Euler Rotation Math. More...

#include <MEulerRotation.h>

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

Public Member Functions
	MEulerRotation ()
	The default class constructor. More...

	MEulerRotation (const MEulerRotation &src)
	The copy constructor. More...

	MEulerRotation (const MVector &v, RotationOrder ord=kXYZ)
	Class constructor. More...

	MEulerRotation (double xx, double yy, double zz, RotationOrder ord=kXYZ)
	Class constructor. More...

	~MEulerRotation ()
	Class destructor.

MEulerRotation &	operator= (const MEulerRotation &src)
	The assignment operator. More...

MEulerRotation &	operator= (const MQuaternion &q)
	The assignment operator. More...

MEulerRotation &	operator= (const MMatrix &m)
	Convert the given 4X4 homogeneous rotation matrix to a euler rotation. More...

MEulerRotation &	operator= (const MVector &v)
	The assignment operator. More...

MEulerRotation &	setValue (const MVector &v, RotationOrder ord=kXYZ)
	Sets the euler rotation to the values contained in the vector and with the specified rotation order. More...

MEulerRotation &	setValue (double xx, double yy, double zz, RotationOrder ord=kXYZ)
	Sets the euler rotation to the x, y, and z rotation components with the specified rotation order. More...

MQuaternion	asQuaternion () const
	Converts an euler rotation to a quaternion. More...

MMatrix	asMatrix () const
	Converts an euler rotation to a rotation matrix. More...

MVector	asVector () const
	Converts an euler rotation to a vector. More...

double	operator[] (unsigned int i) const
	The index operator. More...

MEulerRotation	operator+ (const MEulerRotation &other) const
	The euler rotation addition operator. More...

MEulerRotation &	operator+= (const MEulerRotation &other)
	The in place euler rotation addition operator. More...

MEulerRotation	operator- (const MEulerRotation &other) const
	The euler rotation subtraction operator. More...

MEulerRotation &	operator-= (const MEulerRotation &other)
	The in place euler rotation subtraction operator. More...

MEulerRotation	operator- () const
	The unary minus operator. More...

MEulerRotation	operator* (const MEulerRotation &other) const
	The euler rotation multiplication operator. More...

MEulerRotation	operator* (const MQuaternion &other) const
	This quaternion multiplication operator. More...

MEulerRotation	operator* (double other) const
	This scalar multiplication operator. More...

MEulerRotation &	operator*= (const MEulerRotation &other)
	The in place euler rotation multiplication operator. More...

MEulerRotation &	operator*= (const MQuaternion &other)
	The in place quaternion multiplication operator. More...

MEulerRotation &	operator*= (double other)
	The in place scalar multiplication operator. More...

bool	operator== (const MEulerRotation &other) const
	The euler rotation equality operator. More...

bool	operator!= (const MEulerRotation &other) const
	The euler rotation inequality operator. More...

bool	isEquivalent (const MEulerRotation &other, double tolerance=kEulerRotationEpsilon) const
	This method returns true if this euler rotation is equivalent, within some given tolerance, to the other euler rotation. More...

bool	isZero (double tolerance=kEulerRotationEpsilon) const
	This method returns true if this euler rotation is zero, within some given tolerance. More...

MEulerRotation &	incrementalRotateBy (const MVector &axis, double angle)
	Perform an incremental rotation by the specified axis and angle. More...

MEulerRotation	inverse () const
	Returns the inverse of this euler rotation. More...

MEulerRotation &	invertIt ()
	Performs an in place inversion of this euler rotation. More...

MEulerRotation	reorder (RotationOrder ord) const
	Returns the reordering of this euler rotation, such that the euler rotation will have the specified rotation order. More...

MEulerRotation &	reorderIt (RotationOrder ord)
	Performs an in place reordering of this euler rotation, such that the euler rotation will have the specified rotation order. More...

MEulerRotation	bound () const
	Returns the result of bounding this rotation to be within +/- PI. More...

MEulerRotation &	boundIt (const MEulerRotation &src)
	Sets this euler rotation to be the input rotation that has been bound to be within +/- PI. More...

