#include <UT_DualQuaternion.h>

Public Member Functions
SYS_FORCE_INLINE	UT_DualQuaternionT ()=default
	Trivial constructor. If called, it initializes to all zeroes. More...

	UT_DualQuaternionT (const UT_QuaternionT< T > &real, const UT_QuaternionT< T > &dual)
	Construct from orthogonal real and dual parts. More...

	UT_DualQuaternionT (T real_qx, T real_qy, T real_qz, T real_qw, T dual_qx, T dual_qy, T dual_qz, T dual_qw)
	Construct from components of orthogonal real and dual parts. More...

	UT_DualQuaternionT (const UT_QuaternionT< T > &r, const UT_Vector3T< T > &t)
	Construct from rotation unit quaternion and translation vector. More...

	UT_DualQuaternionT (const UT_Matrix4T< T > &xform)
	Construct from a transform matrix. More...

SYS_FORCE_INLINE	UT_DualQuaternionT (const UT_DualQuaternionT &dq)=default
	Default copy constructor. More...

SYS_FORCE_INLINE UT_DualQuaternionT< T > &	operator= (const UT_DualQuaternionT &v)=default
	Default assignment. More...

void	updateFromXform (const UT_Matrix4T< T > &xform)
	Assign from UT_Matrix4. More...

void	updateFromXform (const UT_Matrix3T< T > &xform)
	Assign from UT_Matrix3. More...

void	updateFromRotTransPair (const UT_QuaternionT< T > &r, const UT_Vector3T< T > &t)

void	updateFromRotTransPair (const UT_QuaternionT< T > &r, T tx, T ty, T tz)

T	length2 () const
	Methods. More...

T	length () const
	Length. More...

void	normalize ()
	Normalizes the dual quaternion to have length of 1. More...

void	conjugate ()
	Changes dual quaternion into its conjugate. More...

void	invert ()
	Invert this dual quaternion. Does not exist if getReal() is zero. More...

void	invertNormalized ()

void	identity ()
	Change dual quaternion into an 0 rotation and 0 translation components. More...

void	transform (const UT_Vector3T< T > &vec, UT_Vector3T< T > &dst) const
	Method implementations. More...

void	rotate (const UT_Vector3T< T > &vec, UT_Vector3T< T > &dst) const

UT_Matrix4T< T >	convertToXform () const

UT_DualQuaternionT< T > &	operator*= (T scalar)
	Operators. More...

UT_DualQuaternionT< T > &	operator*= (const UT_DualQuaternionT< T > &dq)

UT_DualQuaternionT< T > &	operator+= (const UT_DualQuaternionT< T > &dq)
	Operator implementations. More...

UT_DualQuaternionT< T > &	operator-= (const UT_DualQuaternionT< T > &dq)

bool	operator== (const UT_DualQuaternionT< T > &dq) const

bool	operator!= (const UT_DualQuaternionT< T > &dq) const

bool	isEqual (const UT_DualQuaternionT< T > &quat, T tol=T(SYS_FTOLERANCE)) const
	Like operator==() but using a tolerance. More...

const T *	realData () const
	Getters. More...

T *	realData ()

const T *	dualData () const

T *	dualData ()

const UT_QuaternionT< T > &	getReal () const

const UT_QuaternionT< T > &	getDual () const

const UT_QuaternionT< T > &	getTranslation () const

const UT_QuaternionT< T > &	getRotation () const

Protected Member Functions
UT_API void	outTo (std::ostream &os) const

template<>
UT_API void	outTo (std::ostream &os) const

template<>
UT_API void	outTo (std::ostream &os) const

Friends
std::ostream &	operator<< (std::ostream &os, const UT_DualQuaternionT< T > &dq)

Detailed Description

template<typename T>
class UT_DualQuaternionT< T >

Dual quaternion class

Note: This class only supports the subspace of dual quaternions for use as rigid transforms. As such, its real and dual components must be orthogonal.

Definition at line 39 of file UT_DualQuaternion.h.

