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

       Rotations are stored internally as quaternions.

SEE ALSO

       SbVec3f, SbMatrix

                                                                                SbRotation(3IV)()