HEPVis::SbRotation Class Reference

#include <SbRotation.h>

Collaboration diagram for HEPVis::SbRotation:

Public Member Functions
	SbRotation ()
	SbRotation (const SbVec3d &axis, double radians)
	SbRotation (double a11, double a12, double a13, double a14, double a21, double a22, double a23, double a24, double a31, double a32, double a33, double a34, double a41, double a42, double a43, double a44)
void	multVec (const SbVec3d &src, SbVec3d &dst) const

Private Attributes
SbVec4d	m_quat

Detailed Description

Definition at line 35 of file SbRotation.h.

Constructor & Destructor Documentation

SbRotation() [1/3]

HEPVis::SbRotation::SbRotation

(

)

Definition at line 46 of file SbRotation.cxx.

:m_quat(0,0,0,1)
{
}

SbRotation() [2/3]

HEPVis::SbRotation::SbRotation	(	const SbVec3d &	axis,
		double	radians )

Definition at line 55 of file SbRotation.cxx.

                                                               {
  //FIXME : if(axis.length()==0) //throw
  m_quat[3] = ::cos(radians/2);
  double sineval = ::sin(radians/2);
  SbVec3d a = axis;
  a.normalize();
  m_quat[0] = a[0] * sineval;
  m_quat[1] = a[1] * sineval;
  m_quat[2] = a[2] * sineval;
}

SbRotation() [3/3]

HEPVis::SbRotation::SbRotation	(	double	a11,
		double	a12,
		double	a13,
		double	a14,
		double	a21,
		double	a22,
		double	a23,
		double	a24,
		double	a31,
		double	a32,
		double	a33,
		double	a34,
		double	a41,
		double	a42,
		double	a43,
		double	a44 )

Definition at line 68 of file SbRotation.cxx.

  {
 
  double m[4][4] = { { a11, a12, a13, a14 },
                     { a21, a22, a23, a24 },
                     { a31, a32, a33, a34 },
                     { a41, a42, a43, a44 } };
 
  double scalerow = m[0][0] + m[1][1] + m[2][2];
 
  if (scalerow > 0.0) {
    double s = ::sqrt(scalerow + m[3][3]);
    m_quat[3] = s * 0.5;
    s = 0.5 / s;
 
    m_quat[0] = (m[1][2] - m[2][1]) * s;
    m_quat[1] = (m[2][0] - m[0][2]) * s;
    m_quat[2] = (m[0][1] - m[1][0]) * s;
  }
  else {
    int i = 0;
    if (m[1][1] > m[0][0]) i = 1;
    if (m[2][2] > m[i][i]) i = 2;
 
    int j = (i+1)%3;
    int k = (j+1)%3;
 
    double s = ::sqrt((m[i][i] - (m[j][j] + m[k][k])) + m[3][3]);
 
    m_quat[i] = s * 0.5;
    s = 0.5 / s;
 
    m_quat[3] = (m[j][k] - m[k][j]) * s;
    m_quat[j] = (m[i][j] + m[j][i]) * s;
    m_quat[k] = (m[i][k] + m[k][i]) * s;
  }
 
  if (m[3][3] != 1.0) {
    m_quat *= (1.0/::sqrt(m[3][3]));
  }
}

Member Function Documentation

multVec()

void HEPVis::SbRotation::multVec	(	const SbVec3d &	src,
		SbVec3d &	dst ) const

Definition at line 119 of file SbRotation.cxx.

                                                                    {
  //SbMatrix mat;
  //mat.setRotate(*this);
 
  double x = m_quat[0];
  double y = m_quat[1];
  double z = m_quat[2];
  double w = m_quat[3];
 
  double matrix[4][4];
  matrix[0][0] = w*w + x*x - y*y - z*z;
  matrix[0][1] = 2*x*y + 2*w*z;
  matrix[0][2] = 2*x*z - 2*w*y;
  matrix[0][3] = 0;
 
  matrix[1][0] = 2*x*y-2*w*z;
  matrix[1][1] = w*w - x*x + y*y - z*z;
  matrix[1][2] = 2*y*z + 2*w*x;
  matrix[1][3] = 0;
 
  matrix[2][0] = 2*x*z + 2*w*y;
  matrix[2][1] = 2*y*z - 2*w*x;
  matrix[2][2] = w*w - x*x - y*y + z*z;
  matrix[2][3] = 0;
 
  matrix[3][0] = 0;
  matrix[3][1] = 0;
  matrix[3][2] = 0;
  matrix[3][3] = w*w + x*x + y*y + z*z;
 
  //mat.multVecMatrix(src, dst);
  //if(SbMatrixP::isIdentity(this->matrix)) { dst = src; return; }
 
  double* t0 = matrix[0];
  double* t1 = matrix[1];
  double* t2 = matrix[2];
  double* t3 = matrix[3];
 
  SbVec3d s = src;
 
  double W = s[0]*t0[3] + s[1]*t1[3] + s[2]*t2[3] + t3[3];
 
  dst[0] = (s[0]*t0[0] + s[1]*t1[0] + s[2]*t2[0] + t3[0])/W;
  dst[1] = (s[0]*t0[1] + s[1]*t1[1] + s[2]*t2[1] + t3[1])/W;
  dst[2] = (s[0]*t0[2] + s[1]*t1[2] + s[2]*t2[2] + t3[2])/W;
}

Member Data Documentation

m_quat

SbVec4d HEPVis::SbRotation::m_quat

private

Definition at line 47 of file SbRotation.h.

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The documentation for this class was generated from the following files:

• SbRotation.h
• SbRotation.cxx