Constructor & Destructor Documentation

template<typename T>

SYS_FORCE_INLINE UT_DualQuaternionT< T >::UT_DualQuaternionT ( )

default

Trivial constructor. If called, it initializes to all zeroes.

template<typename T >

UT_DualQuaternionT< T >::UT_DualQuaternionT	(	const UT_QuaternionT< T > &	real,
		const UT_QuaternionT< T > &	dual
	)

inline

Construct from orthogonal real and dual parts.

Construct implementations.

Definition at line 195 of file UT_DualQuaternion.h.

template<typename T >

UT_DualQuaternionT< T >::UT_DualQuaternionT	(	T	real_qx,
		T	real_qy,
		T	real_qz,
		T	real_qw,
		T	dual_qx,
		T	dual_qy,
		T	dual_qz,
		T	dual_qw
	)

inline

Construct from components of orthogonal real and dual parts.

Definition at line 204 of file UT_DualQuaternion.h.

template<typename T >

UT_DualQuaternionT< T >::UT_DualQuaternionT	(	const UT_QuaternionT< T > &	r,
		const UT_Vector3T< T > &	t
	)

inline

Construct from rotation unit quaternion and translation vector.

Definition at line 214 of file UT_DualQuaternion.h.

template<typename T >

UT_DualQuaternionT< T >::UT_DualQuaternionT ( const UT_Matrix4T< T > & xform )

inline

Construct from a transform matrix.

Definition at line 223 of file UT_DualQuaternion.h.

template<typename T>

SYS_FORCE_INLINE UT_DualQuaternionT< T >::UT_DualQuaternionT ( const UT_DualQuaternionT< T > & dq )

default

Default copy constructor.

Member Function Documentation

template<typename T >

void UT_DualQuaternionT< T >::conjugate ( )

inline

Changes dual quaternion into its conjugate.

Definition at line 368 of file UT_DualQuaternion.h.

template<typename T >

UT_Matrix4T< T > UT_DualQuaternionT< T >::convertToXform ( ) const

inline

Returns a xform that is represented by the dual quaternion Requires this is normalized

Definition at line 303 of file UT_DualQuaternion.h.

template<typename T>

const T* UT_DualQuaternionT< T >::dualData ( ) const

inline

Definition at line 152 of file UT_DualQuaternion.h.

template<typename T>

T* UT_DualQuaternionT< T >::dualData ( )

inline

Definition at line 153 of file UT_DualQuaternion.h.

template<typename T>

const UT_QuaternionT<T>& UT_DualQuaternionT< T >::getDual ( ) const

inline

Definition at line 156 of file UT_DualQuaternion.h.

template<typename T>

const UT_QuaternionT<T>& UT_DualQuaternionT< T >::getReal ( ) const

inline

Definition at line 155 of file UT_DualQuaternion.h.

template<typename T>

const UT_QuaternionT<T>& UT_DualQuaternionT< T >::getRotation ( ) const

inline

Definition at line 158 of file UT_DualQuaternion.h.

template<typename T>

const UT_QuaternionT<T>& UT_DualQuaternionT< T >::getTranslation ( ) const

inline

Definition at line 157 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::identity ( )

inline

Change dual quaternion into an 0 rotation and 0 translation components.

Definition at line 396 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::invert ( )

inline

Invert this dual quaternion. Does not exist if getReal() is zero.

Definition at line 376 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::invertNormalized ( )

inline

Invert this dual quaternion, assuming that its already normalized. Does not exist if getReal() is zero.

Definition at line 386 of file UT_DualQuaternion.h.

template<typename T >

bool UT_DualQuaternionT< T >::isEqual	(	const UT_DualQuaternionT< T > &	quat,
		T	tol = `T(SYS_FTOLERANCE)`
	)		const

inline

Like operator==() but using a tolerance.

Definition at line 453 of file UT_DualQuaternion.h.

template<typename T >

T UT_DualQuaternionT< T >::length ( void ) const

inline

Length.

Definition at line 339 of file UT_DualQuaternion.h.

template<typename T >

T UT_DualQuaternionT< T >::length2 ( ) const

inline

Methods.

Length squared

Definition at line 331 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::normalize ( )

inline

Normalizes the dual quaternion to have length of 1.

Definition at line 346 of file UT_DualQuaternion.h.

template<typename T >

bool UT_DualQuaternionT< T >::operator!= ( const UT_DualQuaternionT< T > & dq ) const

inline

Definition at line 467 of file UT_DualQuaternion.h.

template<typename T >

UT_DualQuaternionT< T > & UT_DualQuaternionT< T >::operator*= ( T scalar )

inline

Operators.

Definition at line 418 of file UT_DualQuaternion.h.

template<typename T >

UT_DualQuaternionT< T > & UT_DualQuaternionT< T >::operator*= ( const UT_DualQuaternionT< T > & dq )

inline

Definition at line 427 of file UT_DualQuaternion.h.

template<typename T >

UT_DualQuaternionT< T > & UT_DualQuaternionT< T >::operator+= ( const UT_DualQuaternionT< T > & dq )

inline

Operator implementations.

Definition at line 409 of file UT_DualQuaternion.h.

template<typename T >

UT_DualQuaternionT< T > & UT_DualQuaternionT< T >::operator-= ( const UT_DualQuaternionT< T > & dq )

inline

Definition at line 436 of file UT_DualQuaternion.h.

template<typename T>

SYS_FORCE_INLINE UT_DualQuaternionT<T>& UT_DualQuaternionT< T >::operator= ( const UT_DualQuaternionT< T > & v )

default

Default assignment.

template<typename T >

bool UT_DualQuaternionT< T >::operator== ( const UT_DualQuaternionT< T > & dq ) const

inline

Definition at line 445 of file UT_DualQuaternion.h.

template<typename T>

UT_API void UT_DualQuaternionT< T >::outTo ( std::ostream & os ) const

protected

template<>

UT_API void UT_DualQuaternionT< fpreal32 >::outTo ( std::ostream & os ) const

protected

template<>

UT_API void UT_DualQuaternionT< fpreal64 >::outTo ( std::ostream & os ) const

protected

template<typename T>

const T* UT_DualQuaternionT< T >::realData ( ) const

inline

Getters.

Definition at line 149 of file UT_DualQuaternion.h.

template<typename T>

T* UT_DualQuaternionT< T >::realData ( )

inline

Definition at line 150 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::rotate	(	const UT_Vector3T< T > &	vec,
		UT_Vector3T< T > &	dst
	)		const

inline

Returns a vector that has only the rotation component applied Requires this is normalized

Definition at line 293 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::transform	(	const UT_Vector3T< T > &	vec,
		UT_Vector3T< T > &	dst
	)		const

inline

Method implementations.

Returns a vector that is transformed by the dual quaternion Requires this is normalized

Definition at line 273 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::updateFromRotTransPair	(	const UT_QuaternionT< T > &	r,
		const UT_Vector3T< T > &	t
	)

inline

Definition at line 323 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::updateFromRotTransPair	(	const UT_QuaternionT< T > &	r,
		T	tx,
		T	ty,
		T	tz
	)

inline

Definition at line 252 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::updateFromXform ( const UT_Matrix4T< T > & xform )

inline

Assign from UT_Matrix4.

Definition at line 230 of file UT_DualQuaternion.h.

template<typename T >

void UT_DualQuaternionT< T >::updateFromXform ( const UT_Matrix3T< T > & xform )

inline

Assign from UT_Matrix3.

Definition at line 244 of file UT_DualQuaternion.h.

Friends And Related Function Documentation

template<typename T>

std::ostream& operator<<	(	std::ostream &	os,
		const UT_DualQuaternionT< T > &	dq
	)

friend

Definition at line 139 of file UT_DualQuaternion.h.

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

UT/UT_DualQuaternion.h

Public Member Functions

Protected Member Functions

Friends

Detailed Description

template<typename T> class UT_DualQuaternionT< T >

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

template<typename T>
class UT_DualQuaternionT< T >