man SbRotation () - class for representing a rotation
NAME
SbRotation - class for representing a rotation
INHERITS FROM
SbRotation
SYNOPSIS
#include <Inventor/SbLinear.h>
Methods from class SbRotation:
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SbRotation()
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SbRotation(const SbVec3f &axis, float radians)
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SbRotation(const float v[4])
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SbRotation(float q0, float q1, float q2, float q3)
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SbRotation(const SbMatrix &m)
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SbRotation(const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
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getValue() const
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getValue(float &q0, float &q1, float &q2, float &q3) const
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setValue(float q0, float q1, float q2, float q3)
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getValue(SbVec3f &axis, float &radians) const
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getValue(SbMatrix &matrix) const
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invert()
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inverse() const
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setValue(const float q[4])
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setValue(const SbMatrix &m)
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setValue(const SbVec3f &axis, float radians)
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setValue(const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
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operator *=(const SbRotation &q)
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operator ==(const SbRotation &q1, const SbRotation &q2)
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operator !=(const SbRotation &q1, const SbRotation &q2)
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equals(const SbRotation &r, float tolerance) const
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operator *(const SbRotation &q1, const SbRotation &q2)
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multVec(const SbVec3f &src, SbVec3f &dst) const
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scaleAngle(float scaleFactor )
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slerp(const SbRotation &rot0, const SbRotation &rot1, float t)
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identity()
DESCRIPTION
Object that stores a rotation. There are several ways to specify a rotation: quaternion (4 floats), 4x4 rotation matrix, or axis and angle. All angles are in radians and all rotations are right-handed.
METHODS
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SbRotation()
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SbRotation(const SbVec3f &axis, float radians)
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SbRotation(const float v[4])
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SbRotation(float q0, float q1, float q2, float q3)
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SbRotation(const SbMatrix &m)
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SbRotation(const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
Constructors for rotation. The axis/radians constructor creates a rotation of angle radians about the given axis. The constructors that take four floats create a quaternion from those floats (careful,
this differs from the four numbers in an axis/radian definition). Matrix constructor requires a valid rotation matrix. The rotateFrom/To constructor defines rotation that rotates from one vector into
another. The rotateFrom and rotateTo vectors are normalized by the constructor before calculating the rotation.
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getValue() const
Returns pointer to array of 4 components defining quaternion.
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getValue(float &q0, float &q1, float &q2, float &q3) const
Returns 4 individual components of rotation quaternion.
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setValue(float q0, float q1, float q2, float q3)
Sets value of rotation from 4 individual components of a quaternion.
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getValue(SbVec3f &axis, float &radians) const
Returns corresponding 3D rotation axis vector and angle in radians.
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getValue(SbMatrix &matrix) const
Returns corresponding 4x4 rotation matrix.
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invert()
Changes a rotation to be its inverse.
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inverse() const
Returns the inverse of a rotation.
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setValue(const float q[4])
Sets value of rotation from array of 4 components of a quaternion.
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setValue(const SbMatrix &m)
Sets value of rotation from a rotation matrix.
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setValue(const SbVec3f &axis, float radians)
Sets value of vector from 3D rotation axis vector and angle in radians.
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setValue(const SbVec3f &rotateFrom, const SbVec3f &rotateTo)
Sets rotation to rotate one direction vector to another. The rotateFrom and rotateTo arguments are normalized before the rotation is calculated.
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operator *=(const SbRotation &q)
Multiplies by another rotation; results in product of rotations.
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operator ==(const SbRotation &q1, const SbRotation &q2)
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operator !=(const SbRotation &q1, const SbRotation &q2)
Equality comparison operators.
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equals(const SbRotation &r, float tolerance) const
Equality comparison within given tolerance - the square of the length of the maximum distance between the two quaternion vectors.
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operator *(const SbRotation &q1, const SbRotation &q2)
Multiplication of two rotations; results in product of rotations.
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multVec(const SbVec3f &src, SbVec3f &dst) const
Multiplies the given vector by the matrix of this rotation.
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scaleAngle(float scaleFactor )
Keep the axis the same. Multiply the angle of rotation by the amount scaleFactor.
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slerp(const SbRotation &rot0, const SbRotation &rot1, float t)
Spherical linear interpolation: as t goes from 0 to 1, returned value goes from rot0 to rot1.
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identity()
Returns a null rotation.
NOTES
Rotations are stored internally as quaternions.
SEE ALSO
SbVec3f, SbMatrix