U4DEngine::U4DDualQuaternion Class Reference

The U4DDualQuaternion class implements a Dual-Quaternion mathematical entity used for storing rotation and translations as real and pure quaternions, respectively. More...

Public Member Functions
	U4DDualQuaternion ()
	Dual quaternion constructor. The constructor creates a Real and a Pure Quaternion used for rotation and translation.
	U4DDualQuaternion (const U4DQuaternion &q, U4DVector3n &v)
	Dual quaternion constructor which constructs a dualquaternion from a quaternion and a 3D vector.
	U4DDualQuaternion (const U4DQuaternion &q, U4DQuaternion &v)
	Dual quaternion constructor that constructs a dualquaternion from two quaternions representing rotation and translation, respectively.
	U4DDualQuaternion (const U4DDualQuaternion &value)
	Copy constructor for a dual quaternion.
U4DDualQuaternion &	operator= (const U4DDualQuaternion &value)
	Copy constructor for a dual quaternion. More...
	~U4DDualQuaternion ()
	Dual quaternion destructor.
void	operator+= (const U4DDualQuaternion &q)
	Method to add two dual quaternions. More...
U4DDualQuaternion	operator+ (const U4DDualQuaternion &q) const
	Method to add two dual quaternions. More...
void	operator*= (const U4DDualQuaternion &q)
	Method to multiply two dual quaternions. More...
U4DDualQuaternion	operator* (const U4DDualQuaternion &q) const
	Method to multiply two dual quaternions. More...
U4DDualQuaternion	multiply (const U4DDualQuaternion &q) const
	Method to multiply two dual quaternions. More...
U4DDualQuaternion	operator* (const float value)
	Method to multiply a dual quaternion times a scalar value. More...
float	dot (U4DDualQuaternion &q)
	Method which determines the dot product between two dual quaternions. More...
U4DDualQuaternion	normalize ()
	Method to normalize the dual quaternions. More...
U4DDualQuaternion	conjugate ()
	Method to conjugate the dual quaternion. More...
U4DQuaternion	getRealQuaternionPart ()
	Method to get the Real part of the dual quaternion. That is, it gets the quaternion that represents the orientation. More...
U4DQuaternion	getPureQuaternionPart ()
	Method to get the Pure part of the dual quaternion. That is, it gets the quaternion that represents translation. More...
U4DMatrix4n	transformDualQuaternionToMatrix4n ()
	Method which transforms a Dual quaternion into its 4x4 matrix representation. More...
void	transformMatrix4nToDualQuaternion (U4DMatrix4n &uMatrix)
	Method which transforms a 4x4 matrix into its dual quaternion representation. More...
void	setRealQuaternionPart (U4DQuaternion &uqReal)
	Method which sets the Real part of the dual quaternion. More...
void	setPureQuaternionPart (U4DQuaternion &uqPure)
	Method which sets the Pure part of the dual quaternion. More...
U4DDualQuaternion	sclerp (U4DDualQuaternion &uToDualQuaternion, float t)
	Method which computes the sclerp between two dual quaternions. More...
void	show ()
	Method which prints the Real and Pure parts of the dual quaternion.

Public Attributes
U4DQuaternion	qReal
	real part of dual quaternion. This quaternion represents Orientation
U4DQuaternion	qPure
	pure part of dual quaternion- This quaternion represents Translation

Detailed Description

The U4DDualQuaternion class implements a Dual-Quaternion mathematical entity used for storing rotation and translations as real and pure quaternions, respectively.

Member Function Documentation

conjugate()

U4DDualQuaternion U4DEngine::U4DDualQuaternion::conjugate

(

)

Method to conjugate the dual quaternion.

Returns

Conjugates the dual quaternion

dot()

float U4DEngine::U4DDualQuaternion::dot

(

U4DDualQuaternion &

q

)

Method which determines the dot product between two dual quaternions.

Parameters

q	Dual quaternion to find the dot product with

Returns

Returns the dot product of the dual quaternions

getPureQuaternionPart()

U4DQuaternion U4DEngine::U4DDualQuaternion::getPureQuaternionPart

(

)

Method to get the Pure part of the dual quaternion. That is, it gets the quaternion that represents translation.

