Detailed Description

Provides conversion facilities for various rotation representations including Euler angles, Quaternion, Axis angle and rotation matrix. CRotationf is typically used for implementing custom ICE nodes.

Note:: All angle values are expressed in radians.

See also:: CQuaternionf

#include <xsi_rotationf.h>

List of all members.

Public Types
enum	RotationOrder { siXYZ = 0, siXZY = 1, siYXZ = 2, siYZX = 3, siZXY = 4, siZYX = 5 }
enum	RotationRep { siQuaternionRot = 0, siEulerRot, siAxisAngleRot }
Public Member Functions
SICPPSDK_INLINE	CRotationf ()
SICPPSDK_INLINE	CRotationf (const CRotationf &in_rotation)
SICPPSDK_INLINE	CRotationf (const CVector3f &in_EulerAngles, const RotationOrder in_RotOrder=siXYZ)
SICPPSDK_INLINE	CRotationf (const float in_X, const float in_Y, const float in_Z, const RotationOrder in_RotOrder=siXYZ)
SICPPSDK_INLINE	CRotationf (const CQuaternionf &in_Quat)
SICPPSDK_INLINE	CRotationf (const CVector3f &in_Axis, const float in_Angle)
SICPPSDK_INLINE	~CRotationf ()
SICPPSDK_INLINE CRotationf &	operator= (const CRotationf &in_rotation)
SICPPSDK_INLINE CVector3f	GetXYZAngles (const RotationOrder in_Order) const
SICPPSDK_INLINE void	GetXYZAngles (float &io_X, float &io_Y, float &io_Z) const
SICPPSDK_INLINE CVector3f	GetXYZAngles () const
SICPPSDK_INLINE RotationOrder	GetOrder () const
SICPPSDK_INLINE void	SetOrder (const RotationOrder in_rotOrder)
SICPPSDK_INLINE RotationRep	GetRepresentation () const
SICPPSDK_INLINE void	SetRepresentation (const RotationRep in_rotRep, const RotationOrder in_order=siXYZ)
SICPPSDK_INLINE CRotationf &	Set (const RotationOrder in_order, const bool in_bCompensate=false)
SICPPSDK_INLINE CRotationf &	Set (const CVector3f &in_EulerAngles, const RotationOrder in_Order=siXYZ)
SICPPSDK_INLINE CRotationf &	Set (const float in_X, const float in_Y, const float in_Z, const RotationOrder in_Order=siXYZ)
SICPPSDK_INLINE CRotationf &	Set (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CRotationf &	Mul (const CRotationf &in_rot)
SICPPSDK_INLINE CRotationf &	Mul (const CRotationf &in_rot1, const CRotationf &in_rot2)
SICPPSDK_INLINE CRotationf &	Mul (const float in_scalar)
SICPPSDK_INLINE CRotationf &	LeftMul (const CRotationf &in_rot)
SICPPSDK_INLINE CRotationf &	Interpolate (const CRotationf &in_rot1, const CRotationf &in_rot2, const float in_u)
SICPPSDK_INLINE CRotationf &	Div (const CRotationf &in_rot1, const float in_scalar)
SICPPSDK_INLINE CRotationf &	Div (const float in_scalar)
SICPPSDK_INLINE CRotationf &	Div (const CRotationf &in_rot)
SICPPSDK_INLINE CRotationf &	Div (const CRotationf &in_rot1, const CRotationf &in_rot2)
SICPPSDK_INLINE CRotationf &	Invert ()
SICPPSDK_INLINE CRotationf &	Invert (const CRotationf &in_rot)
SICPPSDK_INLINE CQuaternionf	GetQuaternion () const
SICPPSDK_INLINE CRotationf &	operator= (const CQuaternionf &in_Quat)
SICPPSDK_INLINE CVector3f	GetAxisAngle (float &io_Angle) const
SICPPSDK_INLINE CRotationf &	Set (const CVector3f &in_Axis, const float in_Angle)
SICPPSDK_INLINE void	SetIdentity ()
SICPPSDK_INLINE bool	Equals (const CRotationf &in_rot) const
SICPPSDK_INLINE bool	EpsilonEquals (const CRotationf &in_rot, const float in_fEpsilon) const
SICPPSDK_INLINE bool	operator== (const CRotationf &in_rot) const
SICPPSDK_INLINE bool	operator!= (const CRotationf &in_rot) const
SICPPSDK_INLINE bool	operator< (const CRotationf &in_rot) const

