OgreDualQuaternion.h
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/*
-----------------------------------------------------------------------------
This source file is part of OGRE
(Object-oriented Graphics Rendering Engine)
For the latest info, see http://www.ogre3d.org/
Copyright (c) 2000-2013 Torus Knot Software Ltd
Permission is hereby granted, free of charge, to any person obtaining a copy
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*/
#ifndef __DualQuaternion_H__
#define __DualQuaternion_H__
#include "OgrePrerequisites.h"
#include "OgreMath.h"
namespace Ogre {
class _OgreExport DualQuaternion
{
public:
inline DualQuaternion ()
: w(1), x(0), y(0), z(0), dw(1), dx(0), dy(0), dz(0)
{
}
inline DualQuaternion (Real fW, Real fX, Real fY, Real fZ,
Real fdW, Real fdX, Real fdY, Real fdZ)
: w(fW), x(fX), y(fY), z(fZ), dw(fdW), dx(fdX), dy(fdY), dz(fdZ)
{
}
inline DualQuaternion(const Matrix4& rot)
{
this->fromTransformationMatrix(rot);
}
inline DualQuaternion(const Quaternion& q, const Vector3& trans)
{
this->fromRotationTranslation(q, trans);
}
inline DualQuaternion(Real* valptr)
{
memcpy(&w, valptr, sizeof(Real)*8);
}
inline Real operator [] ( const size_t i ) const
{
assert( i < 8 );
return *(&w+i);
}
inline Real& operator [] ( const size_t i )
{
assert( i < 8 );
return *(&w+i);
}
inline DualQuaternion& operator= (const DualQuaternion& rkQ)
{
w = rkQ.w;
x = rkQ.x;
y = rkQ.y;
z = rkQ.z;
dw = rkQ.dw;
dx = rkQ.dx;
dy = rkQ.dy;
dz = rkQ.dz;
return *this;
}
inline bool operator== (const DualQuaternion& rhs) const
{
return (rhs.w == w) && (rhs.x == x) && (rhs.y == y) && (rhs.z == z) &&
(rhs.dw == dw) && (rhs.dx == dx) && (rhs.dy == dy) && (rhs.dz == dz);
}
inline bool operator!= (const DualQuaternion& rhs) const
{
return !operator==(rhs);
}
inline Real* ptr()
{
return &w;
}
inline const Real* ptr() const
{
return &w;
}
inline void swap(DualQuaternion& other)
{
std::swap(w, other.w);
std::swap(x, other.x);
std::swap(y, other.y);
std::swap(z, other.z);
std::swap(dw, other.dw);
std::swap(dx, other.dx);
std::swap(dy, other.dy);
std::swap(dz, other.dz);
}
inline bool isNaN() const
{
return Math::isNaN(w) || Math::isNaN(x) || Math::isNaN(y) || Math::isNaN(z) ||
Math::isNaN(dw) || Math::isNaN(dx) || Math::isNaN(dy) || Math::isNaN(dz);
}
void fromRotationTranslation (const Quaternion& q, const Vector3& trans);
void toRotationTranslation (Quaternion& q, Vector3& translation) const;
void fromTransformationMatrix (const Matrix4& kTrans);
void toTransformationMatrix (Matrix4& kTrans) const;
Real w, x, y, z, dw, dx, dy, dz;
inline _OgreExport friend std::ostream& operator <<
( std::ostream& o, const DualQuaternion& q )
{
o << "DualQuaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ", " << q.dw << ", " << q.dx << ", " << q.dy << ", " << q.dz << ")";
return o;
}
};
}
#endif
Ogre::DualQuaternion::DualQuaternion
DualQuaternion(const Quaternion &q, const Vector3 &trans)
Construct a dual quaternion from a unit quaternion and a translation vector.
Definition: OgreDualQuaternion.h:70
Ogre::DualQuaternion::DualQuaternion
DualQuaternion(Real *valptr)
Construct a dual quaternion from 8 manual w/x/y/z/dw/dx/dy/dz values.
