29 #ifndef __DualQuaternion_H__ 30 #define __DualQuaternion_H__ 52 : w(1), x(0), y(0), z(0), dw(1), dx(0), dy(0), dz(0)
59 : w(fW), x(fX), y(fY), z(fZ), dw(fdW), dx(fdX), dy(fdY), dz(fdZ)
66 this->fromTransformationMatrix(rot);
72 this->fromRotationTranslation(q, trans);
78 memcpy(&w, valptr,
sizeof(
Real)*8);
82 inline Real operator [] (
const size_t i )
const 90 inline Real& operator [] (
const size_t i )
113 return (rhs.
w == w) && (rhs.
x == x) && (rhs.
y == y) && (rhs.
z == z) &&
114 (rhs.
dw == dw) && (rhs.
dx == dx) && (rhs.
dy == dy) && (rhs.
dz == dz);
161 void fromTransformationMatrix (
const Matrix4& kTrans);
164 void toTransformationMatrix (
Matrix4& kTrans)
const;
172 inline _OgreExport friend std::ostream&
operator <<
175 o <<
"DualQuaternion(" << q.
w <<
", " << q.
x <<
", " << q.
y <<
", " << q.
z <<
", " << q.dw <<
", " << q.dx <<
", " << q.dy <<
", " << q.dz <<
")";
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 * ptr()
Pointer accessor for direct copying.
DualQuaternion(Real fW, Real fX, Real fY, Real fZ, Real fdW, Real fdX, Real fdY, Real fdZ)
Construct from an explicit list of values.
bool isNaN() const
Check whether this dual quaternion contains valid values.
Implementation of a Quaternion, i.e.
static bool isNaN(Real f)
const Real * ptr() const
Pointer accessor for direct copying.
float Real
Software floating point type.
DualQuaternion(const Matrix4 &rot)
Construct a dual quaternion from a transformation matrix.
Implementation of a dual quaternion, i.e.
DualQuaternion()
Default constructor, initializes to identity rotation (aka 0°), and zero translation (0...
Class encapsulating a standard 4x4 homogeneous matrix.
Standard 3-dimensional vector.
bool operator!=(STLAllocator< T, P > const &, STLAllocator< T2, P > const &)
determine equality, can memory from another allocator be released by this allocator, (ISO C++)
void swap(Ogre::SmallVectorImpl< T > &LHS, Ogre::SmallVectorImpl< T > &RHS)
Implement std::swap in terms of SmallVector swap.
void swap(DualQuaternion &other)
Exchange the contents of this dual quaternion with another.
bool operator==(STLAllocator< T, P > const &, STLAllocator< T2, P > const &)
determine equality, can memory from another allocator be released by this allocator, (ISO C++)