SbDPRotation Class Reference
Base Classes

The SbDPRotation class represents a rotation in 3D space using double precision data. More...

`#include <Inventor/SbDPRotation.h>`

## Public Member Functions

| SbDPRotation (void)
| SbDPRotation (const SbVec3d &axis, const double radians)
| SbDPRotation (const double q[4])
| SbDPRotation (const double q0, const double q1, const double q2, const double q3)
| SbDPRotation (const SbDPMatrix &m)
| SbDPRotation (const SbVec3d &rotateFrom, const SbVec3d &rotateTo)
const double * | getValue (void) const
void | getValue (double &q0, double &q1, double &q2, double &q3) const
SbDPRotation & | setValue (const double q0, const double q1, const double q2, const double q3)
void | getValue (SbVec3d &axis, double &radians) const
void | getValue (SbDPMatrix &matrix) const
SbDPRotation & | invert (void)
SbDPRotation | inverse (void) const
SbDPRotation & | setValue (const double q[4])
SbDPRotation & | setValue (const SbDPMatrix &m)
SbDPRotation & | setValue (const SbVec3d &axis, const double radians)
SbDPRotation & | setValue (const SbVec3d &rotateFrom, const SbVec3d &rotateTo)
SbBool | equals (const SbDPRotation &r, double tolerance) const
void | multVec (const SbVec3d &src, SbVec3d &dst) const
void | scaleAngle (const double scaleFactor)
void | print (FILE *fp) const
SbDPRotation & | operator*= (const SbDPRotation &q)
SbDPRotation & | operator*= (const double s)

## Static Public Member Functions

static SbDPRotation | slerp (const SbDPRotation &rot0, const SbDPRotation &rot1, double t)
static SbDPRotation | identity (void)

## Detailed Description

The SbDPRotation class represents a rotation in 3D space using double precision data.

SbDPRotation is used extensively throughout the Coin library.

An SbDPRotation is stored internally as a quaternion for speed and storage reasons, but inquiries can be done to get and set axis and angle values for convenience.

See also
  SbDPMatrix

## Constructor & Destructor Documentation

## SbDPRotation() [1/6]

SbDPRotation::SbDPRotation | ( | void |  | ) |

The default constructor just initializes a valid rotation. The actual value is unspecified, and you should not depend on it.

## SbDPRotation() [2/6]

SbDPRotation::SbDPRotation | ( | const SbVec3d & | axis,
|  | const double | radians )

Construct a new SbDPRotation object initialized with the given axis-of-rotation and rotation angle.

## SbDPRotation() [3/6]

SbDPRotation::SbDPRotation | ( | const double | q[4] | ) |

Construct a new SbDPRotation object initialized with the given quaternion components.

The array must be ordered as follows:

q[0] = x, q[1] = y, q[2] = z and q[3] = w, where the quaternion is specified by q = w + xi + yj + zk.

## SbDPRotation() [4/6]

SbDPRotation::SbDPRotation | ( | const double | q0,
|  | const double | q1,
|  | const double | q2,
|  | const double | q3 )

Construct a new SbDPRotation object initialized with the given quaternion components.

## SbDPRotation() [5/6]

SbDPRotation::SbDPRotation | ( | const SbDPMatrix & | m | ) |

Construct a new SbDPRotation object initialized with the given rotation matrix.

## SbDPRotation() [6/6]

SbDPRotation::SbDPRotation | ( | const SbVec3d & | rotateFrom,
|  | const SbVec3d & | rotateTo )

Construct a rotation which is the minimum rotation necessary to make vector rotateFrom point in the direction of vector rotateTo.

## Member Function Documentation

## getValue() [1/4]

const double * SbDPRotation::getValue | ( | void |  | ) | const

Return pointer to an array with the rotation expressed as four quaternion values.

See also
  setValue().

