fbxdualquaternion.h

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/****************************************************************************************
 
   Copyright (C) 2013 Autodesk, Inc.
   All rights reserved.
 
   Use of this software is subject to the terms of the Autodesk license agreement
   provided at the time of installation or download, or which otherwise accompanies
   this software in either electronic or hard copy form.
 
****************************************************************************************/

#ifndef _FBXSDK_CORE_MATH_DUAL_QUATERNION_H_
#define _FBXSDK_CORE_MATH_DUAL_QUATERNION_H_

#include <fbxsdk/fbxsdk_def.h>

#include <fbxsdk/core/math/fbxquaternion.h>

#include <fbxsdk/fbxsdk_nsbegin.h>

class FBXSDK_DLL FbxDualQuaternion
{
public:

        FbxDualQuaternion();

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

        FbxDualQuaternion(const FbxDualQuaternion& pV);

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

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

        ~FbxDualQuaternion();

        FbxDualQuaternion& operator=(const FbxDualQuaternion& pDualQuaternion);

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

        FbxQuaternion& GetFirstQuaternion();

        FbxQuaternion& GetSecondQuaternion();

        const FbxQuaternion& GetFirstQuaternion() const;

        const FbxQuaternion& GetSecondQuaternion() const;

        FbxQuaternion GetRotation() const;

        FbxVector4 GetTranslation() const;

        FbxDualQuaternion operator+(double pValue) const;

        FbxDualQuaternion operator-(double pValue) const;

        FbxDualQuaternion operator*(double pValue) const;

        FbxDualQuaternion operator/(double pValue) const;

        FbxDualQuaternion& operator+=(double pValue);

        FbxDualQuaternion& operator-=(double pValue);

        FbxDualQuaternion& operator*=(double pValue);

        FbxDualQuaternion& operator/=(double pValue);

        FbxDualQuaternion operator-() const;

        FbxDualQuaternion operator+(const FbxDualQuaternion& pDualQuaternion) const;

        FbxDualQuaternion operator-(const FbxDualQuaternion& pDualQuaternion) const;

        FbxDualQuaternion operator*(const FbxDualQuaternion& pDualQuaternion) const;

        FbxDualQuaternion operator/(const FbxDualQuaternion& pDualQuaternion) const;

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

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

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

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

        FbxDualQuaternion operator*(const FbxVector4 pVector) const;

        FbxDualQuaternion Product(const FbxDualQuaternion& pDualQuaternion) const;

        void Normalize();

        void Inverse();

        FbxVector4 Deform(FbxVector4& pPoint);

        void Conjugate();

        void Dual();

        void DualConjugate();

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

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

/*****************************************************************************************************************************
** WARNING! Anything beyond these lines is for internal use, may not be documented and is subject to change without notice! **
*****************************************************************************************************************************/
#ifndef DOXYGEN_SHOULD_SKIP_THIS
private:
    FbxQuaternion mQ1;
    FbxQuaternion mQ2;
#endif /* !DOXYGEN_SHOULD_SKIP_THIS *****************************************************************************************/
};

#include <fbxsdk/fbxsdk_nsend.h>

#endif /* _FBXSDK_CORE_MATH_DUAL_QUATERNION_H_ */