MbRotation

class MbRotation

Public Methods
MbBool equals(const MbRotation &r, float tolerance): Equality comparison within given tolerance - the square of the length of the maximum distance between the two quaternion vectors
const float* getValue(): Returns pointer to array of 4 components defining quaternion
void getValue(MbVec4f &rotation)
void getValue(MbVec3f &axis, float &radians): Returns corresponding 3D rotation axis vector and angle in radians
void getValue(float &q0, float &q1, float &q2, float &q3): Returns 4 individual components of rotation quaternion
static MbRotation identity(): Null rotation
MbRotation inverse(): Returns the inverse of a rotation
MbRotation& invert(): Changes a rotation to be its inverse
MbRotation(const MbVec4f &rotation): Constructor given 3D rotation axis vector (0-3) and angle in radians (4)
MbRotation(const MbVec3f &axis, float radians): Constructor given 3D rotation axis vector and angle in radians
MbRotation(const MbVec3f &rotateFrom, const MbVec3f &rotateTo): Constructor for rotation that rotates one direction vector to another
MbRotation(const float v[4]): Constructor given a quaternion as an array of 4 components
MbRotation(float q0, float q1, float q2, float q3): Constructor given 4 individual components of a quaternion
void multVec(const MbVec3f &src, MbVec3f &dst): Puts the given vector through this rotation (Multiplies the given vector by the matrix of this rotation),
friend int operator !=(const MbRotation &q1, const MbRotation &q2)
friend MbRotation operator *(const MbRotation &q1, const MbRotation &q2): Multiplication of two rotations; results in product of rotations
MbRotation& operator *=(const MbRotation &q): Multiplies by another rotation; results in product of rotations
friend int operator ==(const MbRotation &q1, const MbRotation &q2): Equality comparison operator
float& operator [](int i): Accesses indexed component of vector
const float& operator [](int i)
void scaleAngle( float scaleFactor ): Keep the axis the same
MbRotation& setValue(const MbVec3f &axis, float radians): Sets value of vector from 3D rotation axis vector and angle in radians
MbRotation& setValue(const MbVec4f &rotation)
MbRotation& setValue(const MbVec3f &rotateFrom, const MbVec3f &rotateTo): Sets rotation to rotate one direction vector to another
MbRotation& setValue(const float q[4]): Sets value of rotation from array of 4 components of a quaternion
MbRotation& setValue(float q0, float q1, float q2, float q3): Sets value of rotation from 4 individual components of a quaternion
static MbRotation slerp(const MbRotation &rot0, const MbRotation &rot1, float t): Spherical linear interpolation: as t goes from 0 to 1, returned value goes from rot0 to rot1

Private Fields
float quat[4]: Storage for quaternion components

Private Methods
float norm(): Returns the norm (square of the 4D length) of a rotation's quaterion
void normalize(): Normalizes a rotation quaternion to unit 4D length