---
name: "SbDPRotation"
section: "3"
platform: "linux"
package: "coin"
version: "1:4.0.10-1"
release: "Arch Linux 2026-11-01"
platforms: ["linux"]
url: "https://new.carta.tech/SbDPRotation"
---

# SbDPRotation(3)

The SbDPRotation class represents a rotation in 3D space using double precision data.

## NAME

SbDPRotation - The **SbDPRotation** class represents a rotation in 3D space using double precision data.

## SYNOPSIS

\#include \<Inventor/SbDPRotation.h\>

### Public Member Functions

**SbDPRotation** (void)\
 **SbDPRotation** (const **SbVec3d** &axis, const double radians)\
 **SbDPRotation** (const double q\[4\])\
 **SbDPRotation** (const double q0, const double q1, const double q2, const double q3)\
 **SbDPRotation** (const **SbDPMatrix** &m)\
 **SbDPRotation** (const **SbVec3d** &rotateFrom, const **SbVec3d** &rotateTo)\
 const double \* **getValue** (void) const\
 void **getValue** (double &q0, double &q1, double &q2, double &q3) const\
 **SbDPRotation** & **setValue** (const double q0, const double q1, const double q2, const double q3)\
 void **getValue** (**SbVec3d** &axis, double &radians) const\
 void **getValue** (**SbDPMatrix** &matrix) const\
 **SbDPRotation** & **invert** (void)\
 **SbDPRotation** **inverse** (void) const\
 **SbDPRotation** & **setValue** (const double q\[4\])\
 **SbDPRotation** & **setValue** (const **SbDPMatrix** &m)\
 **SbDPRotation** & **setValue** (const **SbVec3d** &axis, const double radians)\
 **SbDPRotation** & **setValue** (const **SbVec3d** &rotateFrom, const **SbVec3d** &rotateTo)\
 SbBool **equals** (const **SbDPRotation** &r, double tolerance) const\
 void **multVec** (const **SbVec3d** &src, **SbVec3d** &dst) const\
 void **scaleAngle** (const double scaleFactor)\
 void **print** (FILE \*fp) const\
 **SbDPRotation** & **operator\*=** (const **SbDPRotation** &q)\
 **SbDPRotation** & **operator\*=** (const double s)\

### Static Public Member Functions

static **SbDPRotation** **slerp** (const **SbDPRotation** &rot0, const **SbDPRotation** &rot1, double t)\
 static **SbDPRotation** **identity** (void)\

## Detailed Description

The **SbDPRotation** class represents a rotation in 3D space using double precision data.

**SbDPRotation** is used extensively throughout the Coin library.

An **SbDPRotation** is stored internally as a quaternion for speed and storage reasons, but inquiries can be done to get and set axis and angle values for convenience.

**See also**

**SbDPMatrix**

## Constructor & Destructor Documentation

### SbDPRotation::SbDPRotation (void )

The default constructor just initializes a valid rotation. The actual value is unspecified, and you should not depend on it.

### SbDPRotation::SbDPRotation (const SbVec3d & axis, const double radians)

Construct a new **SbDPRotation** object initialized with the given axis-of-rotation and rotation angle.

### SbDPRotation::SbDPRotation (const double q\[4\])

Construct a new **SbDPRotation** object initialized with the given quaternion components.

The array must be ordered as follows:

q\[0\] = x, q\[1\] = y, q\[2\] = z and q\[3\] = w, where the quaternion is specified by q = w + xi + yj + zk.

### SbDPRotation::SbDPRotation (const double q0, const double q1, const double q2, const double q3)

Construct a new **SbDPRotation** object initialized with the given quaternion components.

### SbDPRotation::SbDPRotation (const SbDPMatrix & m)

Construct a new **SbDPRotation** object initialized with the given rotation matrix.

### SbDPRotation::SbDPRotation (const SbVec3d & rotateFrom, const SbVec3d & rotateTo)

Construct a rotation which is the minimum rotation necessary to make vector *rotateFrom* point in the direction of vector *rotateTo*.

## Member Function Documentation

### const double \* SbDPRotation::getValue (void ) const

Return pointer to an array with the rotation expressed as four quaternion values.

**See also**

**setValue()**.

### void SbDPRotation::getValue (double & q0, double & q1, double & q2, double & q3) const

Return the four quaternion components representing the rotation.

**See also**

**setValue()**.

### SbDPRotation & SbDPRotation::setValue (const double q0, const double q1, const double q2, const double q3)

Set the rotation.

**See also**

**getValue()**.

### void SbDPRotation::getValue (SbVec3d & axis, double & radians) const

Return the rotation in the form of an axis-of-rotation and a rotation angle.

**See also**

**setValue()**.

### void SbDPRotation::getValue (SbDPMatrix & matrix) const

Return this rotation in the form of a matrix.

**See also**

**setValue()**.

### SbDPRotation & SbDPRotation::invert (void )

Invert the rotation. Returns reference to self.

**See also**

**inverse()**

### SbDPRotation SbDPRotation::inverse (void ) const

Non-destructively inverses the rotation and returns the result.

**See also**

**invert()**

### SbDPRotation & SbDPRotation::setValue (const double q\[4\])

Reset the rotation by the four quaternions in the array.

**See also**

**getValue()**.

### SbDPRotation & SbDPRotation::setValue (const SbDPMatrix & m)

Set the rotation from the components of the given matrix. Returns reference to self.

**See also**

**getValue()**.

### SbDPRotation & SbDPRotation::setValue (const SbVec3d & axis, const double radians)

Reset rotation with the given axis-of-rotation and rotation angle. Returns reference to self.

Make sure *axis* is not the null vector when calling this method.

**See also**

**getValue()**.

### SbDPRotation & SbDPRotation::setValue (const SbVec3d & rotateFrom, const SbVec3d & rotateTo)

Construct a rotation which is the minimum rotation necessary to make vector *rotateFrom* point in the direction of vector *rotateTo*.

Returns reference to self.

**See also**

**getValue()**.

### SbBool SbDPRotation::equals (const SbDPRotation & r, double tolerance) const

Check the internal quaternion representation vectors for equality within the given tolerance.

### void SbDPRotation::multVec (const SbVec3d & src, SbVec3d & dst) const

Rotate the *src* vector and put the result in *dst*.

### void SbDPRotation::scaleAngle (const double scaleFactor)

Scale the angle of rotation by *scaleFactor*.

### SbDPRotation slerp (const SbDPRotation & rot0, const SbDPRotation & rot1, double t) \[static\]

Interpolates along the shortest path between the two rotation positions (from *rot0* to *rot1*).

Returns the **SbDPRotation** which will rotate *rot0* the given part *t* of the spherical distance towards *rot1*, where *t=0* will yield *rot0* and *t=1* will yield *rot1*.

*t* should be in the interval \[0, 1\].

### SbDPRotation SbDPRotation::identity (void ) \[static\]

Returns an identity rotation.

### void SbDPRotation::print (FILE \* fp) const

Dump the state of this object to the *fp* file stream. Only works in debug version of library, method does nothing in an optimized build.

### SbDPRotation & SbDPRotation::operator\*= (const SbDPRotation & q)

Multiplies the quaternions.

Note that order is important when combining quaternions with the multiplication operator.

### SbDPRotation & SbDPRotation::operator\*= (const double s)

Multiplies components of quaternion with scalar value *s*. Returns reference to self.

## Author

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