fbxsdk/core/math/fbxdualquaternion.h
Source File
00001 /**************************************************************************************** 00002 00003 Copyright (C) 2013 Autodesk, Inc. 00004 All rights reserved. 00005 00006 Use of this software is subject to the terms of the Autodesk license agreement 00007 provided at the time of installation or download, or which otherwise accompanies 00008 this software in either electronic or hard copy form. 00009 00010 ****************************************************************************************/ 00011 00013 #ifndef _FBXSDK_CORE_MATH_DUAL_QUATERNION_H_ 00014 #define _FBXSDK_CORE_MATH_DUAL_QUATERNION_H_ 00015 00016 #include <fbxsdk/fbxsdk_def.h> 00017 00018 #include <fbxsdk/core/math/fbxquaternion.h> 00019 00020 #include <fbxsdk/fbxsdk_nsbegin.h> 00021 00027 class FBXSDK_DLL FbxDualQuaternion 00028 { 00029 public: 00034 00035 FbxDualQuaternion(); 00036 00041 FbxDualQuaternion(const FbxQuaternion& pV1, const FbxQuaternion& pV2); 00042 00046 FbxDualQuaternion(const FbxDualQuaternion& pV); 00047 00052 FbxDualQuaternion(const FbxQuaternion& pRotation, const FbxVector4& pTranslation); 00053 00064 FbxDualQuaternion(double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2); 00065 00067 ~FbxDualQuaternion(); 00069 00077 FbxDualQuaternion& operator=(const FbxDualQuaternion& pDualQuaternion); 00078 00089 void Set(double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2); 00090 00094 FbxQuaternion& GetFirstQuaternion(); 00095 00099 FbxQuaternion& GetSecondQuaternion(); 00100 00104 const FbxQuaternion& GetFirstQuaternion() const; 00105 00109 const FbxQuaternion& GetSecondQuaternion() const; 00110 00114 FbxQuaternion GetRotation() const; 00115 00121 FbxVector4 GetTranslation() const; 00123 00133 FbxDualQuaternion operator+(double pValue) const; 00134 00140 FbxDualQuaternion operator-(double pValue) const; 00141 00147 FbxDualQuaternion operator*(double pValue) const; 00148 00154 FbxDualQuaternion operator/(double pValue) const; 00155 00161 FbxDualQuaternion& operator+=(double pValue); 00162 00168 FbxDualQuaternion& operator-=(double pValue); 00169 00175 FbxDualQuaternion& operator*=(double pValue); 00176 00182 FbxDualQuaternion& operator/=(double pValue); 00184 00192 FbxDualQuaternion operator-() const; 00193 00199 FbxDualQuaternion operator+(const FbxDualQuaternion& pDualQuaternion) const; 00200 00206 FbxDualQuaternion operator-(const FbxDualQuaternion& pDualQuaternion) const; 00207 00213 FbxDualQuaternion operator*(const FbxDualQuaternion& pDualQuaternion) const; 00214 00220 FbxDualQuaternion operator/(const FbxDualQuaternion& pDualQuaternion) const; 00221 00227 FbxDualQuaternion& operator+=(const FbxDualQuaternion& pDualQuaternion); 00228 00234 FbxDualQuaternion& operator-=(const FbxDualQuaternion& pDualQuaternion); 00235 00241 FbxDualQuaternion& operator*=(const FbxDualQuaternion& pDualQuaternion); 00242 00248 FbxDualQuaternion& operator/=(const FbxDualQuaternion& pDualQuaternion); 00249 00255 FbxDualQuaternion operator*(const FbxVector4 pVector) const; 00256 00261 FbxDualQuaternion Product(const FbxDualQuaternion& pDualQuaternion) const; 00262 00265 void Normalize(); 00266 00270 void Inverse(); 00271 00275 FbxVector4 Deform(FbxVector4& pPoint); 00277 00285 void Conjugate(); 00286 00289 void Dual(); 00290 00293 void DualConjugate(); 00295 00304 bool operator==(const FbxDualQuaternion & pV) const; 00305 00310 bool operator!=(const FbxDualQuaternion & pV) const; 00312 00313 /***************************************************************************************************************************** 00314 ** WARNING! Anything beyond these lines is for internal use, may not be documented and is subject to change without notice! ** 00315 *****************************************************************************************************************************/ 00316 #ifndef DOXYGEN_SHOULD_SKIP_THIS 00317 private: 00318 FbxQuaternion mQ1; 00319 FbxQuaternion mQ2; 00320 #endif /* !DOXYGEN_SHOULD_SKIP_THIS *****************************************************************************************/ 00321 }; 00322 00323 #include <fbxsdk/fbxsdk_nsend.h> 00324 00325 #endif /* _FBXSDK_CORE_MATH_DUAL_QUATERNION_H_ */