Member Enumeration Documentation

enum RotationOrder

Defines the rotation order of a rotation for the Euler angles representation.

Enumerator:

siXYZ	X, Y, Z order
siXZY	X, Z, Y order
siYXZ	Y, X, Z order
siYZX	Y, Z, X order
siZXY	Z, X, Y order
siZYX	Z, Y, X order

enum RotationRep

Defines the rotation representation.

Enumerator:

siQuaternionRot	Quaternion representation
siEulerRot	Euler representation
siAxisAngleRot	Axis angle representation

Constructor & Destructor Documentation

SICPPSDK_INLINE CRotationf ( )

Default constructor.

SICPPSDK_INLINE CRotationf ( const CRotationf & in_rotation )

Copy constructor.

Parameters:

in_rotation Rotation to copy

SICPPSDK_INLINE CRotationf	(	const CVector3f &	in_EulerAngles,
		const RotationOrder	in_RotOrder = `siXYZ`
	)

Constructor (from CVector3f of Euler angles).

Parameters:

in_EulerAngles	Euler angles to construct from
in_RotOrder	Rotation order to use

See also:: CRotationf::Set, CRotationf::SetOrder

SICPPSDK_INLINE CRotationf	(	const float	in_X,
		const float	in_Y,
		const float	in_Z,
		const RotationOrder	in_RotOrder = `siXYZ`
	)

Constructor (from XYZ Euler angles).

Parameters:

in_X	X angle
in_Y	Y angle
in_Z	Z angle
in_RotOrder	Rotation order to use

See also:: CRotationf::Set, CRotationf::SetOrder

SICPPSDK_INLINE CRotationf ( const CQuaternionf & in_Quat )

Constructor (from a quaternion).

Parameters:

in_Quat Quaternion to construct from

See also:: CRotationf::GetQuaternion, CRotationf::Set

SICPPSDK_INLINE CRotationf	(	const CVector3f &	in_Axis,
		const float	in_Angle
	)

Constructor (using axis angle representation).

Parameters:

in_Axis	Axis of rotation
in_Angle	Rotation angle around the axis

See also:: CRotationf::GetAxisAngle, CRotationf::Set

SICPPSDK_INLINE ~CRotationf ( )

Default destructor.

Member Function Documentation

SICPPSDK_INLINE CRotationf & operator= ( const CRotationf & in_rotation )

Assignment operator.

Parameters:

in_rotation Rotation to copy

Returns:: A reference to this rotation.

SICPPSDK_INLINE CVector3f GetXYZAngles ( const RotationOrder in_Order ) const

Returns the euler angles of the rotation as a CVector3f from a rotation order.

Parameters:

in_Order Rotation order

Returns:: CVector3f Rotation euler angle vector

See also:: CRotationf::Set, CRotationf::GetOrder

SICPPSDK_INLINE void GetXYZAngles	(	float &	io_X,
		float &	io_Y,
		float &	io_Z
	)		const

Returns the Euler angles's representation of the rotation.

Parameters:

io_X	X angle
io_Y	Y angle
io_Z	Z angle

See also:: CRotationf::Set, CRotationf::GetOrder

SICPPSDK_INLINE CVector3f GetXYZAngles ( ) const

Returns the Euler angles's representation of the rotation.

