NAME

       SbDPRotation -

       The SbDPRotation class represents a rotation in 3D space.

       SbDPRotation is used extensively throughout the Coin library.

SYNOPSIS

   Public Member Functions
       SbDPRotation (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)
       SbBool equals (const SbDPRotation &r, double tolerance) const
       void multVec (const SbVec3d &src, SbVec3d &dst) const
       void scaleAngle (const double scaleFactor)
       void print (FILE *fp) const
       SbDPRotation & operator*= (const SbDPRotation &q)
       SbDPRotation & operator*= (const double s)

   Static Public Member Functions
       static SbDPRotation slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, double t)
       static SbDPRotation identity (void)

   Friends
       int operator== (const SbDPRotation &q1, const SbDPRotation &q2)
       int operator!= (const SbDPRotation &q1, const SbDPRotation &q2)
       SbDPRotation operator* (const SbDPRotation &q1, const SbDPRotation &q2)

Detailed Description

       The 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 doubleradians)
       Construct a new SbDPRotation object initialized with the given axis-of-rotation and
       rotation angle.

   SbDPRotation::SbDPRotation (const doubleq[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 doubleq0, const doubleq1, const doubleq2, const doubleq3)
       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) const
       Return 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) const
       Return the four quaternion components representing the rotation.

       See Also:
           setValue().

   SbDPRotation & SbDPRotation::setValue (const doubleq0, const doubleq1, const doubleq2, const
       doubleq3)
       Set the rotation.

       See Also:
           getValue().

   void SbDPRotation::getValue (SbVec3d &axis, double &radians) const
       Return the rotation in the form of an axis-of-rotation and a rotation angle.

       See Also:
           setValue().

   void SbDPRotation::getValue (SbDPMatrix &matrix) const
       Return 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) const
       Non-destructively inverses the rotation and returns the result.

       See Also:
           invert()

   SbDPRotation & SbDPRotation::setValue (const doubleq[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 doubleradians)
       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().

   SbBool SbDPRotation::equals (const SbDPRotation &r, doubletolerance) const
       Check the internal quaternion representation vectors for equality within the given
       tolerance.

   void SbDPRotation::multVec (const SbVec3d &src, SbVec3d &dst) const
       Rotate the src vector and put the result in dst.

   void SbDPRotation::scaleAngle (const doublescaleFactor)
       Scale the angle of rotation by scaleFactor.

   SbDPRotation slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, doublet) [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) const
       Dump the state of this object to the file stream. Only works in debug version of library,
       method does nothing in an optimized compile.

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

Friends And Related Function Documentation

   int operator== (const SbDPRotation &q1, const SbDPRotation &q2) [friend]
       Check if the two rotations are equal.

       See Also:
           equals().

   int operator!= (const SbDPRotation &q1, const SbDPRotation &q2) [friend]
       Check if the two rotations are unequal.

       See Also:
           equals().

   SbDPRotation operator* (const SbDPRotation &q1, const SbDPRotation &q2) [friend]
       Multiplies the two rotations and returns the result.

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

Author

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