NAME

SbRotation — class for representing a rotation

INHERITS FROM

SbRotation

SYNOPSIS

#include <Inventor/SbLinear.h>

Methods from class SbRotation:

SbRotation()

SbRotation(const SbVec3f &axis, float radians)

SbRotation(const float v[4])

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

SbRotation(const SbMatrix &m)

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

const float * getValue() const

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

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

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

void getValue(SbMatrix &matrix) const

SbRotation & invert()

SbRotation inverse() const

SbRotation & setValue(const float q[4])

SbRotation & setValue(const SbMatrix &m)

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

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

SbRotation & operator *=(const SbRotation &q)

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

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

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

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

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

void scaleAngle(float scaleFactor )

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

static SbRotation identity()

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.

METHODS

SbRotation()

SbRotation(const SbVec3f &axis, float radians)

SbRotation(const float v[4])

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

SbRotation(const SbMatrix &m)

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

Constructors for rotation. 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.

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.

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

Sets value of rotation from 4 individual components of a 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(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. The rotateFrom and rotateTo arguments are normalized before the rotation is calculated.

SbRotation & operator *=(const SbRotation &q)

Multiplies by another rotation; results in product of rotations.

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

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

Equality comparison operators.

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

Equality comparison within given tolerance — the square of the length of the maximum distance between the two quaternion vectors.

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

Multiplication of two rotations; results in product of rotations.

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. Multiply the angle of rotation by the amount scaleFactor.

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.

NOTES