SbRotation(3IV)

NAME
     SbRotation (SbRot) - class for representing a rotation

INHERITS FROM
     SbRotation

SYNOPSIS
     #include <Inventor_c/SbLinear.h>

     typedef SbRotation  SbRot

          Functions from class SbRotation:

     void                SbRotGetAxisAngle(const SbRot *this, SbVec3f *axis,
                              float *radians)
     void                SbRotGetMx(const SbRot *this, SbMatrix *matrix)
     SbRotation *        SbRotInvert(SbRot *this)
     SbRotation          SbRotInverse(const SbRot *this)
     SbRotation *        SbRotSetMx(SbRot *this, const SbMatrix *m)
     SbRotation *        SbRotSetAxisAngle(SbRot *this, const SbVec3f *axis,
                              float radians)
     SbRotation *        SbRotSetFromTo(SbRot *this, const SbVec3f
                              *rotateFrom, const SbVec3f *rotateTo)
     int                 SbRotIsEq(SbRot *this, const SbRotation *q1, const
                              SbRotation *q2)
     int                 SbRotIsNEq(SbRot *this, const SbRotation *q1, const
                              SbRotation *q2)
     SbBool              SbRotEquals(const SbRot *this, const SbRotation *r,
                              float tolerance)
     SbRotation          SbRotMult(SbRot *this, const SbRotation *q1, const
                              SbRotation *q2)
     void                SbRotMultVec(const SbRot *this, const SbVec3f *src,
                              SbVec3f *dst)
     void                SbRotScaleAngle(SbRot *this, float scaleFactor )
     SbRotation          SbRotSlerp(const SbRotation *rot0, const SbRotation
                              *rot1, float t)
     SbRotation          SbRotIdent()

          Macros from class SbRotation:

     SbRotGetQuat(float *dest, SbRotation *src)
     SbRotGetQ_U_A_T(float q0, float q1, float q2, float q3,
                           SbRotation *src)
     SbRotSetQuat(SbRotation *dest, float *src)
     SbRotSetQ_U_A_T(SbRotation *dest, float q0, float q1,
                           float q2, float q3)


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.  This
     object does not have Create or Delete functions because it is a simple
     datatype. C programmers should declare and/or malloc rotations as
     standard C structs. Access the components of the vector as though it is a
     simple structure or use the access and operation functions described in
     this reference page:

               /* This is defined in Inventor_c/SbLinear.h: */
               struct SbRotation {
                                float quat[4];
               };
               typedef SbRotation SbRot


               /* This is what your code should look like: */
               SbRot   r1, r2;

               /* The next two lines produce equivalent rotations. */
               r1.quat[0] = 1.0; r1.quat[1] = r1.quat[2] = 0.0; r1.quat[3] = 1.0;
               SbRotSetQ_U_A_T( v2, 1.0, 0.0, 0.0, 1.0 );



FUNCTIONS
     void                SbRotGetAxisAngle(const SbRot *this, SbVec3f *axis,
                              float *radians)
          Returns corresponding 3D rotation axis vector and angle in radians.

     void                SbRotGetMx(const SbRot *this, SbMatrix *matrix)
          Returns corresponding 4x4 rotation matrix.

     SbRotation *        SbRotInvert(SbRot *this)
          Changes a rotation to be its inverse.

     SbRotation          SbRotInverse(const SbRot *this)
          Returns the inverse of a rotation.

     SbRotation *        SbRotSetMx(SbRot *this, const SbMatrix *m)
          Sets value of rotation from a rotation matrix.

     SbRotation *        SbRotSetAxisAngle(SbRot *this, const SbVec3f *axis,
                              float radians)
          Sets value of vector from 3D rotation axis vector and angle in
          radians.

     SbRotation *        SbRotSetFromTo(SbRot *this, 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.

     int                 SbRotIsEq(SbRot *this, const SbRotation *q1, const
                              SbRotation *q2)
     int                 SbRotIsNEq(SbRot *this, const SbRotation *q1, const
                              SbRotation *q2)
          Equality comparison operators.

     SbBool              SbRotEquals(const SbRot *this, const SbRotation *r,
                              float tolerance)
          Equality comparison within given tolerance - the square of the
          length of the maximum distance between the two quaternion vectors.

     SbRotation          SbRotMult(SbRot *this, const SbRotation *q1, const
                              SbRotation *q2)
          Multiplication of two rotations; results in product of rotations.

     void                SbRotMultVec(const SbRot *this, const SbVec3f *src,
                              SbVec3f *dst)
          Multiplies the given vector by the matrix of this rotation.

     void                SbRotScaleAngle(SbRot *this, float scaleFactor )
          Keep the axis the same. Multiply the angle of rotation by the amount
          scaleFactor.

     SbRotation          SbRotSlerp(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.

     SbRotation          SbRotIdent()
          Returns a null rotation.


MACROS
     SbRotGetQuat(float *dest, SbRotation *src)
     SbRotGetQ_U_A_T(float q0, float q1, float q2, float q3,
                           SbRotation *src)
     SbRotSetQuat(SbRotation *dest, float *src)
     SbRotSetQ_U_A_T(SbRotation *dest, float q0, float q1,
                           float q2, float q3)
          Sets and gets rotations in the form of quaternions. The quaternion
          may be passed either as an array of length 4 or as 4 separate
          components.


FILE FORMAT/DEFAULTS
     Rotation {
     }

NOTES
     Rotations are stored internally as quaternions.

SEE ALSO
     SbVec3f, SbMatrix