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SbRotation.h

00001 /**************************************************************************\ 00002 * 00003 * This file is part of the Coin 3D visualization library. 00004 * Copyright (C) 1998-2003 by Systems in Motion. All rights reserved. 00005 * 00006 * This library is free software; you can redistribute it and/or 00007 * modify it under the terms of the GNU Lesser General Public License 00008 * version 2.1 as published by the Free Software Foundation. See the 00009 * file LICENSE.LGPL at the root directory of the distribution for 00010 * more details. 00011 * 00012 * If you want to use Coin for applications not compatible with the 00013 * LGPL, please contact SIM to acquire a Professional Edition license. 00014 * 00015 * Systems in Motion, Teknobyen, Abels Gate 5, 7030 Trondheim, NORWAY 00016 * http://www.sim.no support@sim.no Voice: +47 22114160 Fax: +47 22207097 00017 * 00018 \**************************************************************************/ 00019 00020 #ifndef COIN_SBROTATION_H 00021 #define COIN_SBROTATION_H 00022 00023 #include <stdio.h> 00024 #include <Inventor/SbVec4f.h> 00025 00026 class SbMatrix; 00027 class SbVec3f; 00028 00029 class COIN_DLL_API SbRotation { 00030 public: 00031 SbRotation(void); 00032 SbRotation(const SbVec3f & axis, const float radians); 00033 SbRotation(const float q[4]); 00034 SbRotation(const float q0, const float q1, const float q2, const float q3); 00035 SbRotation(const SbMatrix & m); 00036 SbRotation(const SbVec3f & rotateFrom, const SbVec3f & rotateTo); 00037 const float * getValue(void) const; 00038 void getValue(float & q0, float & q1, float & q2, float & q3) const; 00039 SbRotation & setValue(const float q0, const float q1, 00040 const float q2, const float q3); 00041 void getValue(SbVec3f & axis, float & radians) const; 00042 void getValue(SbMatrix & matrix) const; 00043 SbRotation & invert(void); 00044 SbRotation inverse(void) const; 00045 SbRotation & setValue(const float q[4]); 00046 SbRotation & setValue(const SbMatrix & m); 00047 SbRotation & setValue(const SbVec3f & axis, const float radians); 00048 SbRotation & setValue(const SbVec3f & rotateFrom, const SbVec3f & rotateTo); 00049 SbRotation & operator*=(const SbRotation & q); 00050 SbRotation & operator*=(const float s); 00051 friend COIN_DLL_API int operator==(const SbRotation & q1, const SbRotation & q2); 00052 friend COIN_DLL_API int operator!=(const SbRotation & q1, const SbRotation & q2); 00053 SbBool equals(const SbRotation & r, const float tolerance) const; 00054 friend COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2); 00055 void multVec(const SbVec3f & src, SbVec3f & dst) const; 00056 00057 void scaleAngle(const float scaleFactor); 00058 static SbRotation slerp(const SbRotation & rot0, const SbRotation & rot1, 00059 float t); 00060 static SbRotation identity(void); 00061 00062 void print(FILE * fp) const; 00063 00064 private: 00065 SbVec4f quat; 00066 }; 00067 00068 COIN_DLL_API int operator ==(const SbRotation & q1, const SbRotation & q2); 00069 COIN_DLL_API int operator !=(const SbRotation & q1, const SbRotation & q2); 00070 COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2); 00071 00072 #endif // !COIN_SBROTATION_H

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