#include <rotation.h>

Public Member Functions
	GfRotation ()
	The default constructor leaves the rotation undefined. More...

	GfRotation (const GfVec3d &axis, double angle)

	GfRotation (const GfQuaternion &quaternion)
	This constructor initializes the rotation from a quaternion. More...

	GfRotation (const GfQuatd &quat)

GF_API	GfRotation (const GfVec3d &rotateFrom, const GfVec3d &rotateTo)

GfRotation &	SetAxisAngle (const GfVec3d &axis, double angle)
	Sets the rotation to be `angle` degrees about `axis`. More...

GF_API GfRotation &	SetQuat (const GfQuatd &quat)

GfRotation &	SetQuaternion (const GfQuaternion &quat)
	Sets the rotation from a quaternion. More...

GF_API GfRotation &	SetRotateInto (const GfVec3d &rotateFrom, const GfVec3d &rotateTo)

GfRotation &	SetIdentity ()

const GfVec3d &	GetAxis () const
	Returns the axis of rotation. More...

double	GetAngle () const
	Returns the rotation angle in degrees. More...

GfQuaternion	GetQuaternion () const
	Returns the rotation expressed as a quaternion. More...

GF_API GfQuatd	GetQuat () const
	Returns the rotation expressed as a quaternion. More...

GfRotation	GetInverse () const
	Returns the inverse of this rotation. More...

GF_API GfVec3d	Decompose (const GfVec3d &axis0, const GfVec3d &axis1, const GfVec3d &axis2) const

GF_API GfVec3f	TransformDir (const GfVec3f &vec) const
	Transforms row vector `vec` by the rotation, returning the result. More...

GF_API GfVec3d	TransformDir (const GfVec3d &vec) const

bool	operator== (const GfRotation &r) const

bool	operator!= (const GfRotation &r) const

GF_API GfRotation &	operator*= (const GfRotation &r)
	Post-multiplies rotation `r` into this rotation. More...

GfRotation &	operator*= (double scale)
	Scales rotation angle by multiplying by `scale`. More...

GfRotation &	operator/= (double scale)
	Scales rotation angle by dividing by `scale`. More...

Static Public Member Functions
static GF_API void	DecomposeRotation (const GfMatrix4d &rot, const GfVec3d &TwAxis, const GfVec3d &FBAxis, const GfVec3d &LRAxis, double handedness, double thetaTw, double thetaFB, double thetaLR, double thetaSw=nullptr, bool useHint=false, const double *swShift=nullptr)

static GF_API GfRotation	RotateOntoProjected (const GfVec3d &v1, const GfVec3d &v2, const GfVec3d &axis)

static GF_API void	MatchClosestEulerRotation (double targetTw, double targetFB, double targetLR, double targetSw, double thetaTw, double thetaFB, double thetaLR, double thetaSw)

Friends
size_t	hash_value (const GfRotation &r)
	Hash. More...

GfRotation	operator* (const GfRotation &r1, const GfRotation &r2)
	Returns composite rotation of rotations `r1` and `r2`. More...

GfRotation	operator* (const GfRotation &r, double scale)

GfRotation	operator* (double scale, const GfRotation &r)

GfRotation	operator/ (const GfRotation &r, double scale)

Detailed Description

Basic type: 3-space rotation specification.

This class represents a rotation in 3-space. This stores an axis as a normalized vector of 3 doubles and an angle in degrees (as a double). Rotations follow the right-hand rule: a positive rotation about an axis vector appears counter-clockwise when looking from the end of the vector toward the origin.

Definition at line 54 of file rotation.h.

Constructor & Destructor Documentation

GfRotation::GfRotation ( )

inline

The default constructor leaves the rotation undefined.

Definition at line 59 of file rotation.h.

GfRotation::GfRotation	(	const GfVec3d &	axis,
		double	angle
	)

inline

This constructor initializes the rotation to be angle degrees about axis.

Definition at line 64 of file rotation.h.

GfRotation::GfRotation ( const GfQuaternion & quaternion )

inline

This constructor initializes the rotation from a quaternion.

Definition at line 69 of file rotation.h.

GfRotation::GfRotation ( const GfQuatd & quat )

inline

This constructor initializes the rotation from a quaternion. Note that this constructor accepts GfQuatf and GfQuath since they implicitly convert to GfQuatd.

Definition at line 76 of file rotation.h.

GF_API GfRotation::GfRotation	(	const GfVec3d &	rotateFrom,
		const GfVec3d &	rotateTo
	)

inline

This constructor initializes the rotation to one that brings the rotateFrom vector to align with rotateTo. The passed vectors need not be unit length.

Definition at line 82 of file rotation.h.

Member Function Documentation

GF_API GfVec3d GfRotation::Decompose	(	const GfVec3d &	axis0,
		const GfVec3d &	axis1,
		const GfVec3d &	axis2
	)		const

Decompose rotation about 3 orthogonal axes. If the axes are not orthogonal, warnings will be spewed.

static GF_API void GfRotation::DecomposeRotation	(	const GfMatrix4d &	rot,
		const GfVec3d &	TwAxis,
		const GfVec3d &	FBAxis,
		const GfVec3d &	LRAxis,
		double	handedness,
		double *	thetaTw,
		double *	thetaFB,
		double *	thetaLR,
		double *	thetaSw = `nullptr`,
		bool	useHint = `false`,
		const double *	swShift = `nullptr`
	)

static

double GfRotation::GetAngle ( ) const

inline

Returns the rotation angle in degrees.

