## Class SbRotation

• ```public class SbRotation
extends SbBasic```
Class for representing a rotation. Object that stores a rotation. There are several ways to specify a rotation: quaternion (4 floats, in the order x, y, z, w), 4x4 rotation matrix, or axis and angle. All angles are in radians and all rotations are right-handed.

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 float values, when intending to set an axis and angle. The methods that take four float 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!)
SbRotation rotation1 = new SbRotation(0, 0, 1, 1.5707963f);

// This is the correct rotation.
SbRotation rotation2 = new SbRotation(new SbVec3f(0, 0, 1), 1.5707963f);```

`SbRotationd`, `SbVec2d`, `SbVec2f`, `SbVec2i32`, `SbVec2s`, `SbVec3d`, `SbVec3f`, `SbVec3i32`, `SbVec3s`, `SbVec4b`, `SbVec4d`, `SbVec4f`, `SbVec4i32`, `SbVec4s`, `SbVec4ub`, `SbVec4ui32`, `SbVec4us`
• ### Nested Class Summary

Nested Classes
Modifier and Type Class Description
`static class ` `SbRotation.AxisAngle`
• ### Field Summary

Fields
Modifier and Type Field Description
`float[]` `array`
• ### Constructor Summary

Constructors
Constructor Description
`SbRotation()`
Default constructor.
`SbRotation​(float[] components)`
```SbRotation​(float q0, float q1, float q2, float q3)```
Constructor.
`SbRotation​(SbMatrix m)`
Constructor.
`SbRotation​(SbMatrix3 m)`
Constructor.
`SbRotation​(SbRotation copyFrom)`
```SbRotation​(SbVec3f axis, float radians)```
Constructor.
```SbRotation​(SbVec3f rotateFrom, SbVec3f rotateTo)```
Constructor.
• ### Method Summary

All Methods
Modifier and Type Method Description
`SbRotation.AxisAngle` `decompose()`
Returns corresponding 3D rotation axis vector and angle in radians.
`boolean` ```equals​(SbRotation r, float 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.
`float[]` `getValue()`
`static SbRotation` `identity()`
Returns a null rotation.
`SbRotation` `inverse()`
Returns the inverse of a rotation.
`SbRotation` `invert()`
Changes a rotation to be its inverse.
`void` `multiply​(SbRotation q)`
Multiplies by another rotation; results in product of rotations.
`SbVec3f` `multVec​(SbVec3f src)`
Multiplies the given vector by the matrix of this rotation.
`void` `scaleAngle​(float scaleFactor)`
Keep the axis the same.
`SbRotation` `setValue​(float[] components)`
`SbRotation` ```setValue​(float[] components, int startIndex)```
`SbRotation` ```setValue​(float q0, float q1, float q2, float q3)```
Sets value of rotation from 4 individual components of a quaternion.
`SbRotation` `setValue​(SbMatrix m)`
Sets value of rotation from a rotation matrix.
`SbRotation` `setValue​(SbMatrix3 m)`
Sets rotation from a 3x3 rotation matrix.
`SbRotation` `setValue​(SbMatrixd md)`
Sets rotation from a double precision rotation matrix.
`void` `setValue​(SbRotation copyFrom)`
`SbRotation` `setValue​(SbRotationd rotated)`
Sets rotation from a double precision rotation.
`SbRotation` ```setValue​(SbVec3f axis, float radians)```
Sets value of vector from 3D rotation axis vector and angle in radians.
`SbRotation` ```setValue​(SbVec3f rotateFrom, SbVec3f rotateTo)```
Sets rotation to rotate one direction vector to another.
`static SbRotation` ```slerp​(SbRotation rot0, SbRotation rot1, float t)```
Spherical linear interpolation: as t goes from 0 to 1, returned value goes from rot0 to rot1.
`SbRotation` `times​(SbRotation q2)`
Multiplication of two rotations; results in product of rotations.
`static SbRotation[]` ```toArray​(long nativeArray, long length)```
• ### Methods inherited from class java.lang.Object

`getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`
• ### Field Detail

• #### array

`public final float[] array`
• ### Constructor Detail

• #### SbRotation

`public SbRotation​(SbRotation copyFrom)`
• #### SbRotation

`public SbRotation​(float[] components)`
• #### SbRotation