Returns:: Euler vector

See also:: CRotationf::Set, CRotationf::GetOrder

SICPPSDK_INLINE CRotationf::RotationOrder GetOrder ( ) const

Returns the rotation order of this rotation for the Euler angles representation.

Returns:: CRotationf::RotationOrder

SICPPSDK_INLINE void SetOrder ( const RotationOrder in_rotOrder )

Sets the rotation order for the Euler angles representation.

Parameters:

in_rotOrder New rotation order to use

See also:: CRotationf::GetOrder

SICPPSDK_INLINE CRotationf::RotationRep GetRepresentation ( ) const

Returns the rotation representation of this rotation.

Returns:: CRotationf::RotationRep

void SetRepresentation	(	const RotationRep	in_rotRep,
		const RotationOrder	in_order = `siXYZ`
	)

Sets the rotation representation for this rotation.

Parameters:

in_rotRep	Rotation representation to set
in_order	New rotation order to use

See also:: CRotationf::GetOrder

SICPPSDK_INLINE CRotationf & Set	(	const RotationOrder	in_order,
		const bool	in_bCompensate = `false`
	)

Change the current rotation from a rotation order with the option of preserving the overall rotation matrix. If in_bCompensate is true then XYZ rotation angles will be recomputed based on the new rotation order to maintain the overall rotation (so the object's orientation will not change). If false (default), then the XYZ rotation angles are preserved but combined in a different order so the overall rotation will change (the object's orientation will change).

Parameters:

in_order	Rotation order type.
in_bCompensate	Compensation flag.

Returns:: This rotation

See also:: CRotationf::SetOrder

SICPPSDK_INLINE CRotationf & Set	(	const CVector3f &	in_EulerAngles,
		const RotationOrder	in_Order = `siXYZ`
	)

Sets the current rotation from Euler angles.

Parameters:

in_EulerAngles	Vector containing the rotation angles
in_Order	Rotation order

Returns:: This rotation

See also:: CRotationf::GetXYZAngles, CRotationf::SetOrder

SICPPSDK_INLINE CRotationf & Set	(	const float	in_X,
		const float	in_Y,
		const float	in_Z,
		const RotationOrder	in_Order = `siXYZ`
	)

Sets the rotation from Euler angles.

Parameters:

in_X	X angle
in_Y	Y angle
in_Z	Z angle
in_Order	Requested rotation order

Returns:: This rotation

See also:: CRotationf::GetXYZAngles, CRotationf::SetOrder

SICPPSDK_INLINE CRotationf & Set ( const CQuaternionf & in_Quat )

Sets the rotation from a quaternion.

Parameters:

in_Quat Quaternion to set from

Returns:: This rotation

See also:: CRotationf::GetQuaternion

SICPPSDK_INLINE CRotationf & Mul ( const CRotationf & in_rot )

Multiplies this rotation with another one in place.

Parameters:

in_rot Rotation to multiply

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Mul	(	const CRotationf &	in_rot1,
		const CRotationf &	in_rot2
	)

Stores the result of the multiplication of two rotations.

Parameters:

in_rot1	First rotation
in_rot2	Second rotation

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Mul ( const float in_scalar )

Multiply in-place this rotation with a scalar.

Parameters:

in_scalar scalar multiplier.

Returns:: This rotation

SICPPSDK_INLINE CRotationf & LeftMul ( const CRotationf & in_rot )

Left multiply in-place this rotation with a rotation.

Parameters:

in_rot Rotation operand

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Interpolate	(	const CRotationf &	in_rot1,
		const CRotationf &	in_rot2,
		const float	in_u
	)

Interpolate two rotations into this one for in_u between 0 and 1.

Parameters:

in_rot1	Starting rotation.
in_rot2	Ending rotation.
in_u	Interpolation factor between 0 (starting rotation) and 1 (ending rotation).

Returns:: This rotation.

SICPPSDK_INLINE CRotationf& Div	(	const CRotationf &	in_rot1,
		const float	in_scalar
	)

Divides in-place this rotation with the specified rotation and scalar.