Definition at line 126 of file rotation.h.

const GfVec3d& GfRotation::GetAxis ( ) const

inline

Returns the axis of rotation.

Definition at line 121 of file rotation.h.

GfRotation GfRotation::GetInverse ( ) const

inline

Returns the inverse of this rotation.

Definition at line 141 of file rotation.h.

GF_API GfQuatd GfRotation::GetQuat ( ) const

Returns the rotation expressed as a quaternion.

GfQuaternion GfRotation::GetQuaternion ( ) const

inline

Returns the rotation expressed as a quaternion.

Definition at line 131 of file rotation.h.

static GF_API void GfRotation::MatchClosestEulerRotation	(	double	targetTw,
		double	targetFB,
		double	targetLR,
		double	targetSw,
		double *	thetaTw,
		double *	thetaFB,
		double *	thetaLR,
		double *	thetaSw
	)

static

Replace the hint angles with the closest rotation of the given rotation to the hint.

Each angle in the rotation will be within Pi of the corresponding hint angle and the sum of the differences with the hint will be minimized. If a given rotation value is null then that angle will be treated as 0.0 and ignored in the calculations.

All angles are in radians. The rotation order is Tw/FB/LR/Sw.

bool GfRotation::operator!= ( const GfRotation & r ) const

inline

Component-wise rotation inequality test. The axes and angles must match exactly for rotations to be considered equal. (To compare equality of the actual rotations, you can convert both to quaternions and test the results for equality.)

Definition at line 239 of file rotation.h.

GF_API GfRotation& GfRotation::operator*= ( const GfRotation & r )

Post-multiplies rotation r into this rotation.

GfRotation& GfRotation::operator*= ( double scale )

inline

Scales rotation angle by multiplying by scale.

Definition at line 248 of file rotation.h.

GfRotation& GfRotation::operator/= ( double scale )

inline

Scales rotation angle by dividing by scale.

Definition at line 254 of file rotation.h.

bool GfRotation::operator== ( const GfRotation & r ) const

inline

Component-wise rotation equality test. The axes and angles must match exactly for rotations to be considered equal. (To compare equality of the actual rotations, you can convert both to quaternions and test the results for equality.)

Definition at line 230 of file rotation.h.

static GF_API GfRotation GfRotation::RotateOntoProjected	(	const GfVec3d &	v1,
		const GfVec3d &	v2,
		const GfVec3d &	axis
	)

static

GfRotation& GfRotation::SetAxisAngle	(	const GfVec3d &	axis,
		double	angle
	)

inline

Sets the rotation to be angle degrees about axis.

Definition at line 87 of file rotation.h.

GfRotation& GfRotation::SetIdentity ( )

inline

Sets the rotation to an identity rotation. (This is chosen to be 0 degrees around the positive X axis.)

Definition at line 114 of file rotation.h.

GF_API GfRotation& GfRotation::SetQuat ( const GfQuatd & quat )

Sets the rotation from a quaternion. Note that this method accepts GfQuatf and GfQuath since they implicitly convert to GfQuatd.

GfRotation& GfRotation::SetQuaternion ( const GfQuaternion & quat )

inline

Sets the rotation from a quaternion.

Definition at line 101 of file rotation.h.

GF_API GfRotation& GfRotation::SetRotateInto	(	const GfVec3d &	rotateFrom,
		const GfVec3d &	rotateTo
	)

Sets the rotation to one that brings the rotateFrom vector to align with rotateTo. The passed vectors need not be unit length.

GF_API GfVec3f GfRotation::TransformDir ( const GfVec3f & vec ) const

Transforms row vector vec by the rotation, returning the result.

GF_API GfVec3d GfRotation::TransformDir ( const GfVec3d & vec ) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Friends And Related Function Documentation

size_t hash_value ( const GfRotation & r )

friend

Hash.

Definition at line 222 of file rotation.h.

GfRotation operator*	(	const GfRotation &	r1,
		const GfRotation &	r2
	)

friend

Returns composite rotation of rotations r1 and r2.

Definition at line 260 of file rotation.h.

GfRotation operator*	(	const GfRotation &	r,
		double	scale
	)

friend

Returns a rotation equivalent to r with its angle multiplied by scale.

Definition at line 268 of file rotation.h.

GfRotation operator*	(	double	scale,
		const GfRotation &	r
	)

friend

Returns a rotation equivalent to r with its angle multiplied by scale.

Definition at line 275 of file rotation.h.

GfRotation operator/	(	const GfRotation &	r,
		double	scale
	)

friend

Returns a rotation equivalent to r with its angle divided by scale.

Definition at line 281 of file rotation.h.

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

pxr/base/gf/rotation.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation