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SbDPRotation.h
1 #ifndef COIN_SBDPROTATION_H
2 #define COIN_SBDPROTATION_H
3 
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26 
27 #include <stdio.h>
28 #include <Inventor/SbVec4d.h>
29 
30 class SbDPMatrix;
31 class SbVec3d;
32 
33 class COIN_DLL_API SbDPRotation {
34 public:
35  SbDPRotation(void);
36  SbDPRotation(const SbVec3d & axis, const double radians);
37  SbDPRotation(const double q[4]);
38  SbDPRotation(const double q0, const double q1, const double q2, const double q3);
39  SbDPRotation(const SbDPMatrix & m);
40  SbDPRotation(const SbVec3d & rotateFrom, const SbVec3d & rotateTo);
41  const double * getValue(void) const;
42  void getValue(double & q0, double & q1, double & q2, double & q3) const;
43  SbDPRotation & setValue(const double q0, const double q1,
44  const double q2, const double q3);
45  void getValue(SbVec3d & axis, double & radians) const;
46  void getValue(SbDPMatrix & matrix) const;
47  SbDPRotation & invert(void);
48  SbDPRotation inverse(void) const;
49  SbDPRotation & setValue(const double q[4]);
50  SbDPRotation & setValue(const SbDPMatrix & m);
51  SbDPRotation & setValue(const SbVec3d & axis, const double radians);
52  SbDPRotation & setValue(const SbVec3d & rotateFrom, const SbVec3d & rotateTo);
53  SbDPRotation & operator*=(const SbDPRotation & q);
54  SbDPRotation & operator*=(const double s);
55  friend COIN_DLL_API int operator==(const SbDPRotation & q1, const SbDPRotation & q2);
56  friend COIN_DLL_API int operator!=(const SbDPRotation & q1, const SbDPRotation & q2);
57  SbBool equals(const SbDPRotation & r, const double tolerance) const;
58  friend COIN_DLL_API SbDPRotation operator *(const SbDPRotation & q1, const SbDPRotation & q2);
59  void multVec(const SbVec3d & src, SbVec3d & dst) const;
60 
61  void scaleAngle(const double scaleFactor);
62  static SbDPRotation slerp(const SbDPRotation & rot0, const SbDPRotation & rot1,
63  double t);
64  static SbDPRotation identity(void);
65 
66  void print(FILE * fp) const;
67 
68 private:
69  SbVec4d quat;
70 };
71 
72 COIN_DLL_API int operator ==(const SbDPRotation & q1, const SbDPRotation & q2);
73 COIN_DLL_API int operator !=(const SbDPRotation & q1, const SbDPRotation & q2);
74 COIN_DLL_API SbDPRotation operator *(const SbDPRotation & q1, const SbDPRotation & q2);
75 
76 #endif // !COIN_SBDPROTATION_H
The SbVec3d class is a 3 dimensional vector with double precision floating point coordinates.This vector class provides storage for a 3 dimensional double precision floating point vector aswell as simple floating point arithmetic operations.
Definition: SbVec3d.h:39
int operator!=(const SbBox2d &b1, const SbBox2d &b2)
Definition: SbBox2d.h:92
int operator==(const SbBox2d &b1, const SbBox2d &b2)
Definition: SbBox2d.h:88
SbVec2d operator*(const SbVec2d &v, double d)
Definition: SbVec2d.h:82
The SbDPRotation class represents a rotation in 3D space.SbDPRotation is used extensively throughout ...
Definition: SbDPRotation.h:33
The SbVec4d class is a 4 dimensional vector with double precision floating point coordinates.This vector class is not by many other classes in Coin. It provides storage for a 3 dimensional homogeneoues vector (with the 4 components usually referred to as &lt;x, y, z, w&gt;) aswell as simple double precision floating point arithmetic operations.
Definition: SbVec4d.h:40
The SbDPMatrix class is a 4x4 dimensional representation of a double-precision matrix.This class is like the SbMatrix class, but uses double-precision floating point values for its elements. For more class documentation, see SbMatrix.
Definition: SbDPMatrix.h:38

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