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openvrml::rotation Class Reference
[Base Types]

List of all members.

---

Detailed Description

A rotation.

VRML rotations are represented with four single precision floating point components. The first three are an axis of rotation, and the last is rotation in radians.

Public Member Functions
	rotation () throw ()
	Construct.
	rotation (const float(&rot)[4]) throw ()
	Construct from an array.
	rotation (float x, float y, float z, float angle) throw ()
	Construct from x, y, z, and angle components.
	rotation (const vec3f &axis, float angle) throw ()
	Construct from an axis vector and an angle.
	rotation (const vec3f &from_vec, const vec3f &to_vec) throw ()
	Construct a rotation between two vectors.
	rotation (const quatf &quat) throw ()
	Construct from a quaternion.
rotation &	operator *= (const rotation &rot) throw ()
	Multiply rotations.
const float &	operator[] (size_t index) const throw ()
	Index-based element access.
float	x () const throw ()
	Get the x axis component.
float	y () const throw ()
	Get the y axis component.
float	z () const throw ()
	Get the z axis component.
const vec3f	axis () const throw ()
	Get the axis of rotation.
float	angle () const throw ()
	Get the rotation angle.
void	x (float value) throw ()
	Set the x axis component.
void	y (float value) throw ()
	Set the y axis component.
void	z (float value) throw ()
	Set the z axis component.
void	axis (const vec3f &axis) throw ()
	Set the axis of rotation.
void	angle (float value) throw ()
	Set the rotation angle.
const rotation	inverse () const throw ()
	Inverse rotation.
const rotation	slerp (const rotation &dest_rot, float t) const throw ()
	Spherical Linear intERPolation.
Private Attributes
float	rot [4]
	Rotation components.
Related Functions
(Note that these are not member functions.)
const rotation	operator * (const rotation &lhs, const rotation &rhs) throw()
	Multiply rotations.
bool	operator== (const rotation &lhs, const rotation &rhs) throw()
	Compare for equality.
bool	operator!= (const rotation &lhs, const rotation &rhs) throw()
	Compare for inequality.
std::ostream &	operator<< (std::ostream &out, const rotation &r)
	Stream output.

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Constructor & Destructor Documentation

openvrml::rotation::rotation

(

)

throw ()

Construct.

openvrml::rotation::rotation

(

const float &

rot[4]

)

throw () [explicit]

Construct from an array.

Parameters:

rot

an array comprising the rotation components.

Precondition:

The vector represented by the first three components of rot is normalized.

openvrml::rotation::rotation	(	float	x,
		float	y,
		float	z,
		float	angle
	)			throw ()

Construct from x, y, z, and angle components.

Parameters:

	x	x-component of the rotation axis.
	y	y-component of the rotation axis.
	z	z-component of the rotation axis.
	angle	rotation angle.

Precondition:

The vector represented by x, y, and z is normalized.

openvrml::rotation::rotation	(	const vec3f &	axis,
		float	angle
	)			throw ()

Construct from an axis vector and an angle.

Parameters:

	axis	rotation axis.
	angle	rotation angle.

Precondition:

axis is a normalized vector.

openvrml::rotation::rotation	(	const vec3f &	from_vec,
		const vec3f &	to_vec
	)			throw ()

Construct a rotation between two vectors.

Construct a rotation equal to the rotation between two different vectors.

Parameters:

	from_vec	the starting vector.
	to_vec	the ending vector.

openvrml::rotation::rotation

(

const quatf &

quat

)

throw () [explicit]

Construct from a quaternion.

Parameters:

quat

a quaternion.

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Member Function Documentation

rotation & openvrml::rotation::operator *=

(

const rotation &

rot

)

throw ()

Multiply rotations.

Parameters:

rot

the rotation by which to multiply.

Returns:

a reference to the object.

const float & openvrml::rotation::operator[]

(

size_t

index

)

const throw () [inline]

Index-based element access.

Parameters:

index

0 is the x axis component, 1 is the y axis component, 2 is the z axis component, and 3 is the angle.

float openvrml::rotation::x

(

)

const throw () [inline]

Get the x axis component.

Returns:

the x axis component.

float openvrml::rotation::y

(

)

const throw () [inline]

Get the y axis component.

Returns:

the y axis component.

float openvrml::rotation::z

(

)

const throw () [inline]

Get the z axis component.

Returns:

the z axis component.

const vec3f openvrml::rotation::axis

(

)

const throw () [inline]

Get the axis of rotation.

Returns:

the axis of rotation.

float openvrml::rotation::angle

(

)

const throw () [inline]

Get the rotation angle.

Returns:

the rotation angle.

void openvrml::rotation::x

(

float

value

)

throw ()

Set the x axis component.

Parameters:

value

new x axis component value.

void openvrml::rotation::y

(

float

value

)

throw ()

Set the y axis component.

Parameters:

value

new y axis component value.

void openvrml::rotation::z

(

float

value

)

throw ()

Set the z axis component.

Parameters:

value

new z axis component value.

void openvrml::rotation::axis

(

const vec3f &

axis

)

throw ()

Set the axis of rotation.

Parameters:

axis

new axis of rotation.

void openvrml::rotation::angle

(

float

value

)

throw () [inline]

Set the rotation angle.

Parameters:

value

new rotation angle value.

const rotation openvrml::rotation::inverse

(

)

const throw ()

Inverse rotation.

Returns:

the inverse rotation.

const rotation openvrml::rotation::slerp	(	const rotation &	dest_rot,
		float	t
	)			const throw ()

Spherical Linear intERPolation.

Parameters:

	dest_rot	destination rotation.
	t	fraction representing the desired position between the rotation and dest_rot.

Returns:

the rotation corresponding to t between the rotation and dest_rot.

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Friends And Related Function Documentation

const rotation operator *	(	const rotation &	lhs,
		const rotation &	rhs
	)			throw() [related]

Multiply rotations.

Parameters:

	lhs	left-hand operand.
	rhs	right-hand operand.

Returns:

the product of lhs and rhs.

bool operator==	(	const rotation &	lhs,
		const rotation &	rhs
	)			throw() [related]

Compare for equality.

Parameters:

	lhs	left-hand operand.
	rhs	right-hand operand.

Returns:

true if lhs is equal to rhs; false otherwise.

bool operator!=	(	const rotation &	lhs,
		const rotation &	rhs
	)			throw() [related]

Compare for inequality.

Parameters:

	lhs	left-hand operand.
	rhs	right-hand operand.

Returns:

true if lhs is not equal to rhs; false otherwise.

std::ostream & operator<<	(	std::ostream &	out,
		const rotation &	r
	)			[related]

Stream output.

Parameters:

	out	output stream.
	r	a rotation.

Returns:

out.

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Member Data Documentation

float openvrml::rotation::rot[4] [private]

Rotation components.

For internal use only.

The first three components define an axis through the origin. The fourth component is a rotation around the axis.