Ogre::DualQuaternion Class Reference
Core » Math

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) More...
| DualQuaternion (Real fW, Real fX, Real fY, Real fZ, Real fdW, Real fdX, Real fdY, Real fdZ)
| Construct from an explicit list of values. More...
| DualQuaternion (const Matrix4 &rot)
| Construct a dual quaternion from a transformation matrix. More...
| DualQuaternion (const Quaternion &q, const Vector3 &trans)
| Construct a dual quaternion from a unit quaternion and a translation vector. More...
| DualQuaternion (Real *valptr)
| Construct a dual quaternion from 8 manual w/x/y/z/dw/dx/dy/dz values. More...
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. More...
void | fromTransformationMatrix (const Matrix4 &kTrans)
| Construct a dual quaternion from a 4x4 transformation matrix. More...
bool | isNaN () const
| Check whether this dual quaternion contains valid values. More...
bool | operator!= (const DualQuaternion &rhs) const
DualQuaternion & | operator= (const DualQuaternion &rkQ)
bool | operator== (const DualQuaternion &rhs) const
Real | operator[] (const size_t i) const
| Array accessor operator. More...
Real & | operator[] (const size_t i)
| Array accessor operator. More...
Real * | ptr ()
| Pointer accessor for direct copying. More...
const Real * | ptr () const
| Pointer accessor for direct copying. More...
void | swap (DualQuaternion &other)
| Exchange the contents of this dual quaternion with another. More...
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. More...
void | toTransformationMatrix (Matrix4 &kTrans) const
| Convert a dual quaternion to a 4x4 transformation matrix. More...

## 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. More...

## 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.

Definition at line 47 of file OgreDualQuaternion.h.

## Constructor & Destructor Documentation

## DualQuaternion() [1/5]

Ogre::DualQuaternion::DualQuaternion | ( |  | ) |

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

Definition at line 51 of file OgreDualQuaternion.h.

## DualQuaternion() [2/5]

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

Construct from an explicit list of values.

Definition at line 57 of file OgreDualQuaternion.h.

## DualQuaternion() [3/5]

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

Construct a dual quaternion from a transformation matrix.

Definition at line 64 of file OgreDualQuaternion.h.

## DualQuaternion() [4/5]

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

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

Definition at line 70 of file OgreDualQuaternion.h.

## DualQuaternion() [5/5]

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

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

Definition at line 76 of file OgreDualQuaternion.h.

## 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.

## fromTransformationMatrix()

void Ogre::DualQuaternion::fromTransformationMatrix | ( | const Matrix4 & | kTrans | ) |

Construct a dual quaternion from a 4x4 transformation matrix.

## isNaN()

bool Ogre::DualQuaternion::isNaN | ( |  | ) | const

Check whether this dual quaternion contains valid values.

Definition at line 148 of file OgreDualQuaternion.h.

References Ogre::Math::isNaN().

## operator!=()

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

Definition at line 117 of file OgreDualQuaternion.h.

References Ogre::operator==().

## operator=()

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

Definition at line 97 of file OgreDualQuaternion.h.

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

## operator==()

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

Definition at line 111 of file OgreDualQuaternion.h.

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

## operator[]() [1/2]

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

Array accessor operator.

Definition at line 82 of file OgreDualQuaternion.h.

## operator[]() [2/2]

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

Array accessor operator.

Definition at line 90 of file OgreDualQuaternion.h.

## ptr() [1/2]

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

Pointer accessor for direct copying.

Definition at line 123 of file OgreDualQuaternion.h.

## ptr() [2/2]

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

Pointer accessor for direct copying.

Definition at line 129 of file OgreDualQuaternion.h.

## swap()

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

Exchange the contents of this dual quaternion with another.

Definition at line 135 of file OgreDualQuaternion.h.

References 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 Function 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.

Definition at line 173 of file OgreDualQuaternion.h.

## Member Data Documentation

## dw

Real Ogre::DualQuaternion::dw

Definition at line 166 of file OgreDualQuaternion.h.

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

## dx

Real Ogre::DualQuaternion::dx

Definition at line 166 of file OgreDualQuaternion.h.

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

## dy

Real Ogre::DualQuaternion::dy

Definition at line 166 of file OgreDualQuaternion.h.

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

## dz

Real Ogre::DualQuaternion::dz

Definition at line 166 of file OgreDualQuaternion.h.

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

## w

Real Ogre::DualQuaternion::w

Definition at line 166 of file OgreDualQuaternion.h.

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

## x

Real Ogre::DualQuaternion::x

Definition at line 166 of file OgreDualQuaternion.h.

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

## y

Real Ogre::DualQuaternion::y

Definition at line 166 of file OgreDualQuaternion.h.

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

## z

Real Ogre::DualQuaternion::z

Definition at line 166 of file OgreDualQuaternion.h.

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

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

- OgreDualQuaternion.h

Copyright © 2012 Torus Knot Software Ltd
This work is licensed under a Creative Commons Attribution-ShareAlike 3.0 Unported License.