Ogre::DualQuaternion Class Reference
[Math]

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

#include <OgreDualQuaternion.h>

List of all members.

Public Member Functions
	DualQuaternion ()
	Default constructor, initializes to identity rotation (aka 0°), and zero translation (0,0,0).
	DualQuaternion (Real fW, Real fX, Real fY, Real fZ, Real fdW, Real fdX, Real fdY, Real fdZ)
	Construct from an explicit list of values.
	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.
Real	operator[] (const size_t i) const
	Array accessor operator.
Real &	operator[] (const size_t i)
	Array accessor operator.
DualQuaternion &	operator= (const DualQuaternion &rkQ)
bool	operator== (const DualQuaternion &rhs) const
bool	operator!= (const DualQuaternion &rhs) const
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.
bool	isNaN () const
	Check whether this dual quaternion contains valid 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	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	fromTransformationMatrix (const Matrix4 &kTrans)
	Construct a dual quaternion from a 4x4 transformation matrix.
void	toTransformationMatrix (Matrix4 &kTrans) const
	Convert a dual quaternion to a 4x4 transformation matrix.
Public Attributes
Real	w
Real	x
Real	y
Real	z
Real	dw
Real	dx
Real	dy
Real	dz
Friends
_OgreExport friend std::ostream &	operator<< (std::ostream &o, const DualQuaternion &q)
	Function for writing to a stream.

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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.

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Constructor & Destructor Documentation

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.

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.

Ogre::DualQuaternion::DualQuaternion

(

const Matrix4 &

rot

)

Construct a dual quaternion from a transformation matrix.

Definition at line 64 of file OgreDualQuaternion.h.

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.

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.

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Member Function Documentation

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.

void Ogre::DualQuaternion::fromTransformationMatrix

(

const Matrix4 &

kTrans

)

Construct a dual quaternion from a 4x4 transformation matrix.

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().

bool Ogre::DualQuaternion::operator!=

(

const DualQuaternion &

rhs

)

const

Definition at line 117 of file OgreDualQuaternion.h.

References Ogre::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.

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.

Real& Ogre::DualQuaternion::operator[]

(

const size_t

i

)

Array accessor operator.

Definition at line 90 of file OgreDualQuaternion.h.

Real Ogre::DualQuaternion::operator[]

(

const size_t

i

)

const

Array accessor operator.

Definition at line 82 of file OgreDualQuaternion.h.

const Real* Ogre::DualQuaternion::ptr

(

)

const

Pointer accessor for direct copying.

Definition at line 129 of file OgreDualQuaternion.h.

Real* Ogre::DualQuaternion::ptr

(

)

Pointer accessor for direct copying.

Definition at line 123 of file OgreDualQuaternion.h.

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.

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.

void Ogre::DualQuaternion::toTransformationMatrix

(

Matrix4 &

kTrans

)

const

Convert a dual quaternion to a 4x4 transformation matrix.

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Friends And Related Function Documentation

_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.

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Member Data Documentation

Real Ogre::DualQuaternion::dw

Definition at line 166 of file OgreDualQuaternion.h.

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

Real Ogre::DualQuaternion::dx

Definition at line 166 of file OgreDualQuaternion.h.

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

Real Ogre::DualQuaternion::dy

Definition at line 166 of file OgreDualQuaternion.h.

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

Real Ogre::DualQuaternion::dz

Definition at line 166 of file OgreDualQuaternion.h.

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

Real Ogre::DualQuaternion::w

Definition at line 166 of file OgreDualQuaternion.h.

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

Real Ogre::DualQuaternion::x

Definition at line 166 of file OgreDualQuaternion.h.

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

Real Ogre::DualQuaternion::y

Definition at line 166 of file OgreDualQuaternion.h.

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

Real Ogre::DualQuaternion::z

Definition at line 166 of file OgreDualQuaternion.h.

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

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

• OgreDualQuaternion.h