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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) by Kongsberg Oil & Gas Technologies.
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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
The SbVec4f class is a 4 dimensional vector with floating point coordinates.This vector class is used...
Definition: SbVec4f.h:40
int operator!=(const SbBox2d &b1, const SbBox2d &b2)
Definition: SbBox2d.h:92
int operator==(const SbBox2d &b1, const SbBox2d &b2)
Definition: SbBox2d.h:88
The SbRotation class represents a rotation in 3D space.SbRotation is used extensively throughout the ...
Definition: SbRotation.h:33
The SbVec3f class is a 3 dimensional vector with floating point coordinates.This vector class is used...
Definition: SbVec3f.h:40
SbVec2d operator*(const SbVec2d &v, double d)
Definition: SbVec2d.h:82
The SbMatrix class is a 4x4 dimensional representation of a matrix.SbMatrix is used by many other cla...
Definition: SbMatrix.h:37

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