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00001 #ifndef COIN_SBDPROTATION_H 00002 #define COIN_SBDPROTATION_H 00003 00004 /**************************************************************************\ 00005 * 00006 * This file is part of the Coin 3D visualization library. 00007 * Copyright (C) by Kongsberg Oil & Gas Technologies. 00008 * 00009 * This library is free software; you can redistribute it and/or 00010 * modify it under the terms of the GNU General Public License 00011 * ("GPL") version 2 as published by the Free Software Foundation. 00012 * See the file LICENSE.GPL at the root directory of this source 00013 * distribution for additional information about the GNU GPL. 00014 * 00015 * For using Coin with software that can not be combined with the GNU 00016 * GPL, and for taking advantage of the additional benefits of our 00017 * support services, please contact Kongsberg Oil & Gas Technologies 00018 * about acquiring a Coin Professional Edition License. 00019 * 00020 * See http://www.coin3d.org/ for more information. 00021 * 00022 * Kongsberg Oil & Gas Technologies, Bygdoy Alle 5, 0257 Oslo, NORWAY. 00023 * http://www.sim.no/ sales@sim.no coin-support@coin3d.org 00024 * 00025 \**************************************************************************/ 00026 00027 #include <stdio.h> 00028 #include <Inventor/SbVec4d.h> 00029 00030 class SbDPMatrix; 00031 class SbVec3d; 00032 00033 class COIN_DLL_API SbDPRotation { 00034 public: 00035 SbDPRotation(void); 00036 SbDPRotation(const SbVec3d & axis, const double radians); 00037 SbDPRotation(const double q[4]); 00038 SbDPRotation(const double q0, const double q1, const double q2, const double q3); 00039 SbDPRotation(const SbDPMatrix & m); 00040 SbDPRotation(const SbVec3d & rotateFrom, const SbVec3d & rotateTo); 00041 const double * getValue(void) const; 00042 void getValue(double & q0, double & q1, double & q2, double & q3) const; 00043 SbDPRotation & setValue(const double q0, const double q1, 00044 const double q2, const double q3); 00045 void getValue(SbVec3d & axis, double & radians) const; 00046 void getValue(SbDPMatrix & matrix) const; 00047 SbDPRotation & invert(void); 00048 SbDPRotation inverse(void) const; 00049 SbDPRotation & setValue(const double q[4]); 00050 SbDPRotation & setValue(const SbDPMatrix & m); 00051 SbDPRotation & setValue(const SbVec3d & axis, const double radians); 00052 SbDPRotation & setValue(const SbVec3d & rotateFrom, const SbVec3d & rotateTo); 00053 SbDPRotation & operator*=(const SbDPRotation & q); 00054 SbDPRotation & operator*=(const double s); 00055 friend COIN_DLL_API int operator==(const SbDPRotation & q1, const SbDPRotation & q2); 00056 friend COIN_DLL_API int operator!=(const SbDPRotation & q1, const SbDPRotation & q2); 00057 SbBool equals(const SbDPRotation & r, const double tolerance) const; 00058 friend COIN_DLL_API SbDPRotation operator *(const SbDPRotation & q1, const SbDPRotation & q2); 00059 void multVec(const SbVec3d & src, SbVec3d & dst) const; 00060 00061 void scaleAngle(const double scaleFactor); 00062 static SbDPRotation slerp(const SbDPRotation & rot0, const SbDPRotation & rot1, 00063 double t); 00064 static SbDPRotation identity(void); 00065 00066 void print(FILE * fp) const; 00067 00068 private: 00069 SbVec4d quat; 00070 }; 00071 00072 COIN_DLL_API int operator ==(const SbDPRotation & q1, const SbDPRotation & q2); 00073 COIN_DLL_API int operator !=(const SbDPRotation & q1, const SbDPRotation & q2); 00074 COIN_DLL_API SbDPRotation operator *(const SbDPRotation & q1, const SbDPRotation & q2); 00075 00076 #endif // !COIN_SBDPROTATION_H
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