source: downloads/ogre_src_v1-9-0/OgreMain/include/OgreDualQuaternion.h @ 148

/*
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This source file is part of OGRE
    (Object-oriented Graphics Rendering Engine)
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*/

#ifndef __DualQuaternion_H__
#define __DualQuaternion_H__

#include "OgrePrerequisites.h"
#include "OgreMath.h"

namespace Ogre {

        /** \addtogroup Core
        *  @{
        */
        /** \addtogroup Math
        *  @{
        */
        /** 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.
        */
        class _OgreExport DualQuaternion
        {
        public:
                /// Default constructor, initializes to identity rotation (aka 0°), and zero translation (0,0,0)
                inline DualQuaternion ()
                        : w(1), x(0), y(0), z(0), dw(1), dx(0), dy(0), dz(0)
                {
                }
                
                /// Construct from an explicit list of values
                inline DualQuaternion (Real fW, Real fX, Real fY, Real fZ, 
                                Real fdW, Real fdX, Real fdY, Real fdZ)
                        : w(fW), x(fX), y(fY), z(fZ), dw(fdW), dx(fdX), dy(fdY), dz(fdZ)
                {
                }
        
                /// Construct a dual quaternion from a transformation matrix
                inline DualQuaternion(const Matrix4& rot)
                {
                        this->fromTransformationMatrix(rot);
                }
                
                /// Construct a dual quaternion from a unit quaternion and a translation vector
                inline DualQuaternion(const Quaternion& q, const Vector3& trans)
                {
                        this->fromRotationTranslation(q, trans);
                }
                
                /// Construct a dual quaternion from 8 manual w/x/y/z/dw/dx/dy/dz values
                inline DualQuaternion(Real* valptr)
                {
                        memcpy(&w, valptr, sizeof(Real)*8);
                }

                /// Array accessor operator
                inline Real operator [] ( const size_t i ) const
                {
                        assert( i < 8 );

                        return *(&w+i);
                }

                /// Array accessor operator
                inline Real& operator [] ( const size_t i )
                {
                        assert( i < 8 );

                        return *(&w+i);
                }
                
                inline DualQuaternion& operator= (const DualQuaternion& rkQ)
                {
                        w = rkQ.w;
                        x = rkQ.x;
                        y = rkQ.y;
                        z = rkQ.z;
                        dw = rkQ.dw;
                        dx = rkQ.dx;
                        dy = rkQ.dy;
                        dz = rkQ.dz;
                        
                        return *this;
                }

                inline bool operator== (const DualQuaternion& rhs) const
                {
                        return (rhs.w == w) && (rhs.x == x) && (rhs.y == y) && (rhs.z == z) && 
                                (rhs.dw == dw) && (rhs.dx == dx) && (rhs.dy == dy) && (rhs.dz == dz);
                }

                inline bool operator!= (const DualQuaternion& rhs) const
                {
                        return !operator==(rhs);
                }

                /// Pointer accessor for direct copying
                inline Real* ptr()
                {
                        return &w;
                }

                /// Pointer accessor for direct copying
                inline const Real* ptr() const
                {
                        return &w;
                }
                
                /// Exchange the contents of this dual quaternion with another. 
                inline void swap(DualQuaternion& other)
                {
                        std::swap(w, other.w);
                        std::swap(x, other.x);
                        std::swap(y, other.y);
                        std::swap(z, other.z);
                        std::swap(dw, other.dw);
                        std::swap(dx, other.dx);
                        std::swap(dy, other.dy);
                        std::swap(dz, other.dz);
                }
                
                /// Check whether this dual quaternion contains valid values
                inline bool isNaN() const
                {
                        return Math::isNaN(w) || Math::isNaN(x) || Math::isNaN(y) || Math::isNaN(z) ||  
                                Math::isNaN(dw) || Math::isNaN(dx) || Math::isNaN(dy) || Math::isNaN(dz);
                }

                /// Construct a dual quaternion from a rotation described by a Quaternion and a translation described by a Vector3
                void fromRotationTranslation (const Quaternion& q, const Vector3& trans);
                
                /// Convert a dual quaternion into its two components, a Quaternion representing the rotation and a Vector3 representing the translation
                void toRotationTranslation (Quaternion& q, Vector3& translation) const;

                /// Construct a dual quaternion from a 4x4 transformation matrix
                void fromTransformationMatrix (const Matrix4& kTrans);
                
                /// Convert a dual quaternion to a 4x4 transformation matrix
                void toTransformationMatrix (Matrix4& kTrans) const;

                Real w, x, y, z, dw, dx, dy, dz;

                /** 
                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.
                */
                inline _OgreExport friend std::ostream& operator <<
                ( std::ostream& o, const DualQuaternion& q )
                {
                        o << "DualQuaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ", " << q.dw << ", " << q.dx << ", " << q.dy << ", " << q.dz << ")";
                        return o;
                }
        };
        /** @} */
        /** @} */

}

#endif