openvrml::rotation Struct Reference
A POD-struct comprising a rotation.
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#include <openvrml/basetypes.h>
List of all members.
Public Member Functions |
rotation & | operator*= (const rotation &rot) throw () |
| Multiply rotations.
|
const float & | operator[] (std::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.
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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.
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void | axis (const vec3f &axis) throw () |
| Set the axis of rotation.
|
void | angle (float value) throw () |
| Set the rotation angle.
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const rotation | inverse () const throw () |
| Inverse rotation.
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const rotation | slerp (const rotation &dest_rot, float t) const throw () |
| Spherical Linear intERPolation.
|
Public Attributes |
float | rot [4] |
| Rotation components.
|
Related Functions |
(Note that these are not member functions.)
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const openvrml::rotation | make_rotation () throw() |
| Create a default rotation .
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const openvrml::rotation | make_rotation (const float(&rot)[4]) throw() |
| Create a rotation from an array.
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const openvrml::rotation | make_rotation (const float x, const float y, const float z, const float angle) throw() |
| Create a rotation from x , y , z , and angle components.
|
const openvrml::rotation | make_rotation (const vec3f &axis, const float angle) throw() |
| Create a rotation from an axis vector and an angle.
|
const openvrml::rotation | make_rotation (const vec3f &from_vec, const vec3f &to_vec) throw() |
| Create a rotation equal to the rotation between two different vectors.
|
const openvrml::rotation | make_rotation (const quatf &quat) throw() |
| Create a rotation from a quaternion.
|
const openvrml::rotation | operator* (const rotation &lhs, const rotation &rhs) throw() |
| Multiply rotations.
|
bool | operator== (const rotation &lhs, const rotation &rhs) throw() |
| Compare for equality.
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bool | operator!= (const rotation &lhs, const rotation &rhs) throw() |
| Compare for inequality.
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std::istream & | operator>> (std::istream &in, rotation &rot) |
| Stream input.
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std::ostream & | operator<< (std::ostream &out, const rotation &r) |
| Stream output.
|
Detailed Description
A POD-struct comprising 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.
Per the VRML97 specification, the axis of a rotation
is a normalized vector (5.8). The specification leaves undefined how to deal with an attempt to construct a rotation
from an axis vector that is not normalized. In order to allow users of the library to minimize the number of normalizations, OpenVRML takes the following approach:
- Attempts to construct a
rotation
axis from a vector that is not normalized will yield an assertion failure (abort) unless NDEBUG
is defined when compiling the library (in which case truly wacky behavior could result).
- Assignment to individual components of the axis will result in the axis being renormalized upon each assignment.
Member Function Documentation
Multiply rotations.
- Parameters:
-
[in] | rot | the rotation by which to multiply. |
- Returns:
- a reference to the object.
const float & openvrml::rotation::operator[] |
( |
std::size_t |
index |
) |
const throw () [inline] |
Index-based element access.
- Parameters:
-
[in] | 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] |
float openvrml::rotation::angle |
( |
|
) |
const throw () [inline] |
void openvrml::rotation::x |
( |
float |
value |
) |
throw () |
Set the x axis component.
- Parameters:
-
[in] | value | new x axis component value. |
void openvrml::rotation::y |
( |
float |
value |
) |
throw () |
Set the y axis component.
- Parameters:
-
[in] | value | new y axis component value. |
void openvrml::rotation::z |
( |
float |
value |
) |
throw () |
Set the z axis component.
- Parameters:
-
[in] | value | new z axis component value. |
void openvrml::rotation::axis |
( |
const vec3f & |
axis |
) |
throw () |
void openvrml::rotation::angle |
( |
float |
value |
) |
throw () [inline] |
Spherical Linear intERPolation.
- Parameters:
-
[in] | dest_rot | destination rotation. |
[in] | t | fraction representing the desired position between the rotation and dest_rot . |
- Returns:
- the rotation corresponding to
t
between the rotation and dest_rot
.
Friends And Related Function Documentation
Create a rotation
from an array.
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters:
-
[in] | rot | an array comprising the rotation components. |
- Precondition:
- The vector represented by the first three components of
rot
is normalized.
- Returns:
- a
rotation
initialized to the values in rot
.
const openvrml::rotation make_rotation |
( |
const float |
x, |
|
|
const float |
y, |
|
|
const float |
z, |
|
|
const float |
angle | |
|
) |
| | throw() [related] |
Create a rotation
from x
, y
, z
, and angle
components.
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters:
-
- Precondition:
- The vector represented by
x
, y
, and z
is normalized.
- Returns:
- a
rotation
initialized to [ x
, y
, z
, angle
].
Create a rotation
from an axis vector and an angle.
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters:
-
- Precondition:
axis
is a normalized vector.
- Returns:
- a
rotation
initialized using axis
and angle
.
Create a rotation
equal to the rotation between two different vectors.
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters:
-
[in] | from_vec | the starting vector. |
[in] | to_vec | the ending vector. |
- Returns:
- a
rotation
equal to the rotation between from_vec
and to_vec
.
Create a rotation
from a quaternion.
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters:
-
- Returns:
- a
rotation
corresponding to quat
.
Multiply rotations.
- Parameters:
-
[in] | lhs | left-hand operand. |
[in] | 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:
-
[in] | lhs | left-hand operand. |
[in] | 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:
-
[in] | lhs | left-hand operand. |
[in] | rhs | right-hand operand. |
- Returns:
true
if lhs
is not equal to rhs
; false
otherwise.
std::istream & operator>> |
( |
std::istream & |
in, |
|
|
rotation & |
rot | |
|
) |
| | [related] |
Stream input.
Consistent with the VRML97 convention, commas (“
,”) in the input are treated as whitespace.
If the axis components of the rotation do not represent a normalized vector, the failbit
will be set on in
and rot
will not be modified.
- Parameters:
-
[in,out] | in | input stream. |
[out] | rot | a rotation . |
- Returns:
in
.
std::ostream & operator<< |
( |
std::ostream & |
out, |
|
|
const rotation & |
r | |
|
) |
| | [related] |
Stream output.
- Parameters:
-
[in,out] | out | output stream. |
[in] | r | a rotation. |
- Returns:
out
.
Member Data Documentation
Rotation components.
The first three components define an axis through the origin. The fourth component is a rotation around the axis.