Definition: OgreDualQuaternion.h:76
_OgreExport
#define _OgreExport
Definition: OgrePlatform.h:257
Ogre::DualQuaternion::ptr
Real * ptr()
Pointer accessor for direct copying.
Definition: OgreDualQuaternion.h:123
Ogre::DualQuaternion::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: OgreDualQuaternion.h:57
Ogre::DualQuaternion::dw
Real dw
Definition: OgreDualQuaternion.h:166
Ogre::Quaternion
Implementation of a Quaternion, i.e.
Definition: OgreQuaternion.h:57
Ogre::Math::isNaN
static bool isNaN(Real f)
Definition: OgreMath.h:305
Ogre::Real
float Real
Software floating point type.
Definition: OgrePrerequisites.h:70
Ogre::DualQuaternion::ptr
const Real * ptr() const
Pointer accessor for direct copying.
Definition: OgreDualQuaternion.h:129
Ogre::DualQuaternion::w
Real w
Definition: OgreDualQuaternion.h:166
Ogre::DualQuaternion::dx
Real dx
Definition: OgreDualQuaternion.h:166
Ogre::DualQuaternion::z
Real z
Definition: OgreDualQuaternion.h:166
Ogre::DualQuaternion::dz
Real dz
Definition: OgreDualQuaternion.h:166
Ogre::DualQuaternion::DualQuaternion
DualQuaternion(const Matrix4 &rot)
Construct a dual quaternion from a transformation matrix.
Definition: OgreDualQuaternion.h:64
Ogre::DualQuaternion
Implementation of a dual quaternion, i.e.
Definition: OgreDualQuaternion.h:47
Ogre::DualQuaternion::DualQuaternion
DualQuaternion()
Default constructor, initializes to identity rotation (aka 0°), and zero translation (0...
Definition: OgreDualQuaternion.h:51
Ogre::Matrix4
Class encapsulating a standard 4x4 homogeneous matrix.
Definition: OgreMatrix4.h:78
Ogre::Vector3
Standard 3-dimensional vector.
Definition: OgreVector3.h:51
OgrePrerequisites.h
Ogre::Quaternion::y
Real y
Definition: OgreQuaternion.h:303
Ogre::DualQuaternion::y
Real y
Definition: OgreDualQuaternion.h:166
Ogre::operator!=
bool operator!=(STLAllocator< T, P > const &, STLAllocator< T2, P > const &)
determine equality, can memory from another allocator be released by this allocator, (ISO C++)
Definition: OgreMemorySTLAllocator.h:202
Ogre::Quaternion::x
Real x
Definition: OgreQuaternion.h:303
Ogre::Quaternion::w
Real w
Definition: OgreQuaternion.h:303
std::swap
void swap(Ogre::SmallVectorImpl< T > &LHS, Ogre::SmallVectorImpl< T > &RHS)
Implement std::swap in terms of SmallVector swap.
Definition: OgreSmallVector.h:802
Ogre::DualQuaternion::swap
void swap(DualQuaternion &other)
Exchange the contents of this dual quaternion with another.
Definition: OgreDualQuaternion.h:135
Ogre::DualQuaternion::dy
Real dy
Definition: OgreDualQuaternion.h:166
Ogre::DualQuaternion::isNaN
bool isNaN() const
Check whether this dual quaternion contains valid values.
Definition: OgreDualQuaternion.h:148
Ogre
Definition: OgreAndroidLogListener.h:34
OgreMath.h
Ogre::DualQuaternion::x
Real x
Definition: OgreDualQuaternion.h:166
Ogre::Quaternion::z
Real z
Definition: OgreQuaternion.h:303
Ogre::operator==
bool operator==(STLAllocator< T, P > const &, STLAllocator< T2, P > const &)
determine equality, can memory from another allocator be released by this allocator, (ISO C++)
Definition: OgreMemorySTLAllocator.h:184

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