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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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