MEulerRotation &	boundIt ()
	Bounds this rotation to be within +/- PI. More...

MEulerRotation	alternateSolution () const
	Returns an alternate solution to this rotation. More...

MEulerRotation &	setToAlternateSolution (const MEulerRotation &src)
	Sets this euler rotation to an alternate solution of the input rotation. More...

MEulerRotation &	setToAlternateSolution ()
	Sets this euler rotation to an alternate solution of this rotation. More...

MEulerRotation	closestSolution (const MEulerRotation &dst) const
	Returns the euler rotation that is the closest solution to the "dst" euler rotation. More...

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. More...

MEulerRotation &	setToClosestSolution (const MEulerRotation &dst)
	Sets this euler rotation to the euler rotation that is the closest solution to the "dst" euler rotation. More...

MEulerRotation	closestCut (const MEulerRotation &dst) const
	Returns the closest cut of this rotation to "dst". More...

MEulerRotation &	setToClosestCut (const MEulerRotation &src, const MEulerRotation &dst)
	Sets this rotation to be the closest cut of "src" to "dst". More...

MEulerRotation &	setToClosestCut (const MEulerRotation &dst)
	Sets this rotation to be the closest cut to "dst". More...

double &	operator[] (unsigned int i)
	NO SCRIPT SUPPORT. More...

Static Public Member Functions
static MEulerRotation	decompose (const MMatrix &matrix, RotationOrder ord)
	Decompose a rotation matrix into the desired euler angles with the specified order. More...

static MEulerRotation	bound (const MEulerRotation &src)
	NO SCRIPT SUPPORT. More...

static MEulerRotation	alternateSolution (const MEulerRotation &src)
	NO SCRIPT SUPPORT. More...

static MEulerRotation	closestSolution (const MEulerRotation &src, const MEulerRotation &dst)
	NO SCRIPT SUPPORT. More...

static MEulerRotation	closestCut (const MEulerRotation &src, const MEulerRotation &dst)
	NO SCRIPT SUPPORT. More...

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. More...

OPENMAYA_EXPORT std::ostream &	operator<< (std::ostream &os, const MEulerRotation &rotation)
	NO SCRIPT SUPPORT. More...

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:: AbcBullet/MayaTransformCollectionWriter.cpp, AbcBullet/MayaTransformWriter.cpp, AbcBullet/MayaTransformWriter.h, AbcExport/MayaTransformWriter.cpp, AbcExport/MayaTransformWriter.h, AbcImport/XformHelper.cpp, manipOverride/rockingTransform2.cpp, rockingTransform/rockingTransform.cpp, rockingTransformCheck/rockingTransform.cpp, rockingTransformCheck/rockingTransformCheck.cpp, rockingTransformCheck/rockingTransformCheck.h, and rotateManip/rotateManip.cpp.

Member Enumeration Documentation

enum RotationOrder

Valid rotaton orders.

Enumerator
kXYZ
kYZX
kZXY
kXZY
kYXZ
kZYX

Constructor & Destructor Documentation

MEulerRotation ( )

The default class constructor.

The rotation order is set to XYZ.

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	(	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	(	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

Member Function Documentation

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 & 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 & 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 & 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 & 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 & 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 asQuaternion ( ) const

Converts an euler rotation to a quaternion.

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

MMatrix asMatrix ( ) const

Converts an euler rotation to a rotation matrix.

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

MVector 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

Examples:: AbcImport/XformHelper.cpp.

double 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 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 & 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 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 & 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 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 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 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 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 & 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 & 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 & 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 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 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 isEquivalent	(	const MEulerRotation &	other,
		double	tolerance = `kEulerRotationEpsilon`
	)		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 isZero ( double tolerance = kEulerRotationEpsilon ) 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 & 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 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 & 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 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 & 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 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 & 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 & 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 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 & 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 & 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 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 & 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 & 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 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 & 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 & 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 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 & 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 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 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 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 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.

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.

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.

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

MEulerRotation.h
MEulerRotation.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation