	invert (void)
SbRotation	inverse (void) const
SbRotation &	setValue (const float q[4])
SbRotation &	setValue (const SbMatrix &m)
SbRotation &	setValue (const SbVec3f &axis, const float radians)
SbRotation &	setValue (const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
SbRotation &	operator *= (const SbRotation &q)
SbRotation &	operator *= (const float s)
SbBool	equals (const SbRotation &r, const float tolerance) const
void	multVec (const SbVec3f &src, SbVec3f &dst) const
void	scaleAngle (const float scaleFactor)
void	print (FILE *fp) const
Static Public Methods
SbRotation	slerp (const SbRotation &rot0, const SbRotation &rot1, float t)
SbRotation	identity (void)
Friends
COIN_DLL_API int	operator== (const SbRotation &q1, const SbRotation &q2)
COIN_DLL_API int	operator!= (const SbRotation &q1, const SbRotation &q2)
COIN_DLL_API SbRotation	operator * (const SbRotation &q1, const SbRotation &q2)

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Detailed Description

The SbRotation class represents a rotation in 3D space.

SbRotation is used extensively throughout the Coin library.

An SbRotation 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:

SbMatrix

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Constructor & Destructor Documentation

SbRotation::SbRotation (  void )

The default constructor just initializes a valid rotation. The actual value is unspecified, and you should not depend on it.

SbRotation::SbRotation (  const SbVec3f & axis, const float radians )

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

SbRotation::SbRotation (  const float q[4] )

Construct a new SbRotation 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.

SbRotation::SbRotation (  const float q0, const float q1, const float q2, const float q3 )

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

SbRotation::SbRotation (  const SbMatrix & m )

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

SbRotation::SbRotation (  const SbVec3f & rotateFrom, const SbVec3f & rotateTo )

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

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Member Function Documentation

const float * SbRotation::getValue (  void )  const

Return pointer to an array with the rotation expressed as four quaternion values. See also: setValue().

void SbRotation::getValue (  float & q0, float & q1, float & q2, float & q3 )  const

Return the four quaternion components representing the rotation. See also: setValue().

SbRotation & SbRotation::setValue (  const float q0, const float q1, const float q2, const float q3 )

Set the rotation. See also: getValue().

void SbRotation::getValue (  SbVec3f & axis, float & radians )  const

Return the rotation in the form of an axis-of-rotation and a rotation angle. See also: setValue().

void SbRotation::getValue (  SbMatrix & matrix )  const

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

SbRotation & SbRotation::invert (  void )

Invert the rotation. Returns reference to self. See also: inverse()

SbRotation SbRotation::inverse (  void )  const

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

SbRotation & SbRotation::setValue (  const float q[4] )

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

SbRotation & SbRotation::setValue (  const SbMatrix & m )

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

SbRotation & SbRotation::setValue (  const SbVec3f & axis, const float 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().

SbRotation & SbRotation::setValue (  const SbVec3f & rotateFrom, const SbVec3f & 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().

SbRotation & SbRotation::operator *= (  const SbRotation & q )

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

SbRotation & SbRotation::operator *= (  const float s )

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

SbBool SbRotation::equals (  const SbRotation & r, const float tolerance )  const

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

void SbRotation::multVec (  const SbVec3f & src, SbVec3f & dst )  const

Rotate the src vector and put the result in dst.

void SbRotation::scaleAngle (  const float scaleFactor )

Scale the angle of rotation by scaleFactor.

SbRotation slerp (  const SbRotation & rot0, const SbRotation & rot1, float t )  [static]

Interpolates along the shortest path between the two rotation positions (from rot0 to rot1). Returns the SbRotation 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].

SbRotation SbRotation::identity (  void )  [static]

Returns an identity rotation.

void SbRotation::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.

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Friends And Related Function Documentation

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

Check if the two rotations are equal. See also: equals().

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

Check if the two rotations are unequal. See also: equals().

SbRotation operator * (  const SbRotation & q1, const SbRotation & q2 )  [friend]

Multiplies the two rotations and returns the result. Note that order is important when combining quaternions with the multiplication operator.

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The documentation for this class was generated from the following files:

• SbRotation.cpp
• SbRotation.h

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