Class for representing a rotation. More...

#include <Inventor/SbLinear.h>

Public Member Functions
	SbRotation ()
	SbRotation (const float v[4])
	SbRotation (float q0, float q1, float q2, float q3)
	SbRotation (const SbMatrix &m)
	SbRotation (const SbVec3f &axis, float radians)
	SbRotation (const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
	Constructors for rotation.
const float *	getValue () const
	Returns pointer to array of 4 components defining quaternion.
void	getValue (float &q0, float &q1, float &q2, float &q3) const
	Returns 4 individual components of rotation quaternion.
void	getValue (SbVec3f &axis, float &radians) const
	Returns corresponding 3D rotation axis vector and angle in radians.
void	getValue (SbMatrix &matrix) const
	Returns corresponding 4x4 rotation matrix.
SbRotation &	invert ()
	Changes a rotation to be its inverse.
SbRotation	inverse () const
	Returns the inverse of a rotation.
SbRotation &	setValue (const float q[4])
	Sets value of rotation from array of 4 components of a quaternion.
SbRotation &	setValue (float q0, float q1, float q2, float q3)
	Sets value of rotation from 4 individual components of a quaternion.
SbRotation &	setValue (const SbMatrix &m)
	Sets value of rotation from a rotation matrix.
SbRotation &	setValue (const SbVec3f &axis, float radians)
	Sets value of vector from 3D rotation axis vector and angle in radians.
SbRotation &	setValue (const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
	Sets rotation to rotate one direction vector to another.
SbRotation &	operator*= (const SbRotation &q)
	Multiplies by another rotation; results in product of rotations.
SbBool	equals (const SbRotation &r, float tolerance) const
	Equality comparison within given tolerance em the square of the length of the maximum distance between the two quaternion vectors.
void	multVec (const SbVec3f &src, SbVec3f &dst) const
	Multiplies the given vector by the matrix of this rotation.
void	scaleAngle (float scaleFactor)
	Keep the axis the same.
Static Public Member Functions
static SbRotation	slerp (const SbRotation &rot0, const SbRotation &rot1, float t)
	Spherical linear interpolation: as `t` goes from 0 to 1, returned value goes from `rot0` to `rot1`.
static SbRotation	identity ()
	Returns a null rotation.
Friends
INVENTOR_API int	operator== (const SbRotation &q1, const SbRotation &q2)
	Equality comparison operator.
INVENTOR_API int	operator!= (const SbRotation &q1, const SbRotation &q2)
INVENTOR_API SbRotation	operator* (const SbRotation &q1, const SbRotation &q2)
	Multiplication of two rotations; results in product of rotations.

Detailed Description

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

: NOTES

Rotations are stored internally as quaternions.

See Also

: SbVec3f, SbMatrix

Definition at line 621 of file SbLinear.h.

Constructor & Destructor Documentation

SbRotation::SbRotation ( ) [inline]

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

Definition at line 625 of file SbLinear.h.

SbRotation::SbRotation ( const float v[4] ) [inline]

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

Definition at line 629 of file SbLinear.h.

SbRotation::SbRotation	(	float	q0,
		float	q1,
		float	q2,
		float	q3
	)		`[inline]`

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

Definition at line 633 of file SbLinear.h.

SbRotation::SbRotation ( const SbMatrix & m ) [inline]

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

Definition at line 637 of file SbLinear.h.

SbRotation::SbRotation	(	const SbVec3f &	axis,
		float	radians
	)		`[inline]`

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

Definition at line 641 of file SbLinear.h.

SbRotation::SbRotation	(	const SbVec3f &	rotateFrom,
		const SbVec3f &	rotateTo
	)		`[inline]`

The axis/radians constructor creates a rotation of angle radians about the given axis. The constructors that take four floats create a quaternion from those floats (careful, this differs from the four numbers in an axis/radian definition). Matrix constructor requires a valid rotation matrix. The rotateFrom/To constructor defines rotation that rotates from one vector into another. The rotateFrom and rotateTo vectors are normalized by the constructor before calculating the rotation.

Definition at line 653 of file SbLinear.h.

Member Function Documentation

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

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

void SbRotation::getValue ( SbMatrix & matrix ) const

const float* SbRotation::getValue ( ) const [inline]

Definition at line 657 of file SbLinear.h.

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

static SbRotation SbRotation::identity ( ) [inline, static]

Definition at line 721 of file SbLinear.h.

SbRotation SbRotation::inverse ( ) const [inline]

Definition at line 674 of file SbLinear.h.

References invert().

SbRotation& SbRotation::invert ( )

Referenced by inverse().

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

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

void SbRotation::scaleAngle ( float scaleFactor )

Multiply the angle of rotation by the amount scaleFactor.

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

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

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

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

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

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

Friends And Related Function Documentation

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

Definition at line 698 of file SbLinear.h.

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

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

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

MeVis/ThirdParty/Sources/Inventor/inventor/lib/database/include/Inventor/SbLinear.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation