MEulerRotation Class Reference
[OpenMaya - API module for common classes]

#include <MEulerRotation.h>
Collaboration diagram for MEulerRotation:
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List of all members.


Detailed Description

Euler Rotation Math.

This class provides methods for working with euler angle rotations. Euler angles are described by rotations in radians around the x, y, and z axes, and the order in which those rotations occur.

Examples:

hwDecalBumpShader_NV20.cpp, rockingTransform.cpp, rockingTransformCheck.cpp, rockingTransformCheck.h, and rotateManip.cpp.


Public Types

enum   RotationOrder {
   kXYZ, kYZX, kZXY, kXZY,
   kYXZ, kZYX
}
  Valid rotaton orders. More...

Public Member Functions

  MEulerRotation ()
  MEulerRotation (const MEulerRotation &src)
  MEulerRotation (const MVector &v, RotationOrder ord=kXYZ)
  MEulerRotation (double xx, double yy, double zz, RotationOrder ord=kXYZ)
  ~MEulerRotation ()
MEulerRotation operator= (const MEulerRotation &src)
MEulerRotation operator= (const MQuaternion &q)
MEulerRotation operator= (const MMatrix &m)
MEulerRotation operator= (const MVector &v)
MEulerRotation setValue (const MVector &v, RotationOrder ord=kXYZ)
MEulerRotation setValue (double xx, double yy, double zz, RotationOrder ord=kXYZ)
MQuaternion  asQuaternion () const
MMatrix  asMatrix () const
MVector  asVector () const
double  operator[] (unsigned int i) const
MEulerRotation  operator+ (const MEulerRotation &other) const
MEulerRotation operator+= (const MEulerRotation &other)
MEulerRotation  operator- (const MEulerRotation &other) const
MEulerRotation operator-= (const MEulerRotation &other)
MEulerRotation  operator- () const
MEulerRotation  operator* (const MEulerRotation &other) const
MEulerRotation  operator* (const MQuaternion &other) const
MEulerRotation  operator* (double other) const
MEulerRotation operator*= (const MEulerRotation &other)
MEulerRotation operator*= (const MQuaternion &other)
MEulerRotation operator*= (double other)
bool  operator== (const MEulerRotation &other) const
bool  operator!= (const MEulerRotation &other) const
bool  isEquivalent (const MEulerRotation &other, double tolerance=1.0e-10) const
bool  isZero (double tolerance=1.0e-10) const
MEulerRotation incrementalRotateBy (const MVector &axis, double angle)
MEulerRotation  inverse () const
MEulerRotation invertIt ()
MEulerRotation  reorder (RotationOrder ord) const
MEulerRotation reorderIt (RotationOrder ord)
MEulerRotation  bound () const
MEulerRotation boundIt (const MEulerRotation &src)
MEulerRotation boundIt ()
MEulerRotation  alternateSolution () const
MEulerRotation setToAlternateSolution (const MEulerRotation &src)
MEulerRotation setToAlternateSolution ()
MEulerRotation  closestSolution (const MEulerRotation &dst) const
MEulerRotation setToClosestSolution (const MEulerRotation &src, const MEulerRotation &dst)
MEulerRotation setToClosestSolution (const MEulerRotation &dst)
MEulerRotation  closestCut (const MEulerRotation &dst) const
MEulerRotation setToClosestCut (const MEulerRotation &src, const MEulerRotation &dst)
MEulerRotation setToClosestCut (const MEulerRotation &dst)
double &  operator[] (unsigned int i)
  NO SCRIPT SUPPORT.

Static Public Member Functions

static MEulerRotation  decompose (const MMatrix &matrix, RotationOrder ord)
static MEulerRotation  bound (const MEulerRotation &src)
  NO SCRIPT SUPPORT.
static MEulerRotation  alternateSolution (const MEulerRotation &src)
  NO SCRIPT SUPPORT.
static MEulerRotation  closestSolution (const MEulerRotation &src, const MEulerRotation &dst)
  NO SCRIPT SUPPORT.
static MEulerRotation  closestCut (const MEulerRotation &src, const MEulerRotation &dst)
  NO SCRIPT SUPPORT.

Public Attributes

double  x
  The x component of the euler rotation in radians.
double  y
  The y component of the euler rotation in radians.
double  z
  The z component of the euler rotation in radians.
RotationOrder  order
  The rotation order of the euler rotation.

Static Public Attributes

static const MEulerRotation  identity
  The euler rotation identity. The rotation order is XYZ.

Friends

OPENMAYA_EXPORT MEulerRotation  operator* (double scale, const MEulerRotation &other)
  NO SCRIPT SUPPORT.
OPENMAYA_EXPORT std::ostream &  operator<< (std::ostream &os, const MEulerRotation &rotation)
  NO SCRIPT SUPPORT.

Member Enumeration Documentation

Valid rotaton orders.

Enumerator:
kXYZ   
kYZX   
kZXY   
kXZY   
kYXZ   
kZYX   

Constructor & Destructor Documentation

MEulerRotation::MEulerRotation (  ) 

The default class constructor. The rotation order is set to XYZ.

MEulerRotation::MEulerRotation ( const MEulerRotation src  ) 

The copy constructor. Creates a new euler rotation and initializes it to the same values as the given euler rotation.

Parameters:
[in]  src  the euler rotation to copy

MEulerRotation::MEulerRotation ( const MVector v,
MEulerRotation::RotationOrder  ord = kXYZ  
)

Class constructor. Construct an euler rotation from a vector with the given rotation order.

Parameters:
[in]  v  vector from which to set the x, y, and z rotation components
[in]  ord  the rotation order; the default rotation order is XYZ

MEulerRotation::MEulerRotation ( double  xx,
double  yy,
double  zz,
MEulerRotation::RotationOrder  ord = kXYZ  
)

Class constructor. Initializes the euler rotation with the explicit x, y, z, and rotation order values provided as arguments.

Parameters:
[in]  xx  the x component of the euler rotation
[in]  yy  the y component of the euler rotation
[in]  zz  the z component of the euler rotation
[in]  ord  the rotation order of the euler rotation; the default rotation order is XYZ

MEulerRotation::~MEulerRotation (  ) 

Class destructor.


Member Function Documentation

MEulerRotation & MEulerRotation::operator= ( const MEulerRotation src  ) 

The assignment operator.

Parameters:
[in]  src  the source euler rotation
Returns:
A reference to the euler rotation that has been assigned to the source euler rotation

MEulerRotation & MEulerRotation::operator= ( const MQuaternion q  ) 

The assignment operator.

Parameters:
[in]  q  the source quaternion
Returns:
A reference to the euler rotation that has been assigned to the quaternion

MEulerRotation & MEulerRotation::operator= ( const MMatrix m  ) 

Convert the given 4X4 homogeneous rotation matrix to a euler rotation.

Parameters:
[in]  m  the matrix to be converted to a euler rotation
Returns:
A reference to the euler rotation that has been converted from the rotation matrix

MEulerRotation & MEulerRotation::operator= ( const MVector v  ) 

The assignment operator.

Parameters:
[in]  v  the source vector from which the x, y, and z rotation components are set
Returns:
A reference to the euler rotation that has been assigned to the source vector

MEulerRotation & MEulerRotation::setValue ( const MVector v,
MEulerRotation::RotationOrder  ord = kXYZ  
)

Sets the euler rotation to the values contained in the vector and with the specified rotation order.

Parameters:
[in]  v  vector from which to set the x, y, and z rotation components
[in]  ord  the rotation order; the default rotation order is XYZ
Returns:
A reference to the euler rotation whose value has been set

MEulerRotation & MEulerRotation::setValue ( double  xx,
double  yy,
double  zz,
MEulerRotation::RotationOrder  ord = kXYZ  
)

Sets the euler rotation to the x, y, and z rotation components with the specified rotation order.

Parameters:
[in]  xx  the x component of the rotation
[in]  yy  the y component of the rotation
[in]  zz  the z component of the rotation
[in]  ord  the rotation order; the default rotation order is XYZ
Returns:
A reference to the euler rotation whose value has been set

MQuaternion MEulerRotation::asQuaternion (  )  const

Converts an euler rotation to a quaternion.

Returns:
The quaternion that has been casted from the euler rotation

MMatrix MEulerRotation::asMatrix (  )  const

Converts an euler rotation to a rotation matrix.

Returns:
The rotation matrix that has been casted from the euler rotation

MVector MEulerRotation::asVector (  )  const

Converts an euler rotation to a vector. The rotation order component is dropped.

Returns:
The vector that has been casted from the euler rotation

double MEulerRotation::operator[] ( unsigned int  i  )  const

The index operator. If its argument is 0 it will return the x component of the euler rotation. If its argument is 1 it will return the y component of the euler rotation. If its argument is 2 it will return the z component of the euler rotation.

Parameters:
[in]  i  value indicating which component to return
Returns:
The component of the euler rotation corresponding to the index

MEulerRotation MEulerRotation::operator+ ( const MEulerRotation other  )  const

The euler rotation addition operator.

Parameters:
[in]  other  the euler rotation to be added to this euler rotation
Returns:
The sum of the two euler rotations

MEulerRotation & MEulerRotation::operator+= ( const MEulerRotation other  ) 

The in place euler rotation addition operator.

Parameters:
[in]  other  the euler rotation to be added with this euler rotation
Returns:
A reference the euler rotation which has been added to the other euler rotation

MEulerRotation MEulerRotation::operator- ( const MEulerRotation other  )  const

The euler rotation subtraction operator.

Parameters:
[in]  other  the euler rotation to be subtracted from this euler rotation
Returns:
The euler rotation that results from the subtraction

MEulerRotation & MEulerRotation::operator-= ( const MEulerRotation other  ) 

The in place euler rotation subtraction operator.

Parameters:
[in]  other  the euler rotation to be subtracted from this euler rotation
Returns:
A reference the euler rotation which has had the other euler rotation subtracted from it

MEulerRotation MEulerRotation::operator- (  )  const

The unary minus operator. Negates the value of each of the x, y, and z components of the euler rotation. The order remains the same.

Returns:
Euler rotation that results from the negation

MEulerRotation MEulerRotation::operator* ( const MEulerRotation other  )  const

The euler rotation multiplication operator.

Parameters:
[in]  other  the euler rotation to be multiplied with this euler rotation
Returns:
The product of the two euler rotations

MEulerRotation MEulerRotation::operator* ( const MQuaternion other  )  const

This quaternion multiplication operator.

Parameters:
[in]  other  the quaternion to be multiplied with this euler rotation
Returns:
The product of the euler rotation and the quaternion

MEulerRotation MEulerRotation::operator* ( double  other  )  const

This scalar multiplication operator.

Parameters:
[in]  other  the scalar value to be multiplied with this euler rotation
Returns:
The product of the euler rotation and the scalar value

MEulerRotation & MEulerRotation::operator*= ( const MEulerRotation other  ) 

The in place euler rotation multiplication operator.

Parameters:
[in]  other  the euler rotation to be multiplied with this euler rotation
Returns:
A reference to the euler rotation which has been multiplied with the other euler rotation

MEulerRotation & MEulerRotation::operator*= ( const MQuaternion other  ) 

The in place quaternion multiplication operator.

Parameters:
[in]  other  the quaternion to be multiplied with this euler rotation
Returns:
A reference to the euler rotation which has been multiplied with the quaternion

MEulerRotation & MEulerRotation::operator*= ( double  other  ) 

The in place scalar multiplication operator.

Parameters:
[in]  other  the double to be multiplied with this euler rotation
Returns:
A reference to the euler rotation which has been multiplied with the double

bool MEulerRotation::operator== ( const MEulerRotation other  )  const

The euler rotation equality operator.

Parameters:
[in]  other  the euler rotation to be compared with this euler rotation
Returns:
  • true the euler rotations are identical
  • false the euler rotations are not identical

bool MEulerRotation::operator!= ( const MEulerRotation other  )  const

The euler rotation inequality operator.

Parameters:
[in]  other  the euler rotation to be compared with this euler rotation
Returns:
  • true the euler rotations are not identical
  • false the euler rotations are identical

bool MEulerRotation::isEquivalent ( const MEulerRotation other,
double  tolerance = 1.0e-10  
) const

This method returns true if this euler rotation is equivalent, within some given tolerance, to the other euler rotation.

'tolerance' defaults to kEulerRotationEpsilon which is 1.0e-10

Parameters:
[in]  other  the euler rotation to be compared with this euler rotation
[in]  tolerance  the amount of variation allowed for equivalency
Returns:
  • true the euler rotations are equivalent
  • false the euler rotations are not equivalent

bool MEulerRotation::isZero ( double  tolerance = 1.0e-10  )  const

This method returns true if this euler rotation is zero, within some given tolerance.

'tolerance' defaults to kEulerRotationEpsilon which is 1.0e-10

Parameters:
[in]  tolerance  the amount of variation allowed for equivalency to zero
Returns:
  • true the rotation is zero
  • false the rotation is not zero

MEulerRotation & MEulerRotation::incrementalRotateBy ( const MVector axis,
double  angle  
)

Perform an incremental rotation by the specified axis and angle. The rotation is broken down and performed in smaller steps so that the angles update properly.

Parameters:
[in]  axis  the axis to rotate around
[in]  angle  the angle by which to rotate around the axis
Returns:
A reference to the euler rotation that has been incrementally rotated

MEulerRotation MEulerRotation::inverse (  )  const

Returns the inverse of this euler rotation. The rotation order will be reversed.

Returns:
Euler rotation that is the inverse of this euler rotation

MEulerRotation & MEulerRotation::invertIt (  ) 

Performs an in place inversion of this euler rotation. The rotation order will be reversed.

Returns:
A reference to the euler rotation that has been inverted

MEulerRotation MEulerRotation::reorder ( MEulerRotation::RotationOrder  ord  )  const

Returns the reordering of this euler rotation, such that the euler rotation will have the specified rotation order.

Parameters:
[in]  ord  the new rotation order of the euler rotation
Returns:
Euler rotation that is the reordering of this euler rotation

MEulerRotation & MEulerRotation::reorderIt ( MEulerRotation::RotationOrder  ord  ) 

Performs an in place reordering of this euler rotation, such that the euler rotation will have the specified rotation order.

Parameters:
[in]  ord  the new rotation order of the euler rotation
Returns:
A reference to the euler rotation that has been reordered

MEulerRotation MEulerRotation::bound (  )  const

Returns the result of bounding this rotation to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Returns:
The euler rotation that results from bounding this euler rotation

MEulerRotation & MEulerRotation::boundIt ( const MEulerRotation src  ) 

Sets this euler rotation to be the input rotation that has been bound to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Parameters:
[in]  src  the input rotation that will be bound
Returns:
A reference to the euler rotation that has been set to the bound input rotation

MEulerRotation & MEulerRotation::boundIt (  ) 

Bounds this rotation to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Returns:
A reference to the euler rotation that has been bound

MEulerRotation MEulerRotation::alternateSolution (  )  const

Returns an alternate solution to this rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Returns:
An alternate solution to this rotation

MEulerRotation & MEulerRotation::setToAlternateSolution ( const MEulerRotation src  ) 

Sets this euler rotation to an alternate solution of the input rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Parameters:
[in]  src  the rotation to compute an alternate solution to
Returns:
A reference to the euler rotation that has been set to an alternate solution

MEulerRotation & MEulerRotation::setToAlternateSolution (  ) 

Sets this euler rotation to an alternate solution of this rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Returns:
A reference to the euler rotation that has been set to an alternate solution

MEulerRotation MEulerRotation::closestSolution ( const MEulerRotation dst  )  const

Returns the euler rotation that is the closest solution to the "dst" euler rotation.

Parameters:
[in]  dst  the euler rotation to which the solution should be closest
Returns:
The closest solution to the "dst" rotation

MEulerRotation & MEulerRotation::setToClosestSolution ( const MEulerRotation src,
const MEulerRotation dst  
)

Sets this euler rotation to the euler rotation that is the closest solution of the "src" euler rotation to the "dst" euler rotation.

Parameters:
[in]  src  the euler rotation whose closest solution will be calculated
[in]  dst  the euler rotation to which the solution should be closest
Returns:
A reference to the euler rotation that has been set to the closest solution

MEulerRotation & MEulerRotation::setToClosestSolution ( const MEulerRotation dst  ) 

Sets this euler rotation to the euler rotation that is the closest solution to the "dst" euler rotation.

Parameters:
[in]  dst  the euler rotation to which the solution should be closest
Returns:
A reference to the euler rotation that has been set to the closest solution

MEulerRotation MEulerRotation::closestCut ( const MEulerRotation dst  )  const

Returns the closest cut of this rotation to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
[in]  dst  the range of the closest cut
Returns:
The closest cut of this rotation

MEulerRotation & MEulerRotation::setToClosestCut ( const MEulerRotation src,
const MEulerRotation dst  
)

Sets this rotation to be the closest cut of "src" to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
[in]  src  the euler rotation whose terms will be offset by +/- 2nPI
[in]  dst  the range of the closest cut
Returns:
A reference to the euler rotation that has been set to the closest cut

MEulerRotation & MEulerRotation::setToClosestCut ( const MEulerRotation dst  ) 

Sets this rotation to be the closest cut to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
[in]  dst  the range of the closest cut
Returns:
A reference to the euler rotation that has been set to the closest cut

MEulerRotation MEulerRotation::decompose ( const MMatrix matrix,
MEulerRotation::RotationOrder  ord  
) [static]

Decompose a rotation matrix into the desired euler angles with the specified order.

Parameters:
[in]  matrix  the matrix that will be decomposed into an euler rotation with the specified order
[in]  ord  the order which the euler rotation will have
Returns:
The euler rotation that has been decomposed from the rotation matrix

double & MEulerRotation::operator[] ( unsigned int  i  ) 

NO SCRIPT SUPPORT.

The index operator. If its argument is 0 it will return the x component of the euler rotation. If its argument is 1 it will return the y component of the euler rotation. If its argument is 2 it will return the z component of the euler rotation.

Parameters:
[in]  i  value indicating which component to return
Returns:
A reference to the component of the euler rotation corresponding to the index

MEulerRotation MEulerRotation::bound ( const MEulerRotation src  )  [static]

NO SCRIPT SUPPORT.

Returns the euler rotation that bounds the input rotation to be within +/- PI. Bounding a rotation to be within +/- PI is defined to be the result of offsetting the rotation by +/- 2nPI (term by term) such that the offset is within +/- PI.

Parameters:
[in]  src  the input rotation
Returns:
The euler rotation that bounds the input rotation

MEulerRotation MEulerRotation::alternateSolution ( const MEulerRotation src  )  [static]

NO SCRIPT SUPPORT.

Returns the euler rotation that is an alternate solution of the input rotation. The resulting rotation will be bound between +/- PI, and the rotation order will remain unchanged.

Parameters:
[in]  src  the rotation to compute an alternate solution to
Returns:
The alternate solution to the input rotation

MEulerRotation MEulerRotation::closestSolution ( const MEulerRotation src,
const MEulerRotation dst  
) [static]

NO SCRIPT SUPPORT.

Returns the euler rotation that is the closest solution of the "src" euler rotation to the "dst" euler rotation.

Parameters:
[in]  src  the euler rotation whose closest solution will be calculated
[in]  dst  the euler rotation to which the solution should be closest
Returns:
The closest solution of "src" to "dst"

MEulerRotation MEulerRotation::closestCut ( const MEulerRotation src,
const MEulerRotation dst  
) [static]

NO SCRIPT SUPPORT.

Returns the euler rotation that is the closest cut of "src" to "dst". The closest cut of rotation A to rotation B is defined to be the rotation that is +/- 2nPI to rotation A (term by term) and within +/- PI to rotation B.

Parameters:
[in]  src  the euler rotation whose terms will be offset by +/- 2nPI
[in]  dst  the range of the closest cut
Returns:
The closest cut of "src" to "dst"

Friends And Related Function Documentation

OPENMAYA_EXPORT MEulerRotation operator* ( double  scale,
const MEulerRotation other  
) [friend]

NO SCRIPT SUPPORT.

The multiplication operator that allows the scale to preceed the euler rotation.

Parameters:
[in]  scale  the amount by which the euler rotation should be scaled
[in]  other  the euler rotation to which the scale should be applied
Returns:
Euler rotation that is the result of scaling the other euler rotation

OPENMAYA_EXPORT std::ostream& operator<< ( std::ostream &  os,
const MEulerRotation rotation  
) [friend]

NO SCRIPT SUPPORT.

Print the contents of the given euler rotation on the given ostream. The format used is [order: order, x: x, y: y, z: z], where x, y, and z are in degrees.

Parameters:
[in]  os  the ostream to print to
[in]  rotation  the euler rotation to be printed x
Returns:
The ostream reference, os, provided as the first parameter.

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