## getValue() [2/4]

void SbDPRotation::getValue | ( | double & | q0,
|  | double & | q1,
|  | double & | q2,
|  | double & | q3 ) const

Return the four quaternion components representing the rotation.

See also
  setValue().

## setValue() [1/5]

SbDPRotation & SbDPRotation::setValue | ( | const double | q0,
|  | const double | q1,
|  | const double | q2,
|  | const double | q3 )

Set the rotation.

See also
  getValue().

## getValue() [3/4]

void SbDPRotation::getValue | ( | SbVec3d & | axis,
|  | double & | radians ) const

Return the rotation in the form of an axis-of-rotation and a rotation angle.

See also
  setValue().

## getValue() [4/4]

void SbDPRotation::getValue | ( | SbDPMatrix & | matrix | ) | const

Return this rotation in the form of a matrix.

See also
  setValue().

## invert()

SbDPRotation & SbDPRotation::invert | ( | void |  | ) |

Invert the rotation. Returns reference to self.

See also
  inverse()

## inverse()

SbDPRotation SbDPRotation::inverse | ( | void |  | ) | const

Non-destructively inverses the rotation and returns the result.

See also
  invert()

## setValue() [2/5]

SbDPRotation & SbDPRotation::setValue | ( | const double | q[4] | ) |

Reset the rotation by the four quaternions in the array.

See also
  getValue().

## setValue() [3/5]

SbDPRotation & SbDPRotation::setValue | ( | const SbDPMatrix & | m | ) |

Set the rotation from the components of the given matrix. Returns reference to self.

See also
  getValue().

## setValue() [4/5]

SbDPRotation & SbDPRotation::setValue | ( | const SbVec3d & | axis,
|  | const double | radians )

Reset rotation with the given axis-of-rotation and rotation angle. Returns reference to self.

Make sure axis is not the null vector when calling this method.

See also
  getValue().

## setValue() [5/5]

SbDPRotation & SbDPRotation::setValue | ( | const SbVec3d & | rotateFrom,
|  | const SbVec3d & | rotateTo )

Construct a rotation which is the minimum rotation necessary to make vector rotateFrom point in the direction of vector rotateTo.

Returns reference to self.

See also
  getValue().

## equals()

SbBool SbDPRotation::equals | ( | const SbDPRotation & | r,
|  | double | tolerance ) const

Check the internal quaternion representation vectors for equality within the given tolerance.

## multVec()

void SbDPRotation::multVec | ( | const SbVec3d & | src,
|  | SbVec3d & | dst ) const

Rotate the src vector and put the result in dst.

## scaleAngle()

void SbDPRotation::scaleAngle | ( | const double | scaleFactor | ) |

Scale the angle of rotation by scaleFactor.

## slerp()

SbDPRotation slerp | ( | const SbDPRotation & | rot0,
|  | const SbDPRotation & | rot1,
|  | double | t )

static

Interpolates along the shortest path between the two rotation positions (from rot0 to rot1).

Returns the SbDPRotation which will rotate rot0 the given part t of the spherical distance towards rot1, where t=0 will yield rot0 and t=1 will yield rot1.

t should be in the interval [0, 1].

## identity()

SbDPRotation SbDPRotation::identity | ( | void |  | ) |

static

Returns an identity rotation.

## print()

void SbDPRotation::print | ( | FILE * | fp | ) | const

Dump the state of this object to the fp file stream. Only works in debug version of library, method does nothing in an optimized build.

## operator*=() [1/2]

SbDPRotation & SbDPRotation::operator*= | ( | const SbDPRotation & | q | ) |

Multiplies the quaternions.

Note that order is important when combining quaternions with the multiplication operator.

## operator*=() [2/2]

SbDPRotation & SbDPRotation::operator*= | ( | const double | s | ) |

Multiplies components of quaternion with scalar value s. Returns reference to self.

The documentation for this class was generated from the following files:

- SbDPRotation.h
- SbDPRotation.cpp