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# FbxDualQuaternion Class Reference

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## Detailed Description

FBX SDK dual quaternion class to represent rigid transformation, which is combined by two quaternions.

A transformation is said to be rigid if it preserves relative distances and angles. That means rotation and translation.

Definition at line 27 of file fbxdualquaternion.h.

`#include <fbxdualquaternion.h>`

List of all members.

## Constructors and Destructor
| FbxDualQuaternion ()
| Constructor.
| FbxDualQuaternion (const FbxQuaternion &pV1, const FbxQuaternion &pV2)
| Constructor.
| FbxDualQuaternion (const FbxDualQuaternion &pV)
| Copy constructor.
| FbxDualQuaternion (const FbxQuaternion &pRotation, const FbxVector4 &pTranslation)
| Constructor.
| FbxDualQuaternion (double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2)
| Constructor.
| ~FbxDualQuaternion ()
| Destructor.
## Access
FbxDualQuaternion & | operator= (const FbxDualQuaternion &pDualQuaternion)
| Assignment operation.
void | Set (double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2)
| Set vector.
FbxQuaternion & | GetFirstQuaternion ()
| Get the first quaternion of the dual quaternion.
FbxQuaternion & | GetSecondQuaternion ()
| Get the second quaternion of the dual quaternion.
const FbxQuaternion & | GetFirstQuaternion () const
| Get the first quaternion of the dual quaternion.
const FbxQuaternion & | GetSecondQuaternion () const
| Get the second quaternion of the dual quaternion.
FbxQuaternion | GetRotation () const
| Get the rotation part from the dual quaternion.
FbxVector4 | GetTranslation () const
| Get the translation part from the dual quaternion.
## Scalar Operations
FbxDualQuaternion | operator+ (double pValue) const
| Add a value to all vector components.
FbxDualQuaternion | operator- (double pValue) const
| Subtract a value from all vector components.
FbxDualQuaternion | operator* (double pValue) const
| Multiply all vector components by a value.
FbxDualQuaternion | operator/ (double pValue) const
| Divide all vector components by a value.
FbxDualQuaternion & | operator+= (double pValue)
| Add a value to all vector components.
FbxDualQuaternion & | operator-= (double pValue)
| Subtract a value from all vector components.
FbxDualQuaternion & | operator*= (double pValue)
| Multiply a value to all vector elements.
FbxDualQuaternion & | operator/= (double pValue)
| Divide all vector elements by a value.
## Vector Operations
FbxDualQuaternion | operator- () const
| Unary minus operator.
FbxDualQuaternion | operator+ (const FbxDualQuaternion &pDualQuaternion) const
| Add two vectors together.
FbxDualQuaternion | operator- (const FbxDualQuaternion &pDualQuaternion) const
| Subtract a quaternion from another quaternion.
FbxDualQuaternion | operator* (const FbxDualQuaternion &pDualQuaternion) const
| Memberwise multiplication of two vectors.
FbxDualQuaternion | operator/ (const FbxDualQuaternion &pDualQuaternion) const
| Memberwise division of a dual quaternion with another dual quaternion.
FbxDualQuaternion & | operator+= (const FbxDualQuaternion &pDualQuaternion)
| Add two quaternions together.
FbxDualQuaternion & | operator-= (const FbxDualQuaternion &pDualQuaternion)
| Subtract a dual quaternion from another vector.
FbxDualQuaternion & | operator*= (const FbxDualQuaternion &pDualQuaternion)
| Memberwise multiplication of two quaternions.
FbxDualQuaternion & | operator/= (const FbxDualQuaternion &pDualQuaternion)
| Memberwise division of a dual quaternion by another dual quaternion.
FbxDualQuaternion | operator* (const FbxVector4 pVector) const
| Multiplication of a dual quaternion by a FbxVector4.
FbxDualQuaternion | Product (const FbxDualQuaternion &pDualQuaternion) const
| Return dual quaternion product.
void | Normalize ()
| Normalize the dual quaternion, length set to 1.
void | Inverse ()
| Calculate the dual quaternion's inverse.
FbxVector4 | Deform (FbxVector4 &pPoint)
| Deform a point by this dual quaternion.
## Conjugate Operations
Dual quaternion has three types of conjugate.
void | Conjugate ()
| Conjugate both quaternions of this dual quaternion.
void | Dual ()
| Conjugate in dual space.
void | DualConjugate ()
| Conjugate both quaternions of this dual quaternion in dual space.
## Boolean Operations
bool | operator== (const FbxDualQuaternion &pV) const
| Equivalence operator.
bool | operator!= (const FbxDualQuaternion &pV) const
| Non equivalence operator.

## Constructor & Destructor Documentation

FbxDualQuaternion | ( |  | ) |

Constructor.

FbxDualQuaternion | ( | const FbxQuaternion & | pV1,
|  | const FbxQuaternion & | pV2
| ) |  |

Constructor.

Parameters:

  pV1 | FbxQuaternion object.
  pV2 | FbxQuaternion object.

FbxDualQuaternion | ( | const FbxDualQuaternion & | pV | ) |

Copy constructor.

Parameters:

  pV | FbxQuaternion object copied to this one.

FbxDualQuaternion | ( | const FbxQuaternion & | pRotation,
|  | const FbxVector4 & | pTranslation
| ) |  |

Constructor.

Parameters:

  pRotation | The rotation the dual quaternion is going to represent.
  pTranslation | The translation the dual quaternion is going to represent.

FbxDualQuaternion | ( | double | pX1,
|  | double | pY1,
|  | double | pZ1,
|  | double | pW1,
|  | double | pX2,
|  | double | pY2,
|  | double | pZ2,
|  | double | pW2
| ) |  |

Constructor.

Parameters:

  pX1 | The X component of the first quaternion.
  pY1 | The Y component of the first quaternion.
  pZ1 | The Z component of the first quaternion.
  pW1 | The W component of the first quaternion.
  pX2 | The X component of the second quaternion.
  pY2 | The Y component of the second quaternion.
  pZ2 | The Z component of the second quaternion.
  pW2 | The W component of the second quaternion.

~FbxDualQuaternion | ( |  | ) |

Destructor.

## Member Function Documentation

FbxDualQuaternion& operator= | ( | const FbxDualQuaternion & | pDualQuaternion | ) |

Assignment operation.

Parameters:

  pDualQuaternion | FbxDualQuaternion object assigned to this one.

void Set | ( | double | pX1,
|  | double | pY1,
|  | double | pZ1,
|  | double | pW1,
|  | double | pX2,
|  | double | pY2,
|  | double | pZ2,
|  | double | pW2
| ) |  |

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Set vector.

Parameters:

  pX1 | The X component of the first quaternion.
  pY1 | The Y component of the first quaternion.
  pZ1 | The Z component of the first quaternion.
  pW1 | The W component of the first quaternion.
  pX2 | The X component of the second quaternion.
  pY2 | The Y component of the second quaternion.
  pZ2 | The Z component of the second quaternion.
  pW2 | The W component of the second quaternion.

FbxQuaternion& GetFirstQuaternion | ( |  | ) |

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Get the first quaternion of the dual quaternion.

Returns:
  The first quaternion of the dual quaternion.

FbxQuaternion& GetSecondQuaternion | ( |  | ) |

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Get the second quaternion of the dual quaternion.

Returns:
  The second quaternion of the dual quaternion.

const FbxQuaternion& GetFirstQuaternion | ( |  | ) | const

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Get the first quaternion of the dual quaternion.

Returns:
  The first quaternion of the dual quaternion.

const FbxQuaternion& GetSecondQuaternion | ( |  | ) | const

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Get the second quaternion of the dual quaternion.

Returns:
  The second quaternion of the dual quaternion.

FbxQuaternion GetRotation | ( |  | ) | const

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Get the rotation part from the dual quaternion.

Returns:
  FbxQuaternion object to represent rotation.

FbxVector4 GetTranslation | ( |  | ) | const

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Get the translation part from the dual quaternion.

Returns:
  FbxVector4 object to represent translation.

Remarks:
  A dual quaternion can represent rotation first then translation or translation first then rotation. in most DCC,rotation first then translation, so we extract translation in this order.

FbxDualQuaternion operator+ | ( | double | pValue | ) | const

Add a value to all vector components.

Parameters:

  pValue | The value to add to each component of the vector.

Returns:
  New vector.

Remarks:
  The passed value is not checked.

FbxDualQuaternion operator- | ( | double | pValue | ) | const

Subtract a value from all vector components.

Parameters:

  pValue | The value to subtract from each component of the vector.

Returns:
  New vector.

Remarks:
  The passed value is not checked.

FbxDualQuaternion operator* | ( | double | pValue | ) | const

Multiply all vector components by a value.

Parameters:

  pValue | The value multiplying each component of the vector.

Returns:
  New vector.

Remarks:
  The passed value is not checked.

FbxDualQuaternion operator/ | ( | double | pValue | ) | const

Divide all vector components by a value.

Parameters:

  pValue | The value dividing each component of the vector.

Returns:
  New vector.

Remarks:
  The passed value is not checked.

FbxDualQuaternion& operator+= | ( | double | pValue | ) |

Add a value to all vector components.

Parameters:

  pValue | The value to add to each component of the vector.

Returns:
  The result of adding pValue to each component of the vector, replacing this dual quaternion.

Remarks:
  The passed value is not checked.

FbxDualQuaternion& operator-= | ( | double | pValue | ) |

Subtract a value from all vector components.

Parameters:

  pValue | The value to subtract from each component of the vector.

Returns:
  The result of subtracting pValue from each component of the vector, replacing this dual quaternion.

Remarks:
  The passed value is not checked.

FbxDualQuaternion& operator*= | ( | double | pValue | ) |

Multiply a value to all vector elements.

