Class SbRotationd
- java.lang.Object
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- com.openinventor.inventor.SbBasic
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- com.openinventor.inventor.SbRotationd
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public class SbRotationd extends SbBasic
Class for representing a rotation (double precision). Object that stores a rotation using double precision values. Although Open Inventor fields still store only single precision values, for certain applications it is useful and convenient to be able to store and manipulate double precision values, for example, double precision coordinate data or values that will be used for further computation.The rotation value is stored internally as a quaternion. Quaternion representation is more compact, faster to compute and more numerically stable than rotation matrices. Quaternion representation allows smooth rotation (spherical linear interpolation) and avoids the problem of "gimbal lock" associated with Euler angles. It is not necessary to deal directly with quaternions. Many convenience methods are provided to set and get rotations using matrix and axis/angle representations.
Rotations are most commonly specified using an axis and an angle in radians. A common mistake is to use the constructor or setValue method that takes four double values, when intending to set an axis and angle. The methods that take four double values directly specify the quaternion value, which is probably not the intended result. For example:
// Create a rotation of PI/2 radians around the Z axis: // Incorrect. // (Compiles, but actually sets the quaternion value directly!) SbRotationd rotation1 = new SbRotationd(0, 0, 1, 1.5707963); // This is the correct rotation. SbRotationd rotation2 = new SbRotationd(new SbVec3d(0, 0, 1), 1.5707963);
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Nested Class Summary
Nested Classes Modifier and Type Class Description static class
SbRotationd.AxisAngle
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Field Summary
Fields Modifier and Type Field Description double[]
array
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Constructor Summary
Constructors Constructor Description SbRotationd()
Constructor for rotation.SbRotationd(double[] components)
SbRotationd(double q0, double q1, double q2, double q3)
Constructor.SbRotationd(SbMatrix3 m)
Constructor.SbRotationd(SbMatrixd m)
Constructor.SbRotationd(SbRotationd copyFrom)
SbRotationd(SbVec3d axis, double radians)
Constructor.SbRotationd(SbVec3d rotateFrom, SbVec3d rotateTo)
Constructor.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description SbRotationd.AxisAngle
decompose()
Returns corresponding 3D rotation axis vector and angle in radians.boolean
equals(SbRotationd r, double tolerance)
Equality comparison within given tolerance - the square of the length of the maximum distance between the two quaternion vectors.boolean
equals(java.lang.Object obj)
SbMatrix
getMatrix()
Returns corresponding 4x4 rotation matrix.SbMatrix3
getMatrix3()
Returns corresponding 3x3 rotation matrix.SbMatrixd
getMatrixd()
Returns corresponding 4x4 rotation matrix.double[]
getValue()
static SbRotationd
identity()
Returns a null rotation.SbRotationd
inverse()
Returns the inverse of a rotation.SbRotationd
invert()
Changes a rotation to be its inverse.void
multiply(SbRotationd q)
Multiplies by another rotation; results in product of rotations.SbVec3d
multVec(SbVec3d src)
Multiplies the given vector by the matrix of this rotation.void
scaleAngle(double scaleFactor)
Keep the axis the same.SbRotationd
setValue(double[] components)
SbRotationd
setValue(double[] components, int startIndex)
SbRotationd
setValue(double q0, double q1, double q2, double q3)
Sets value of rotation from 4 individual components of a quaternion.SbRotationd
setValue(SbMatrix m)
Sets rotation from a single precision rotation matrix.SbRotationd
setValue(SbMatrix3 m)
Sets rotation from a 3x3 rotation matrix.SbRotationd
setValue(SbMatrixd m)
Sets value of rotation from a rotation matrix.SbRotationd
setValue(SbRotation rotate)
Sets rotation from a single precision rotation.void
setValue(SbRotationd copyFrom)
SbRotationd
setValue(SbVec3d axis, double radians)
Sets value of vector from 3D rotation axis vector and angle in radians.SbRotationd
setValue(SbVec3d rotateFrom, SbVec3d rotateTo)
Sets rotation to rotate one direction vector to another.static SbRotationd
slerp(SbRotationd rot0, SbRotationd rot1, double t)
Spherical linear interpolation: as t goes from 0 to 1, returned value goes from rot0 to rot1.SbRotationd
times(SbRotationd q2)
Multiplication of two rotations; results in product of rotations.static SbRotationd[]
toArray(long nativeArray, long length)
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Constructor Detail
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SbRotationd
public SbRotationd(SbRotationd copyFrom)
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SbRotationd
public SbRotationd(double[] components)
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SbRotationd
public SbRotationd(double q0, double q1, double q2, double q3)
Constructor. The constructors that take four doubles create a quaternion from those doubles (careful, this differs from the four numbers in an axis/radian definition).
