SbDPRotation - Online Linux Manual Page

Section : 3
Updated : Mon Jan 25 2021
Source : Version 3.1.3
Note : Coin
NAMESbDPRotation − The SbDPRotation class represents a rotation in 3D space​.
SYNOPSIS
#include <Inventor/SbLinear​.h>
Public Member FunctionsSbDPRotation (void)
SbDPRotation (const SbVec3d &axis, const double radians)
SbDPRotation (const double q[4])
SbDPRotation (const double q0, const double q1, const double q2, const double q3)
SbDPRotation (const SbDPMatrix &m)
SbDPRotation (const SbVec3d &rotateFrom, const SbVec3d &rotateTo)
const double * getValue (void) const
void getValue (double &q0, double &q1, double &q2, double &q3) const
SbDPRotation & setValue (const double q0, const double q1, const double q2, const double q3)
void getValue (SbVec3d &axis, double &radians) const
void getValue (SbDPMatrix &matrix) const
SbDPRotation & invert (void)
SbDPRotation inverse (void) const
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)
SbDPRotation & operator*= (const SbDPRotation &q)
SbDPRotation & operator*= (const double s)
SbBool equals (const SbDPRotation &r, const double tolerance) const
void multVec (const SbVec3d &src, SbVec3d &dst) const
void scaleAngle (const double scaleFactor)
void print (FILE *fp) const
Static Public Member Functionsstatic SbDPRotation slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, double t)
static SbDPRotation identity (void)
Related Functions(Note that these are not member functions​.) int operator== (const SbDPRotation &q1, const SbDPRotation &q2)
int operator!= (const SbDPRotation &q1, const SbDPRotation &q2)
SbDPRotation operator* (const SbDPRotation &q1, const SbDPRotation &q2)
SbDPRotation slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, double t)
Detailed DescriptionThe SbDPRotation class represents a rotation in 3D space​. 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::SbDPRotation (void)The default constructor just initializes a valid rotation​. The actual value is unspecified, and you should not depend on it​.
SbDPRotation::SbDPRotation (const SbVec3d & axis, const double radians)Construct a new SbDPRotation object initialized with the given axis-of-rotation and rotation angle​.
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::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::SbDPRotation (const SbDPMatrix & m)Construct a new SbDPRotation object initialized with the given rotation matrix​.
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
const double * SbDPRotation::getValue (void) constReturn pointer to an array with the rotation expressed as four quaternion values​. See also setValue()​.
void SbDPRotation::getValue (double & q0, double & q1, double & q2, double & q3) constReturn the four quaternion components representing the rotation​. See also setValue()​.
SbDPRotation & SbDPRotation::setValue (const double q0, const double q1, const double q2, const double q3)Set the rotation​. See also getValue()​.
void SbDPRotation::getValue (SbVec3d & axis, double & radians) constReturn the rotation in the form of an axis-of-rotation and a rotation angle​. See also setValue()​.
void SbDPRotation::getValue (SbDPMatrix & matrix) constReturn this rotation in the form of a matrix​. See also setValue()​.
SbDPRotation & SbDPRotation::invert (void)Invert the rotation​. Returns reference to self​. See also inverse()
SbDPRotation SbDPRotation::inverse (void) constNon-destructively inverses the rotation and returns the result​. See also invert()
SbDPRotation & SbDPRotation::setValue (const double q[4])Reset the rotation by the four quaternions in the array​. See also getValue()​.
SbDPRotation & SbDPRotation::setValue (const SbDPMatrix & m)Set the rotation from the components of the given matrix​. Returns reference to self​. See also getValue()​.
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()​.
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()​.
SbDPRotation & SbDPRotation::operator*= (const SbDPRotation & q)Multiplies the quaternions​. Note that order is important when combining quaternions with the multiplication operator​.
SbDPRotation & SbDPRotation::operator*= (const double s)Multiplies components of quaternion with scalar value s​. Returns reference to self​.
SbBool SbDPRotation::equals (const SbDPRotation & r, const double tolerance) constCheck the internal quaternion representation vectors for equality within the given tolerance​.
void SbDPRotation::multVec (const SbVec3d & src, SbVec3d & dst) constRotate the src vector and put the result in dst​.
void SbDPRotation::scaleAngle (const double scaleFactor)Scale the angle of rotation by scaleFactor​.
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]​.
SbDPRotation SbDPRotation::identity (void) [static]Returns an identity rotation​.
void SbDPRotation::print (FILE * fp) constDump the state of this object to the file stream​. Only works in debug version of library, method does nothing in an optimized compile​.
Friends And Related Function Documentation
int operator== (const SbDPRotation & q1, const SbDPRotation & q2) [related]Check if the two rotations are equal​. See also equals()​.
int operator!= (const SbDPRotation & q1, const SbDPRotation & q2) [related]Check if the two rotations are unequal​. See also equals()​.
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​.
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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