Parameters:

in_rot1	Rotation divisor
in_scalar	Scalar multiplier.

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Div ( const float in_scalar )

Divides in-place this rotation with a scalar.

Parameters:

in_scalar scalar multiplier.

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Div ( const CRotationf & in_rot )

Divides in-place by a rotation. Same as Mul by Invert.

Parameters:

in_rot Rotation operand.

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Div	(	const CRotationf &	in_rot1,
		const CRotationf &	in_rot2
	)

Divide in-place in_rot1 by in_rot2. Same as Mul by Invert.

Parameters:

in_rot1	First rotation operand.
in_rot2	Second rotation operand.

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Invert ( )

Inverts the rotation in place.

Returns:: This rotation

SICPPSDK_INLINE CRotationf & Invert ( const CRotationf & in_rot )

Stores the invert of a rotation.

Parameters:

in_rot Rotation to invert

Returns:: This rotation

SICPPSDK_INLINE CQuaternionf GetQuaternion ( void ) const

Returns the quaternion representation of the rotation.

Returns:: CQuaternionf

See also:: CRotationf::Set

SICPPSDK_INLINE CRotationf & operator= ( const CQuaternionf & in_Quat )

Sets the rotation from a quaternion.

Parameters:

in_Quat Quaternion to set from

Returns:: This rotation

See also:: CRotationf::Set

SICPPSDK_INLINE CVector3f GetAxisAngle ( float & io_Angle ) const

Returns the axis angle representation of the rotation.

Parameters:

io_Angle Rotation angle around the axis

Returns:: CVector3f Axis of rotation

See also:: CRotationf::Set

SICPPSDK_INLINE CRotationf & Set	(	const CVector3f &	in_Axis,
		const float	in_Angle
	)

Sets the rotation from an axis angle.

Parameters:

in_Axis	Axis of rotation
in_Angle	Rotation angle around the axis

Returns:: This rotation

See also:: CRotationf::GetAxisAngle

SICPPSDK_INLINE void SetIdentity ( )

Sets the rotation to identity rotation.

SICPPSDK_INLINE bool Equals ( const CRotationf & in_rot ) const

Performs exact comparison of two quaternions.

Note:: Each parameter of both quaternions must be exactly the same for a match.

Parameters:

in_rot Rotation to compare against

See also:: CRotationf::EpsilonEquals

SICPPSDK_INLINE bool EpsilonEquals	(	const CRotationf &	in_rot,
		const float	in_fEpsilon
	)		const

Performs comparison between this rotation and in_rot within the specified epsilon value.

Parameters:

in_rot	Rotation to compare against.
in_fEpsilon	Tolerance value

See also:: CRotationf::EpsilonEquals

SICPPSDK_INLINE bool operator== ( const CRotationf & in_rot ) const

Performs exact comparison of two quaternions.

Note:: Each parameter of both quaternions must be exactly the same for a match.

Parameters:

in_rot Rotation to compare against

See also:: CRotationf::EpsilonEquals, CRotationf::Equals

SICPPSDK_INLINE bool operator!= ( const CRotationf & in_rot ) const

Inequality operator tests the strict inequality of this rotation with the rotation in_rotation.

Parameters:

in_rot Operand rotation.

Returns:: true if equal else false.

See also:: CRotationf::Equals

SICPPSDK_INLINE bool operator< ( const CRotationf & in_rot ) const

Less than operator. Performs a comparison with a specified CRotationf to determine if this CRotationf is less than the specified CRotationf. The comparison is arbitrary and not geometrically meaningful, it's only purpose is to make CRotationf compliant with stl for sorting operations.

Parameters:

in_rot CRotationf to compare.

Returns:: true if this CRotationf is less than the specified CRotationf, false otherwise.

Since:: 7.5

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

xsi_rotationf.h

Detailed Description

Public Types

Public Member Functions

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation