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SbRotation.h

00001 #ifndef COIN_SBROTATION_H
00002 #define COIN_SBROTATION_H
00003 
00004 /**************************************************************************\
00005  *
00006  *  This file is part of the Coin 3D visualization library.
00007  *  Copyright (C) 1998-2007 by Systems in Motion.  All rights reserved.
00008  *
00009  *  This library is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License
00011  *  ("GPL") version 2 as published by the Free Software Foundation.
00012  *  See the file LICENSE.GPL at the root directory of this source
00013  *  distribution for additional information about the GNU GPL.
00014  *
00015  *  For using Coin with software that can not be combined with the GNU
00016  *  GPL, and for taking advantage of the additional benefits of our
00017  *  support services, please contact Systems in Motion about acquiring
00018  *  a Coin Professional Edition License.
00019  *
00020  *  See http://www.coin3d.org/ for more information.
00021  *
00022  *  Systems in Motion, Postboks 1283, Pirsenteret, 7462 Trondheim, NORWAY.
00023  *  http://www.sim.no/  sales@sim.no  coin-support@coin3d.org
00024  *
00025 \**************************************************************************/
00026 
00027 #include <stdio.h>
00028 #include <Inventor/SbVec4f.h>
00029 
00030 class SbMatrix;
00031 class SbVec3f;
00032 
00033 class COIN_DLL_API SbRotation {
00034 public:
00035   SbRotation(void);
00036   SbRotation(const SbVec3f & axis, const float radians);
00037   SbRotation(const float q[4]);
00038   SbRotation(const float q0, const float q1, const float q2, const float q3);
00039   SbRotation(const SbMatrix & m);
00040   SbRotation(const SbVec3f & rotateFrom, const SbVec3f & rotateTo);
00041   const float * getValue(void) const;
00042   void getValue(float & q0, float & q1, float & q2, float & q3) const;
00043   SbRotation & setValue(const float q0, const float q1,
00044                         const float q2, const float q3);
00045   void getValue(SbVec3f & axis, float & radians) const;
00046   void getValue(SbMatrix & matrix) const;
00047   SbRotation & invert(void);
00048   SbRotation inverse(void) const;
00049   SbRotation & setValue(const float q[4]);
00050   SbRotation & setValue(const SbMatrix & m);
00051   SbRotation & setValue(const SbVec3f & axis, const float radians);
00052   SbRotation & setValue(const SbVec3f & rotateFrom, const SbVec3f & rotateTo);
00053   SbRotation & operator*=(const SbRotation & q);
00054   SbRotation & operator*=(const float s);
00055   friend COIN_DLL_API int operator==(const SbRotation & q1, const SbRotation & q2);
00056   friend COIN_DLL_API int operator!=(const SbRotation & q1, const SbRotation & q2);
00057   SbBool equals(const SbRotation & r, const float tolerance) const;
00058   friend COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2);
00059   void multVec(const SbVec3f & src, SbVec3f & dst) const;
00060 
00061   void scaleAngle(const float scaleFactor);
00062   static SbRotation slerp(const SbRotation & rot0, const SbRotation & rot1,
00063                           float t);
00064   static SbRotation identity(void);
00065 
00066   void print(FILE * fp) const;
00067 
00068 private:
00069   SbVec4f quat;
00070 };
00071 
00072 COIN_DLL_API int operator ==(const SbRotation & q1, const SbRotation & q2);
00073 COIN_DLL_API int operator !=(const SbRotation & q1, const SbRotation & q2);
00074 COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2);
00075 
00076 #endif // !COIN_SBROTATION_H

Copyright © 1998-2007 by Systems in Motion AS. All rights reserved.

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