Ogre::DualQuaternion Class Reference

Implementation of a dual quaternion, i.e. More...

#include <OgreDualQuaternion.h>

Public Member Functions
	DualQuaternion ()
	Default constructor, initializes to identity rotation (aka 0°), and zero translation (0,0,0).
	DualQuaternion (const Matrix4 &rot)
	Construct a dual quaternion from a transformation matrix.
	DualQuaternion (const Quaternion &q, const Vector3 &trans)
	Construct a dual quaternion from a unit quaternion and a translation vector.
	DualQuaternion (Real *valptr)
	Construct a dual quaternion from 8 manual w/x/y/z/dw/dx/dy/dz values.
	DualQuaternion (Real fW, Real fX, Real fY, Real fZ, Real fdW, Real fdX, Real fdY, Real fdZ)
	Construct from an explicit list of values.
void	fromRotationTranslation (const Quaternion &q, const Vector3 &trans)
	Construct a dual quaternion from a rotation described by a Quaternion and a translation described by a Vector3.
void	fromTransformationMatrix (const Matrix4 &kTrans)
	Construct a dual quaternion from a 4x4 transformation matrix.
bool	isNaN () const
	Check whether this dual quaternion contains valid values.
bool	operator!= (const DualQuaternion &rhs) const
DualQuaternion &	operator= (const DualQuaternion &rkQ)
bool	operator== (const DualQuaternion &rhs) const
Real &	operator[] (const size_t i)
	Array accessor operator.
Real	operator[] (const size_t i) const
	Array accessor operator.
Real *	ptr ()
	Pointer accessor for direct copying.
const Real *	ptr () const
	Pointer accessor for direct copying.
void	swap (DualQuaternion &other)
	Exchange the contents of this dual quaternion with another.
void	toRotationTranslation (Quaternion &q, Vector3 &translation) const
	Convert a dual quaternion into its two components, a Quaternion representing the rotation and a Vector3 representing the translation.
void	toTransformationMatrix (Matrix4 &kTrans) const
	Convert a dual quaternion to a 4x4 transformation matrix.

Public Attributes
Real	dw
Real	dx
Real	dy
Real	dz
Real	w
Real	x
Real	y
Real	z

Friends
_OgreExport friend std::ostream &	operator<< (std::ostream &o, const DualQuaternion &q)
	Function for writing to a stream.

Detailed Description

Implementation of a dual quaternion, i.e.

a rotation around an axis and a translation. This implementation may note be appropriate as a general implementation, but is intended for use with dual quaternion skinning.

Constructor & Destructor Documentation

DualQuaternion() [1/5]

Ogre::DualQuaternion::DualQuaternion ( )

inline

Default constructor, initializes to identity rotation (aka 0°), and zero translation (0,0,0).

References dw, dx, dy, dz, w, x, y, and z.

Referenced by operator!=(), operator<<, operator=(), operator==(), and swap().

DualQuaternion() [2/5]

Ogre::DualQuaternion::DualQuaternion ( Real fW, Real fX, Real fY, Real fZ, Real fdW, Real fdX, Real fdY, Real fdZ )

inline

Construct from an explicit list of values.

References dw, dx, dy, dz, w, x, y, and z.

DualQuaternion() [3/5]

Ogre::DualQuaternion::DualQuaternion ( const Matrix4 & rot )

inline

Construct a dual quaternion from a transformation matrix.

References fromTransformationMatrix().

DualQuaternion() [4/5]

Ogre::DualQuaternion::DualQuaternion ( const Quaternion & q, const Vector3 & trans )

inline

Construct a dual quaternion from a unit quaternion and a translation vector.

References fromRotationTranslation().

DualQuaternion() [5/5]

Ogre::DualQuaternion::DualQuaternion ( Real * valptr )

inline

Construct a dual quaternion from 8 manual w/x/y/z/dw/dx/dy/dz values.

References w.

Member Function Documentation

fromRotationTranslation()

void Ogre::DualQuaternion::fromRotationTranslation	(	const Quaternion &	q,
		const Vector3 &	trans )

Construct a dual quaternion from a rotation described by a Quaternion and a translation described by a Vector3.

Referenced by DualQuaternion().

fromTransformationMatrix()

void Ogre::DualQuaternion::fromTransformationMatrix

(

const Matrix4 &

kTrans

)

Construct a dual quaternion from a 4x4 transformation matrix.

Referenced by DualQuaternion().

isNaN()

bool Ogre::DualQuaternion::isNaN ( ) const

inline

Check whether this dual quaternion contains valid values.

References dw, dx, dy, dz, Ogre::Math::isNaN(), w, x, y, and z.

operator!=()

bool Ogre::DualQuaternion::operator!= ( const DualQuaternion & rhs ) const

inline

References DualQuaternion(), and operator==().

operator=()

DualQuaternion & Ogre::DualQuaternion::operator= ( const DualQuaternion & rkQ )

inline

References DualQuaternion(), dw, dx, dy, dz, w, x, y, and z.

operator==()

bool Ogre::DualQuaternion::operator== ( const DualQuaternion & rhs ) const

inline

References DualQuaternion(), dw, dx, dy, dz, w, x, y, and z.

Referenced by operator!=().

operator[]() [1/2]

Real & Ogre::DualQuaternion::operator[] ( const size_t i )

inline

Array accessor operator.

References w.

operator[]() [2/2]

Real Ogre::DualQuaternion::operator[] ( const size_t i ) const

inline

Array accessor operator.

References w.

ptr() [1/2]

Real * Ogre::DualQuaternion::ptr ( )

inline

Pointer accessor for direct copying.

References w.

ptr() [2/2]

const Real * Ogre::DualQuaternion::ptr ( ) const

inline

Pointer accessor for direct copying.

References w.

swap()

void Ogre::DualQuaternion::swap ( DualQuaternion & other )

inline

Exchange the contents of this dual quaternion with another.

References DualQuaternion(), dw, dx, dy, dz, std::swap(), w, x, y, and z.

toRotationTranslation()

void Ogre::DualQuaternion::toRotationTranslation	(	Quaternion &	q,
		Vector3 &	translation ) const

Convert a dual quaternion into its two components, a Quaternion representing the rotation and a Vector3 representing the translation.

toTransformationMatrix()

void Ogre::DualQuaternion::toTransformationMatrix

(

Matrix4 &

kTrans

)

const

Convert a dual quaternion to a 4x4 transformation matrix.

Friends And Related Symbol Documentation

operator<<

_OgreExport friend std::ostream & operator<< ( std::ostream & o, const DualQuaternion & q )

friend

Function for writing to a stream.

Outputs "DualQuaternion(w, x, y, z, dw, dx, dy, dz)" with w, x, y, z, dw, dx, dy, dz being the member values of the dual quaternion.

References DualQuaternion().

Member Data Documentation

dw

Real Ogre::DualQuaternion::dw

Referenced by DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), and swap().

dx

Real Ogre::DualQuaternion::dx

Referenced by DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), and swap().

dy

Real Ogre::DualQuaternion::dy

Referenced by DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), and swap().

dz

Real Ogre::DualQuaternion::dz

Referenced by DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), and swap().

w

Real Ogre::DualQuaternion::w

Referenced by DualQuaternion(), DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), operator[](), operator[](), ptr(), ptr(), and swap().

x

Real Ogre::DualQuaternion::x

Referenced by DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), and swap().

y

Real Ogre::DualQuaternion::y

Referenced by DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), and swap().

z

Real Ogre::DualQuaternion::z

Referenced by DualQuaternion(), DualQuaternion(), isNaN(), operator=(), operator==(), and swap().

---

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

• OgreDualQuaternion.h