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.

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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.

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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.

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

• fbxsdk/core/math/fbxdualquaternion.h