Basic type: 3-space rotation specification. More...

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

	GfRotation (const GfVec3d &axis, double angle)
	This constructor initializes the rotation to be `angle` degrees about `axis`. More...

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

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

GF_API	GfRotation (const GfVec3d &rotateFrom, const GfVec3d &rotateTo)
	This constructor initializes the rotation to one that brings the `rotateFrom` vector to align with `rotateTo`. More...

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

GF_API GfRotation &	SetQuat (const GfQuatd &quat)
	Sets the rotation from a quaternion. More...

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

GF_API GfRotation &	SetRotateInto (const GfVec3d &rotateFrom, const GfVec3d &rotateTo)
	Sets the rotation to one that brings the `rotateFrom` vector to align with `rotateTo`. More...

GfRotation &	SetIdentity ()
	Sets the rotation to an identity rotation. More...

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
	Decompose rotation about 3 orthogonal axes. More...

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
	Component-wise rotation equality test. More...

bool	operator!= (const GfRotation &r) const
	Component-wise rotation inequality test. More...

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=NULL, bool useHint=false, const double *swShift=NULL)

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

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

GfRotation	operator* (double scale, const GfRotation &r)
	Returns a rotation equivalent to `r` with its angle multiplied by `scale`. More...

GfRotation	operator/ (const GfRotation &r, double scale)
	Returns a rotation equivalent to `r` with its angle divided by `scale`. More...

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 55 of file rotation.h.

Constructor & Destructor Documentation

GfRotation ( )

inline

The default constructor leaves the rotation undefined.

Definition at line 60 of file rotation.h.

GfRotation	(	const GfVec3d &	axis,
		double	angle
	)

inline

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

Definition at line 65 of file rotation.h.

GfRotation ( const GfQuaternion & quaternion )

inline

This constructor initializes the rotation from a quaternion.

Definition at line 70 of file rotation.h.

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 77 of file rotation.h.

GF_API 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 83 of file rotation.h.

Member Function Documentation

GF_API GfVec3d 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.

double GetAngle ( ) const

inline

Returns the rotation angle in degrees.

Definition at line 127 of file rotation.h.

const GfVec3d& GetAxis ( ) const

inline

Returns the axis of rotation.

Definition at line 122 of file rotation.h.

GfRotation GetInverse ( ) const

inline

Returns the inverse of this rotation.

Definition at line 142 of file rotation.h.

GF_API GfQuatd GetQuat ( ) const

Returns the rotation expressed as a quaternion.

GfQuaternion GetQuaternion ( ) const

inline

Returns the rotation expressed as a quaternion.

Definition at line 132 of file rotation.h.

bool 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 229 of file rotation.h.

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

Post-multiplies rotation r into this rotation.

GfRotation& operator*= ( double scale )

inline

Scales rotation angle by multiplying by scale.

Definition at line 238 of file rotation.h.

GfRotation& operator/= ( double scale )

inline

Scales rotation angle by dividing by scale.

Definition at line 244 of file rotation.h.

bool 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 220 of file rotation.h.

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

inline

Sets the rotation to be angle degrees about axis.

Definition at line 88 of file rotation.h.

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 115 of file rotation.h.

GF_API 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& SetQuaternion ( const GfQuaternion & quat )

inline

Sets the rotation from a quaternion.

Definition at line 102 of file rotation.h.

GF_API 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 TransformDir ( const GfVec3f & vec ) const

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

GF_API GfVec3d 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 209 of file rotation.h.

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

friend

Returns composite rotation of rotations r1 and r2.

Definition at line 250 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 258 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 265 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 271 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