SbRotation(3iv)

1SbRotation(3IV)()                                            SbRotation(3IV)()
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NAME

6       SbRotation — class for representing a rotation
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INHERITS FROM

9       SbRotation
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SYNOPSIS

12       #include <Inventor/SbLinear.h>
13
14          Methods from class SbRotation:
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16                         SbRotation()
17                         SbRotation(const SbVec3f &axis, float radians)
18                         SbRotation(const float v[4])
19                         SbRotation(float q0, float q1, float q2, float q3)
20                         SbRotation(const SbMatrix &m)
21                         SbRotation(const  SbVec3f  &rotateFrom, const SbVec3f
22                              &rotateTo)
23     const float *       getValue() const
24     void                getValue(float &q0, float &q1, float &q2, float  &q3)
25                              const
26     SbRotation &        setValue(float q0, float q1, float q2, float q3)
27     void                getValue(SbVec3f &axis, float &radians) const
28     void                getValue(SbMatrix &matrix) const
29     SbRotation &        invert()
30     SbRotation          inverse() const
31     SbRotation &        setValue(const float q[4])
32     SbRotation &        setValue(const SbMatrix &m)
33     SbRotation &        setValue(const SbVec3f &axis, float radians)
34     SbRotation  &        setValue(const  SbVec3f  &rotateFrom,  const SbVec3f
35                              &rotateTo)
36     SbRotation &        operator *=(const SbRotation &q)
37     int                 operator ==(const SbRotation  &q1,  const  SbRotation
38                              &q2)
39     int                 operator  !=(const  SbRotation  &q1, const SbRotation
40                              &q2)
41     SbBool              equals(const SbRotation &r, float tolerance) const
42     SbRotation          operator *(const  SbRotation  &q1,  const  SbRotation
43                              &q2)
44     void                multVec(const SbVec3f &src, SbVec3f &dst) const
45     void                scaleAngle(float scaleFactor )
46     static SbRotation   slerp(const SbRotation &rot0, const SbRotation &rot1,
47                              float t)
48     static SbRotation   identity()
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DESCRIPTION

52       Object that stores a rotation. There are  several  ways  to  specify  a
53       rotation:  quaternion  (4  floats),  4x4  rotation  matrix, or axis and
54       angle. All angles are in radians and all rotations are right-handed.
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METHODS

57                         SbRotation()
58                         SbRotation(const SbVec3f &axis, float radians)
59                         SbRotation(const float v[4])
60                         SbRotation(float q0, float q1, float q2, float q3)
61                         SbRotation(const SbMatrix &m)
62                         SbRotation(const SbVec3f &rotateFrom,  const  SbVec3f
63                              &rotateTo)
64          Constructors  for  rotation.  The axis/radians constructor creates a
65          rotation of angle radians about the  given  axis.  The  constructors
66          that  take  four floats create a quaternion from those floats (care‐
67          ful, this differs from the four numbers in  an  axis/radian  defini‐
68          tion).  Matrix  constructor  requires  a  valid rotation matrix. The
69          rotateFrom/To constructor defines rotation  that  rotates  from  one
70          vector into another. The rotateFrom and rotateTo vectors are normal‐
71          ized by the constructor before calculating the rotation.
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73     const float *       getValue() const
74          Returns pointer to array of 4 components defining quaternion.
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76     void                getValue(float &q0, float &q1, float &q2, float  &q3)
77                              const
78          Returns 4 individual components of rotation quaternion.
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80     SbRotation &        setValue(float q0, float q1, float q2, float q3)
81          Sets value of rotation from 4 individual components of a quaternion.
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83     void                getValue(SbVec3f &axis, float &radians) const
84          Returns corresponding 3D rotation axis vector and angle in radians.
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86     void                getValue(SbMatrix &matrix) const
87          Returns corresponding 4x4 rotation matrix.
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89     SbRotation &        invert()
90          Changes a rotation to be its inverse.
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92     SbRotation          inverse() const
93          Returns the inverse of a rotation.
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95     SbRotation &        setValue(const float q[4])
96          Sets value of rotation from array of 4 components of a quaternion.
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98     SbRotation &        setValue(const SbMatrix &m)
99          Sets value of rotation from a rotation matrix.
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101     SbRotation &        setValue(const SbVec3f &axis, float radians)
102          Sets value of vector from 3D rotation axis vector and angle in radi‐
103          ans.
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105     SbRotation &        setValue(const  SbVec3f  &rotateFrom,  const  SbVec3f
106                              &rotateTo)
107          Sets rotation to rotate one direction vector to another. The rotate‐
108          From and rotateTo arguments are normalized before  the  rotation  is
109          calculated.
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111     SbRotation &        operator *=(const SbRotation &q)
112          Multiplies by another rotation; results in product of rotations.
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114     int                 operator  ==(const  SbRotation  &q1, const SbRotation
115                              &q2)
116     int                 operator !=(const SbRotation  &q1,  const  SbRotation
117                              &q2)
118          Equality comparison operators.
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120     SbBool              equals(const SbRotation &r, float tolerance) const
121          Equality  comparison  within  given  tolerance  —  the square of the
122          length of the maximum distance between the two quaternion vectors.
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124     SbRotation          operator *(const  SbRotation  &q1,  const  SbRotation
125                              &q2)
126          Multiplication of two rotations; results in product of rotations.
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128     void                multVec(const SbVec3f &src, SbVec3f &dst) const
129          Multiplies the given vector by the matrix of this rotation.
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131     void                scaleAngle(float scaleFactor )
132          Keep the axis the same. Multiply the angle of rotation by the amount
133          scaleFactor.
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135     static SbRotation   slerp(const SbRotation &rot0, const SbRotation &rot1,
136                              float t)
137          Spherical  linear  interpolation:  as  t  goes from 0 to 1, returned
138          value goes from rot0 to rot1.
139
140     static SbRotation   identity()
141          Returns a null rotation.
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143

NOTES

145       Rotations are stored internally as quaternions.
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NAME

INHERITS FROM

SYNOPSIS

DESCRIPTION

METHODS

NOTES

SEE ALSO