```public SbRotation​(float q0,
float q1,
float q2,
float q3)```
Constructor. The quaternion constructor takes four floats that define a quaternion.
Note this is NOT the same as an axis/radian definition.
• #### SbRotation

`public SbRotation()`
Default constructor. The initial value is no rotation.
• #### SbRotation

`public SbRotation​(SbMatrix m)`
Constructor. The matrix constructor takes a valid rotation matrix.
• #### SbRotation

`public SbRotation​(SbMatrix3 m)`
Constructor. The matrix constructor takes a valid 3x3 rotation matrix.
• #### SbRotation

```public SbRotation​(SbVec3f axis,
• #### SbRotation

```public SbRotation​(SbVec3f rotateFrom,
SbVec3f rotateTo)```
Constructor. The rotateFrom/To constructor defines a rotation that rotates from one vector into another. The rotateFrom and rotateTo vectors are normalized by the constructor before calculating the rotation.
• ### Method Detail

• #### setValue

`public SbRotation setValue​(float[] components)`
• #### getValue

`public float[] getValue()`
• #### setValue

```public SbRotation setValue​(float[] components,
int startIndex)```
• #### setValue

`public void setValue​(SbRotation copyFrom)`
• #### scaleAngle

`public void scaleAngle​(float scaleFactor)`
Keep the axis the same. Multiply the angle of rotation by the amount scaleFactor.
• #### multVec

`public SbVec3f multVec​(SbVec3f src)`
Multiplies the given vector by the matrix of this rotation.
• #### times

`public SbRotation times​(SbRotation q2)`
Multiplication of two rotations; results in product of rotations.
• #### identity

`public static SbRotation identity()`
Returns a null rotation.
• #### toArray

```public static SbRotation[] toArray​(long nativeArray,
long length)```
• #### setValue

```public SbRotation setValue​(float q0,
float q1,
float q2,
float q3)```
Sets value of rotation from 4 individual components of a quaternion.
• #### slerp

```public static SbRotation slerp​(SbRotation rot0,
SbRotation rot1,
float t)```
Spherical linear interpolation: as t goes from 0 to 1, returned value goes from rot0 to rot1.
• #### getMatrix

`public SbMatrix getMatrix()`
Returns corresponding 4x4 rotation matrix.
• #### setValue

`public SbRotation setValue​(SbMatrix3 m)`
Sets rotation from a 3x3 rotation matrix.
• #### decompose

`public SbRotation.AxisAngle decompose()`
Returns corresponding 3D rotation axis vector and angle in radians.
• #### setValue

```public SbRotation setValue​(SbVec3f axis,
Sets value of vector from 3D rotation axis vector and angle in radians.
• #### getMatrix3

`public SbMatrix3 getMatrix3()`
Returns corresponding 3x3 rotation matrix.
• #### invert

`public SbRotation invert()`
Changes a rotation to be its inverse.
• #### inverse

`public SbRotation inverse()`
Returns the inverse of a rotation.
• #### setValue

`public SbRotation setValue​(SbMatrix m)`
Sets value of rotation from a rotation matrix.
• #### getMatrixd

`public SbMatrixd getMatrixd()`
Returns corresponding 4x4 rotation matrix.
• #### setValue

```public SbRotation setValue​(SbVec3f rotateFrom,
SbVec3f rotateTo)```
Sets rotation to rotate one direction vector to another. The rotateFrom and rotateTo arguments are normalized before the rotation is calculated.
• #### equals

`public boolean equals​(java.lang.Object obj)`
Overrides:
`equals` in class `java.lang.Object`
• #### equals

```public boolean equals​(SbRotation r,
float tolerance)```
Equality comparison within given tolerance - the square of the length of the maximum distance between the two quaternion vectors.
• #### setValue

`public SbRotation setValue​(SbMatrixd md)`
Sets rotation from a double precision rotation matrix.
• #### setValue

`public SbRotation setValue​(SbRotationd rotated)`
Sets rotation from a double precision rotation.
• #### multiply

`public void multiply​(SbRotation q)`
Multiplies by another rotation; results in product of rotations.