Parameters:

  pValue | The value multiplying each component of the vector.

Returns:
  The result of multiplying each component of the vector by pValue, replacing this dual quaternion.

Remarks:
  The passed value is not checked.

FbxDualQuaternion& operator/= | ( | double | pValue | ) |

Divide all vector elements by a value.

Parameters:

  pValue | The value dividing each component of the vector.

Returns:
  The result of dividing each component of the vector by pValue, replacing this dual quaternion.

Remarks:
  The passed value is not checked.

FbxDualQuaternion operator- | ( |  | ) | const

Unary minus operator.

Returns:
  A dual quaternion where each component is multiplied by -1.

FbxDualQuaternion operator+ | ( | const FbxDualQuaternion & | pDualQuaternion | ) | const

Add two vectors together.

Parameters:

  pDualQuaternion | Dual quaternion to add.

Returns:
  The dual quaternion v' = this + pDualQuaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion operator- | ( | const FbxDualQuaternion & | pDualQuaternion | ) | const

Subtract a quaternion from another quaternion.

Parameters:

  pDualQuaternion | Dual quaternion to subtract.

Returns:
  The dual quaternion v' = this - pDualQuaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion operator* | ( | const FbxDualQuaternion & | pDualQuaternion | ) | const

Memberwise multiplication of two vectors.

Parameters:

  pDualQuaternion | Multiplying dual quaternion.

Returns:
  The dual quaternion v' = this * pQuaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion operator/ | ( | const FbxDualQuaternion & | pDualQuaternion | ) | const

Memberwise division of a dual quaternion with another dual quaternion.

Parameters:

  pDualQuaternion | Dividing dual quaternion.

Returns:
  The dual quaternion v' = this / pQuaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion& operator+= | ( | const FbxDualQuaternion & | pDualQuaternion | ) |

Add two quaternions together.

Parameters:

  pDualQuaternion | Dual quaternion to add.

Returns:
  The dual quaternion v' = this + pQuaternion, replacing this dual quaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion& operator-= | ( | const FbxDualQuaternion & | pDualQuaternion | ) |

Subtract a dual quaternion from another vector.

Parameters:

  pDualQuaternion | Dual quaternion to subtract.

Returns:
  The dual quaternion v' = this - pQuaternion, replacing this dual quaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion& operator*= | ( | const FbxDualQuaternion & | pDualQuaternion | ) |

Memberwise multiplication of two quaternions.

Parameters:

  pDualQuaternion | Multiplying dual quaternion.

Returns:
  The dual quaternion v' = this * pQuaternion, replacing this dual quaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion& operator/= | ( | const FbxDualQuaternion & | pDualQuaternion | ) |

Memberwise division of a dual quaternion by another dual quaternion.

Parameters:

  pDualQuaternion | Dividing dual quaternion.

Returns:
  The dual quaternion v' = this / pQuaternion, replacing this dual quaternion.

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion operator* | ( | const FbxVector4 | pVector | ) | const

Multiplication of a dual quaternion by a FbxVector4.

Parameters:

  pVector | The FbxVector4 to multiply with.

Returns:
  The dual quaternion v' = FbxDualQuaternion(mQ1, (mQ1 * pVector) + mQ2).

Remarks:
  The values in pDualQuaternion are not checked.

FbxDualQuaternion Product | ( | const FbxDualQuaternion & | pDualQuaternion | ) | const

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Return dual quaternion product.

Parameters:

  pDualQuaternion | product dual quaternion.

Returns:
  This dual quaternion replace with the dual quaternion product.

void Normalize | ( |  | ) |

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Normalize the dual quaternion, length set to 1.

void Inverse | ( |  | ) |

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Calculate the dual quaternion's inverse.

Returns:
  The inverse of this dual quaternion.

FbxVector4 Deform | ( | FbxVector4 & | pPoint | ) |

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Deform a point by this dual quaternion.

Returns:
  The inverse of this quaternion.

void Conjugate | ( |  | ) |

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Conjugate both quaternions of this dual quaternion.

void Dual | ( |  | ) |

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Conjugate in dual space.

void DualConjugate | ( |  | ) |

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Conjugate both quaternions of this dual quaternion in dual space.

bool operator== | ( | const FbxDualQuaternion & | pV | ) | const

Equivalence operator.

Parameters:

  pV | The quaternion to be compared to this quaternion.

Returns:
  `true` if the two quaternions are equal (each element is within a FBXSDK_TOLERANCE tolerance), `false` otherwise.

bool operator!= | ( | const FbxDualQuaternion & | pV | ) | const

Non equivalence operator.

Parameters:

  pV | The quaternion to be compared to this.

Returns:
  `false` if the two quaternions are equal (each element is within a FBXSDK_TOLERANCE tolerance), `true` otherwise.

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

- fbxsdk/core/math/fbxdualquaternion.h

FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion
FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion FbxDualQuaternion