Public Member Functions¶

SbRotation (void)
SbRotation (const SbVec3f &axis, const float radians)
SbRotation (const float q[4])
SbRotation (const float q0, const float q1, const float q2, const float q3)
SbRotation (const SbMatrix &m)
SbRotation (const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
const float * getValue (void) const
void getValue (float &q0, float &q1, float &q2, float &q3) const
SbRotation & setValue (const float q0, const float q1, const float q2, const float q3)
void getValue (SbVec3f &axis, float &radians) const
void getValue (SbMatrix &matrix) const
SbRotation & invert (void)
SbRotation inverse (void) const
SbRotation & setValue (const float q[4])
SbRotation & setValue (const SbMatrix &m)
SbRotation & setValue (const SbVec3f &axis, const float radians)
SbRotation & setValue (const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
SbRotation & operator*= (const SbRotation &q)
SbRotation & operator*= (const float s)
SbBool equals (const SbRotation &r, const float tolerance) const
void multVec (const SbVec3f &src, SbVec3f &dst) const
void scaleAngle (const float scaleFactor)
void print (FILE *fp) const

Static Public Member Functions¶

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

Related Symbols¶

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

SbRotation::SbRotation (void)¶

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

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

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

SbRotation::SbRotation (const float q[4])¶

Construct a new SbRotation 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.

SbRotation::SbRotation (const float q0, const float q1, const float q2, const float q3)¶

Construct a new SbRotation object initialized with the given quaternion components.

SbRotation::SbRotation (const SbMatrix & m)¶

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

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

Construct a rotation which is the minimum rotation necessary to make vector rotateFrom point in the direction of vector rotateTo.

Example:

#include <Inventor/SbRotation.h>
#include <Inventor/SbVec3f.h>
#include <cstdio>
int
main(void)
{


  SbVec3f from(10, 0, 0);


  SbVec3f to(0, 10, 0);


  SbRotation rot(from, to);


  SbVec3f axis;


  float angle;


  rot.getValue(axis, angle);


  axis.print(stdout);


  printf("  angle==%f\n", angle);


  return 0;
}

const float * SbRotation::getValue (void) const¶

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

See also

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

Return the four quaternion components representing the rotation.

See also

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

Set the rotation.

See also

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

Return the rotation in the form of an axis-of-rotation and a rotation angle.

See also

void SbRotation::getValue (SbMatrix & matrix) const¶

Return this rotation in the form of a matrix.

See also

SbRotation & SbRotation::invert (void)¶

Invert the rotation. Returns reference to self.

See also

SbRotation SbRotation::inverse (void) const¶

Non-destructively inverses the rotation and returns the result.

See also

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

Reset the rotation by the four quaternions in the array.

See also

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

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

See also

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

SbRotation & SbRotation::setValue (const SbVec3f & rotateFrom, const SbVec3f & 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 SbRotation constructor with corresponding input arguments for a simple code example.

See also

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

Multiplies the quaternions.

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

SbRotation & SbRotation::operator*= (const float s)¶

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

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

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

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

Rotate the src vector and put the result in dst.

It is safe to let src and dst be the same SbVec3f instance.

void SbRotation::scaleAngle (const float scaleFactor)¶

Scale the angle of rotation by scaleFactor.

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

Interpolates along the shortest path between the two rotation positions (from rot0 to rot1).

Returns the SbRotation 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].

SbRotation SbRotation::identity (void) [static]¶

Returns an identity rotation.

void SbRotation::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 compile.

int operator== (const SbRotation & q1, const SbRotation & q2) [related]¶

Check if the two rotations are equal.

See also

int operator!= (const SbRotation & q1, const SbRotation & q2) [related]¶

Check if the two rotations are unequal.

See also

SbRotation operator* (const SbRotation & q1, const SbRotation & q2) [related]¶

Multiplies the two rotations and returns the result.

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

SbRotation slerp (const SbRotation & rot0, const SbRotation & rot1, float t) [related]¶

Interpolates along the shortest path between the two rotation positions (from rot0 to rot1).

Returns the SbRotation 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].