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 Affine3 &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 Affine3 &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 (Affine3 &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

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)

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.

DualQuaternion() [3/5]

Ogre::DualQuaternion::DualQuaternion ( const Affine3 &  rot )

inline

Construct a dual quaternion from a transformation matrix.

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.

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.

Member Function Documentation

operator[]() [1/2]

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

inline

Array accessor operator.

operator[]() [2/2]

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

inline

Array accessor operator.

operator=()

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

inline

operator==()

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

inline

operator!=()

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

inline

References Ogre::operator==().

ptr() [1/2]

Real * Ogre::DualQuaternion::ptr ( )

inline

Pointer accessor for direct copying.

ptr() [2/2]

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

inline

Pointer accessor for direct copying.

swap()

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

inline

Exchange the contents of this dual quaternion with another.

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

isNaN()

bool Ogre::DualQuaternion::isNaN ( ) const

inline

Check whether this dual quaternion contains valid values.

References Ogre::Math::isNaN().

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.

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.

fromTransformationMatrix()

void Ogre::DualQuaternion::fromTransformationMatrix

(

const Affine3 &

kTrans

)

Construct a dual quaternion from a 4x4 transformation matrix.

toTransformationMatrix()

void Ogre::DualQuaternion::toTransformationMatrix

(

Affine3 &

kTrans

)

const

Convert a dual quaternion to a 4x4 transformation matrix.

Member Data Documentation

w

Real Ogre::DualQuaternion::w

Referenced by swap().

x

Real Ogre::DualQuaternion::x

Referenced by swap().

y

Real Ogre::DualQuaternion::y

Referenced by swap().

z

Real Ogre::DualQuaternion::z

Referenced by swap().

dw

Real Ogre::DualQuaternion::dw

Referenced by swap().

dx

Real Ogre::DualQuaternion::dx

Referenced by swap().

dy

Real Ogre::DualQuaternion::dy

Referenced by swap().

dz

Real Ogre::DualQuaternion::dz

Referenced by swap().

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

• OgreDualQuaternion.h