00001 /* 00002 ----------------------------------------------------------------------------- 00003 This source file is part of OGRE 00004 (Object-oriented Graphics Rendering Engine) 00005 For the latest info, see http://www.ogre3d.org/ 00006 00007 Copyright (c) 2000-2012 Torus Knot Software Ltd 00008 00009 Permission is hereby granted, free of charge, to any person obtaining a copy 00010 of this software and associated documentation files (the "Software"), to deal 00011 in the Software without restriction, including without limitation the rights 00012 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00013 copies of the Software, and to permit persons to whom the Software is 00014 furnished to do so, subject to the following conditions: 00015 00016 The above copyright notice and this permission notice shall be included in 00017 all copies or substantial portions of the Software. 00018 00019 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00020 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00021 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00022 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00023 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00024 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00025 THE SOFTWARE. 00026 ----------------------------------------------------------------------------- 00027 */ 00028 00029 #ifndef __DualQuaternion_H__ 00030 #define __DualQuaternion_H__ 00031 00032 #include "OgrePrerequisites.h" 00033 #include "OgreMath.h" 00034 00035 namespace Ogre { 00036 00047 class _OgreExport DualQuaternion 00048 { 00049 public: 00051 inline DualQuaternion () 00052 : w(1), x(0), y(0), z(0), dw(1), dx(0), dy(0), dz(0) 00053 { 00054 } 00055 00057 inline DualQuaternion (Real fW, Real fX, Real fY, Real fZ, 00058 Real fdW, Real fdX, Real fdY, Real fdZ) 00059 : w(fW), x(fX), y(fY), z(fZ), dw(fdW), dx(fdX), dy(fdY), dz(fdZ) 00060 { 00061 } 00062 00064 inline DualQuaternion(const Matrix4& rot) 00065 { 00066 this->fromTransformationMatrix(rot); 00067 } 00068 00070 inline DualQuaternion(const Quaternion& q, const Vector3& trans) 00071 { 00072 this->fromRotationTranslation(q, trans); 00073 } 00074 00076 inline DualQuaternion(Real* valptr) 00077 { 00078 memcpy(&w, valptr, sizeof(Real)*8); 00079 } 00080 00082 inline Real operator [] ( const size_t i ) const 00083 { 00084 assert( i < 8 ); 00085 00086 return *(&w+i); 00087 } 00088 00090 inline Real& operator [] ( const size_t i ) 00091 { 00092 assert( i < 8 ); 00093 00094 return *(&w+i); 00095 } 00096 00097 inline DualQuaternion& operator= (const DualQuaternion& rkQ) 00098 { 00099 w = rkQ.w; 00100 x = rkQ.x; 00101 y = rkQ.y; 00102 z = rkQ.z; 00103 dw = rkQ.dw; 00104 dx = rkQ.dx; 00105 dy = rkQ.dy; 00106 dz = rkQ.dz; 00107 00108 return *this; 00109 } 00110 00111 inline bool operator== (const DualQuaternion& rhs) const 00112 { 00113 return (rhs.w == w) && (rhs.x == x) && (rhs.y == y) && (rhs.z == z) && 00114 (rhs.dw == dw) && (rhs.dx == dx) && (rhs.dy == dy) && (rhs.dz == dz); 00115 } 00116 00117 inline bool operator!= (const DualQuaternion& rhs) const 00118 { 00119 return !operator==(rhs); 00120 } 00121 00123 inline Real* ptr() 00124 { 00125 return &w; 00126 } 00127 00129 inline const Real* ptr() const 00130 { 00131 return &w; 00132 } 00133 00135 inline void swap(DualQuaternion& other) 00136 { 00137 std::swap(w, other.w); 00138 std::swap(x, other.x); 00139 std::swap(y, other.y); 00140 std::swap(z, other.z); 00141 std::swap(dw, other.dw); 00142 std::swap(dx, other.dx); 00143 std::swap(dy, other.dy); 00144 std::swap(dz, other.dz); 00145 } 00146 00148 inline bool isNaN() const 00149 { 00150 return Math::isNaN(w) || Math::isNaN(x) || Math::isNaN(y) || Math::isNaN(z) || 00151 Math::isNaN(dw) || Math::isNaN(dx) || Math::isNaN(dy) || Math::isNaN(dz); 00152 } 00153 00155 void fromRotationTranslation (const Quaternion& q, const Vector3& trans); 00156 00158 void toRotationTranslation (Quaternion& q, Vector3& translation) const; 00159 00161 void fromTransformationMatrix (const Matrix4& kTrans); 00162 00164 void toTransformationMatrix (Matrix4& kTrans) const; 00165 00166 Real w, x, y, z, dw, dx, dy, dz; 00167 00172 inline _OgreExport friend std::ostream& operator << 00173 ( std::ostream& o, const DualQuaternion& q ) 00174 { 00175 o << "DualQuaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ", " << q.dw << ", " << q.dx << ", " << q.dy << ", " << q.dz << ")"; 00176 return o; 00177 } 00178 }; 00182 } 00183 00184 #endif
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Last modified Fri May 25 23:36:23 2012