SbDPRotation Class Reference

The SbDPRotation class represents a rotation in 3D space using double precision data. More...

#include <Inventor/SbDPRotation.h>

Public Member Functions
	SbDPRotation (const double q0, const double q1, const double q2, const double q3)
	SbDPRotation (const double q[4])
	SbDPRotation (const SbDPMatrix &m)
	SbDPRotation (const SbVec3d &axis, const double radians)
	SbDPRotation (const SbVec3d &rotateFrom, const SbVec3d &rotateTo)
	SbDPRotation (void)
SbBool	equals (const SbDPRotation &r, double tolerance) const
void	getValue (double &q0, double &q1, double &q2, double &q3) const
void	getValue (SbDPMatrix &matrix) const
void	getValue (SbVec3d &axis, double &radians) const
const double *	getValue (void) const
SbDPRotation	inverse (void) const
SbDPRotation &	invert (void)
void	multVec (const SbVec3d &src, SbVec3d &dst) const
SbDPRotation &	operator*= (const double s)
SbDPRotation &	operator*= (const SbDPRotation &q)
void	print (FILE *fp) const
void	scaleAngle (const double scaleFactor)
SbDPRotation &	setValue (const double q0, const double q1, const double q2, const double q3)
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)

Static Public Member Functions
static SbDPRotation	identity (void)
static SbDPRotation	slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, double t)

Related Symbols
(Note that these are not member symbols.)
int	operator!= (const SbDPRotation &q1, const SbDPRotation &q2)
SbDPRotation	operator* (const SbDPRotation &q1, const SbDPRotation &q2)
int	operator== (const SbDPRotation &q1, const SbDPRotation &q2)
SbDPRotation	slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, double t)

Detailed Description

The SbDPRotation class represents a rotation in 3D space using double precision data.

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() [1/6]

SbDPRotation::SbDPRotation

(

void

)

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

SbDPRotation() [2/6]

SbDPRotation::SbDPRotation	(	const SbVec3d &	axis,
		const double	radians )

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

SbDPRotation() [3/6]

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() [4/6]

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() [5/6]

SbDPRotation::SbDPRotation

(

const SbDPMatrix &

m

)

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

SbDPRotation() [6/6]

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

equals()

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

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

getValue() [1/4]

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

Return the four quaternion components representing the rotation.

See also

setValue().

getValue() [2/4]

void SbDPRotation::getValue

(

SbDPMatrix &

matrix

)

const

Return this rotation in the form of a matrix.

See also

setValue().

getValue() [3/4]

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().

getValue() [4/4]

const double * SbDPRotation::getValue

(

void

)

const

Return pointer to an array with the rotation expressed as four quaternion values.

See also

setValue().

identity()

SbDPRotation SbDPRotation::identity ( void )

static

Returns an identity rotation.

inverse()

SbDPRotation SbDPRotation::inverse

(

void

)

const

Non-destructively inverses the rotation and returns the result.

See also

invert()

invert()

SbDPRotation & SbDPRotation::invert

(

void

)

Invert the rotation. Returns reference to self.

See also

inverse()

multVec()

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

Rotate the src vector and put the result in dst.

operator*=() [1/2]

SbDPRotation & SbDPRotation::operator*=

(

const double

s

)

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

operator*=() [2/2]

SbDPRotation & SbDPRotation::operator*=

(

const SbDPRotation &

q

)

Multiplies the quaternions.

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

print()

void SbDPRotation::print

(

FILE *

fp

)

const

Dump the state of this object to the fp file stream. Only works in debug version of library, method does nothing in an optimized build.

scaleAngle()

void SbDPRotation::scaleAngle

(

const double

scaleFactor

)

Scale the angle of rotation by scaleFactor.

setValue() [1/5]

SbDPRotation & SbDPRotation::setValue	(	const double	q0,
		const double	q1,
		const double	q2,
		const double	q3 )

Set the rotation.

See also

getValue().

setValue() [2/5]

SbDPRotation & SbDPRotation::setValue

(

const double

q[4]

)

Reset the rotation by the four quaternions in the array.

See also

getValue().

setValue() [3/5]

SbDPRotation & SbDPRotation::setValue

(

const SbDPMatrix &

m

)

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

See also

getValue().

setValue() [4/5]

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().

setValue() [5/5]

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().

slerp()

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].

Friends And Related Symbol Documentation

operator!=()

int operator!= ( const SbDPRotation & q1, const SbDPRotation & q2 )

related

Check if the two rotations are not equal.

See also

equals().

operator*()

SbDPRotation operator* ( const SbDPRotation & q1, const SbDPRotation & q2 )

related

Multiplies the two rotations and returns the result.

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

operator==()

int operator== ( const SbDPRotation & q1, const SbDPRotation & q2 )

related

Check if the two rotations are equal.

See also

equals().

slerp()

SbDPRotation slerp ( const SbDPRotation & rot0, const SbDPRotation & rot1, double t )

related

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].

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

• SbDPRotation.h
• SbDPRotation.cpp