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SbRotationd
public SbRotationd()
Constructor for rotation. The initial value is no rotation.
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SbRotationd
public SbRotationd(SbMatrixd m)
Constructor. The matrix constructor requires a valid rotation matrix.
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SbRotationd
public SbRotationd(SbMatrix3 m)
Constructor. The matrix constructor requires a valid 3x3 rotation matrix.
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SbRotationd
public SbRotationd(SbVec3d axis, double radians)
Constructor. The axis/radians constructor creates a rotation of angle radians about the given axis.
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Method Detail
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setValue
public SbRotationd setValue(double[] components)
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getValue
public double[] getValue()
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setValue
public SbRotationd setValue(double[] components, int startIndex)
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setValue
public void setValue(SbRotationd copyFrom)
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scaleAngle
public void scaleAngle(double scaleFactor)
Keep the axis the same. Multiply the angle of rotation by the amount scaleFactor.
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multVec
public SbVec3d multVec(SbVec3d src)
Multiplies the given vector by the matrix of this rotation.
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times
public SbRotationd times(SbRotationd q2)
Multiplication of two rotations; results in product of rotations.
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identity
public static SbRotationd identity()
Returns a null rotation.
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toArray
public static SbRotationd[] toArray(long nativeArray, long length)
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setValue
public SbRotationd setValue(double q0, double q1, double q2, double q3)
Sets value of rotation from 4 individual components of a quaternion.
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slerp
public static SbRotationd slerp(SbRotationd rot0, SbRotationd rot1, double t)
Spherical linear interpolation: as t goes from 0 to 1, returned value goes from rot0 to rot1.
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getMatrixd
public SbMatrixd getMatrixd()
Returns corresponding 4x4 rotation matrix.
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setValue
public SbRotationd setValue(SbVec3d axis, double radians)
Sets value of vector from 3D rotation axis vector and angle in radians.
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decompose
public SbRotationd.AxisAngle decompose()
Returns corresponding 3D rotation axis vector and angle in radians.
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setValue
public SbRotationd setValue(SbVec3d rotateFrom, SbVec3d rotateTo)
Sets rotation to rotate one direction vector to another. The rotateFrom and rotateTo arguments are normalized before the rotation is calculated.
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getMatrix
public SbMatrix getMatrix()
Returns corresponding 4x4 rotation matrix.
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invert
public SbRotationd invert()
Changes a rotation to be its inverse.
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inverse
public SbRotationd inverse()
Returns the inverse of a rotation.
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setValue
public SbRotationd setValue(SbMatrixd m)
Sets value of rotation from a rotation matrix.
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getMatrix3
public SbMatrix3 getMatrix3()
Returns corresponding 3x3 rotation matrix.
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setValue
public SbRotationd setValue(SbRotation rotate)
Sets rotation from a single precision rotation.
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equals
public boolean equals(java.lang.Object obj)
- Overrides:
equals
in classjava.lang.Object
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equals
public boolean equals(SbRotationd r, double tolerance)
Equality comparison within given tolerance - the square of the length of the maximum distance between the two quaternion vectors.
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setValue
public SbRotationd setValue(SbMatrix3 m)
Sets rotation from a 3x3 rotation matrix.
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setValue
public SbRotationd setValue(SbMatrix m)
Sets rotation from a single precision rotation matrix.
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multiply
public void multiply(SbRotationd q)
Multiplies by another rotation; results in product of rotations.
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