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SbRotation.h
1 #ifndef COIN_SBROTATION_H
2 #define COIN_SBROTATION_H
3 
4 /**************************************************************************\
5  *
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7  * Copyright (C) 1998-2007 by Systems in Motion. All rights reserved.
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13  * distribution for additional information about the GNU GPL.
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25 \**************************************************************************/
26 
27 #include <stdio.h>
28 #include <Inventor/SbVec4f.h>
29 
30 class SbMatrix;
31 class SbVec3f;
32 
33 class COIN_DLL_API SbRotation {
34 public:
35  SbRotation(void);
36  SbRotation(const SbVec3f & axis, const float radians);
37  SbRotation(const float q[4]);
38  SbRotation(const float q0, const float q1, const float q2, const float q3);
39  SbRotation(const SbMatrix & m);
40  SbRotation(const SbVec3f & rotateFrom, const SbVec3f & rotateTo);
41  const float * getValue(void) const;
42  void getValue(float & q0, float & q1, float & q2, float & q3) const;
43  SbRotation & setValue(const float q0, const float q1,
44  const float q2, const float q3);
45  void getValue(SbVec3f & axis, float & radians) const;
46  void getValue(SbMatrix & matrix) const;
47  SbRotation & invert(void);
48  SbRotation inverse(void) const;
49  SbRotation & setValue(const float q[4]);
50  SbRotation & setValue(const SbMatrix & m);
51  SbRotation & setValue(const SbVec3f & axis, const float radians);
52  SbRotation & setValue(const SbVec3f & rotateFrom, const SbVec3f & rotateTo);
53  SbRotation & operator*=(const SbRotation & q);
54  SbRotation & operator*=(const float s);
55  friend COIN_DLL_API int operator==(const SbRotation & q1, const SbRotation & q2);
56  friend COIN_DLL_API int operator!=(const SbRotation & q1, const SbRotation & q2);
57  SbBool equals(const SbRotation & r, const float tolerance) const;
58  friend COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2);
59  void multVec(const SbVec3f & src, SbVec3f & dst) const;
60 
61  void scaleAngle(const float scaleFactor);
62  static SbRotation slerp(const SbRotation & rot0, const SbRotation & rot1,
63  float t);
64  static SbRotation identity(void);
65 
66  void print(FILE * fp) const;
67 
68 private:
69  SbVec4f quat;
70 };
71 
72 COIN_DLL_API int operator ==(const SbRotation & q1, const SbRotation & q2);
73 COIN_DLL_API int operator !=(const SbRotation & q1, const SbRotation & q2);
74 COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2);
75 
76 #endif // !COIN_SBROTATION_H
SbRotation::getValue
const float * getValue(void) const
Definition: SbRotation.cpp:179
SbRotation
The SbRotation class represents a rotation in 3D space.
Definition: SbRotation.h:33
SbRotation::identity
static SbRotation identity(void)
Definition: SbRotation.cpp:674
SbVec4f::length
float length(void) const
Definition: SbVec4f.cpp:180
SbMatrix
The SbMatrix class is a 4x4 dimensional representation of a matrix.
Definition: SbMatrix.h:37
SbMatrix::setRotate
void setRotate(const SbRotation &q)
Definition: SbMatrix.cpp:314
SbMatrix::multVecMatrix
void multVecMatrix(const SbVec3f &src, SbVec3f &dst) const
Definition: SbMatrix.cpp:1357
SoDebugError::postWarning
static void postWarning(const char *const source, const char *const format,...)
Definition: SoDebugError.cpp:324
SbRotation::setValue
SbRotation & setValue(const float q0, const float q1, const float q2, const float q3)
Definition: SbRotation.cpp:204
SbRotation::scaleAngle
void scaleAngle(const float scaleFactor)
Definition: SbRotation.cpp:607
SbVec4f::negate
void negate(void)
Definition: SbVec4f.cpp:202
SbRotation::equals
SbBool equals(const SbRotation &r, const float tolerance) const
Definition: SbRotation.cpp:566
SbVec3f::length
float length(void) const
Definition: SbVec3f.cpp:356
SbRotation::operator*
SbRotation operator*(const SbRotation &q1, const SbRotation &q2)
Definition: SbRotation.cpp:580
SbBox2s::operator!=
int operator!=(const SbBox2s &b1, const SbBox2s &b2)
Definition: SbBox2s.cpp:443
SbVec3f::cross
SbVec3f cross(const SbVec3f &v) const
Definition: SbVec3f.cpp:270
SbRotation::operator*=
SbRotation & operator*=(const SbRotation &q)
Definition: SbRotation.cpp:508
SbRotation::inverse
SbRotation inverse(void) const
Definition: SbRotation.cpp:316
SbVec4f::normalize
float normalize(void)
Definition: SbVec4f.cpp:215
SbVec4f::equals
SbBool equals(const SbVec4f &v, const float tolerance) const
Definition: SbVec4f.cpp:114
SbVec3f::setValue
SbVec3f & setValue(const float v[3])
Definition: SbVec3f.cpp:461
SbRotation::operator==
int operator==(const SbRotation &q1, const SbRotation &q2)
Definition: SbRotation.cpp:543
SbVec4f::print
void print(FILE *fp) const
Definition: SbVec4f.cpp:493
SbBox2s::operator==
int operator==(const SbBox2s &b1, const SbBox2s &b2)
Definition: SbBox2s.cpp:432
SbVec3f
The SbVec3f class is a 3 dimensional vector with floating point coordinates.
Definition: SbVec3f.h:37
SbVec3f::dot
float dot(const SbVec3f &v) const
Definition: SbVec3f.cpp:282
SbVec4f::dot
float dot(const SbVec4f &v) const
Definition: SbVec4f.cpp:99
SbRotation::operator!=
int operator!=(const SbRotation &q1, const SbRotation &q2)
Definition: SbRotation.cpp:556
SbRotation::multVec
void multVec(const SbVec3f &src, SbVec3f &dst) const
Definition: SbRotation.cpp:593
SbVec3f::normalize
float normalize(void)
Definition: SbVec3f.cpp:436
SbRotation::slerp
static SbRotation slerp(const SbRotation &rot0, const SbRotation &rot1, float t)
Definition: SbRotation.cpp:629
SbRotation::print
void print(FILE *fp) const
Definition: SbRotation.cpp:685
SbMatrix::operator*
SbMatrix operator*(const SbMatrix &m1, const SbMatrix &m2)
Definition: SbMatrix.cpp:690
SbRotation::invert
SbRotation & invert(void)
Definition: SbRotation.cpp:290
SbVec4f
The SbVec4f class is a 4 dimensional vector with floating point coordinates.
Definition: SbVec4f.h:34
SbRotation::SbRotation
SbRotation(void)
Definition: SbRotation.cpp:82

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