Returns

Returns the quaternion representing translation

getRealQuaternionPart()

U4DQuaternion U4DEngine::U4DDualQuaternion::getRealQuaternionPart

(

)

Method to get the Real part of the dual quaternion. That is, it gets the quaternion that represents the orientation.

Returns

Returns the quaternion representing the orientation

multiply()

U4DDualQuaternion U4DEngine::U4DDualQuaternion::multiply

(

const U4DDualQuaternion &

q

)

const

Method to multiply two dual quaternions.

Parameters

q	Dual quaternion to multiply

Returns

Returns the product of two dual quaternions

normalize()

U4DDualQuaternion U4DEngine::U4DDualQuaternion::normalize

(

)

Method to normalize the dual quaternions.

Returns

Normalizes the dual quaternion

operator*() [1/2]

U4DDualQuaternion U4DEngine::U4DDualQuaternion::operator*

(

const float

value

)

Method to multiply a dual quaternion times a scalar value.

Parameters

value

Scalar value to multiply the dual quaternion

Returns

Returns the product of a dual quaternion and a scalar

operator*() [2/2]

U4DDualQuaternion U4DEngine::U4DDualQuaternion::operator*

(

const U4DDualQuaternion &

q

)

const

Method to multiply two dual quaternions.

Parameters

q	Dual quaternion to multiply

Returns

Returns the product of two dual quaternions

operator*=()

void U4DEngine::U4DDualQuaternion::operator*=

(

const U4DDualQuaternion &

q

)

Method to multiply two dual quaternions.

Parameters

q	Dual quaternion to multiply

Returns

Returns the product of two dual quaternions

operator+()

U4DDualQuaternion U4DEngine::U4DDualQuaternion::operator+

(

const U4DDualQuaternion &

q

)

const

Method to add two dual quaternions.

Parameters

q	Dual quaternion to add

Returns

Returns the addition of two dual quaternions

operator+=()

void U4DEngine::U4DDualQuaternion::operator+=

(

const U4DDualQuaternion &

q

)

Method to add two dual quaternions.

Parameters

q	Dual quaternion to add

Returns

Returns the addition of two dual quaternions

operator=()

U4DDualQuaternion & U4DEngine::U4DDualQuaternion::operator=

(

const U4DDualQuaternion &

value

)

Copy constructor for a dual quaternion.

Parameters

value

Dualquaternion to copy

Returns

Returns a copy of the dual quaternion

sclerp()

U4DDualQuaternion U4DEngine::U4DDualQuaternion::sclerp	(	U4DDualQuaternion &	uToDualQuaternion,
		float	t
	)

Method which computes the sclerp between two dual quaternions.

Parameters

uToDualQuaternion	Dual quaternion to compute sclerp with
t	Scalar time value

Returns

Returns the sclerp between the two dual quaternions

setPureQuaternionPart()

void U4DEngine::U4DDualQuaternion::setPureQuaternionPart

(

U4DQuaternion &

uqPure

)

Method which sets the Pure part of the dual quaternion.

Parameters

uqPure

Pure part of the Dual quaternion

setRealQuaternionPart()

void U4DEngine::U4DDualQuaternion::setRealQuaternionPart

(

U4DQuaternion &

uqReal

)

Method which sets the Real part of the dual quaternion.

Parameters

uqReal

Real part of the Dual quaternion

transformDualQuaternionToMatrix4n()

U4DMatrix4n U4DEngine::U4DDualQuaternion::transformDualQuaternionToMatrix4n

(

)

Method which transforms a Dual quaternion into its 4x4 matrix representation.

Returns

Returns a 4x4 matrix representation

transformMatrix4nToDualQuaternion()

void U4DEngine::U4DDualQuaternion::transformMatrix4nToDualQuaternion

(

U4DMatrix4n &

uMatrix

)

Method which transforms a 4x4 matrix into its dual quaternion representation.

Parameters

uMatrix

4x4 matrix to use to compute the dual quaternion representation