FbxDualQuaternion Class Reference

#include <fbxdualquaternion.h>

Class 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.

Examples:

Definition at line 27 of file fbxdualquaternion.h.

Constructors and Destructor
	FbxDualQuaternion ()
	Constructor. More...
	FbxDualQuaternion (const FbxQuaternion &pV1, const FbxQuaternion &pV2)
	Constructor. More...
	FbxDualQuaternion (const FbxDualQuaternion &pV)
	Copy constructor. More...
	FbxDualQuaternion (const FbxQuaternion &pRotation, const FbxVector4 &pTranslation)
	Constructor. More...
	FbxDualQuaternion (double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2)
	Constructor. More...
	~FbxDualQuaternion ()
	Destructor. More...

Access
FbxDualQuaternion &	operator= (const FbxDualQuaternion &pDualQuaternion)
	Assignment operation. More...
void	Set (double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2)
	Set vector. More...
FbxQuaternion &	GetFirstQuaternion ()
	Get the first quaternion of the dual quaternion. More...
FbxQuaternion &	GetSecondQuaternion ()
	Get the second quaternion of the dual quaternion. More...
const FbxQuaternion &	GetFirstQuaternion () const
	Get the first quaternion of the dual quaternion. More...
const FbxQuaternion &	GetSecondQuaternion () const
	Get the second quaternion of the dual quaternion. More...
FbxQuaternion	GetRotation () const
	Get the rotation part from the dual quaternion. More...
FbxVector4	GetTranslation () const
	Get the translation part from the dual quaternion. More...

Scalar Operations
FbxDualQuaternion	operator+ (double pValue) const
	Add a value to all vector components. More...
FbxDualQuaternion	operator- (double pValue) const
	Subtract a value from all vector components. More...
FbxDualQuaternion	operator* (double pValue) const
	Multiply all vector components by a value. More...
FbxDualQuaternion	operator/ (double pValue) const
	Divide all vector components by a value. More...
FbxDualQuaternion &	operator+= (double pValue)
	Add a value to all vector components. More...
FbxDualQuaternion &	operator-= (double pValue)
	Subtract a value from all vector components. More...
FbxDualQuaternion &	operator*= (double pValue)
	Multiply a value to all vector elements. More...
FbxDualQuaternion &	operator/= (double pValue)
	Divide all vector elements by a value. More...

Vector Operations
FbxDualQuaternion	operator- () const
	Unary minus operator. More...
FbxDualQuaternion	operator+ (const FbxDualQuaternion &pDualQuaternion) const
	Add two vectors together. More...
FbxDualQuaternion	operator- (const FbxDualQuaternion &pDualQuaternion) const
	Subtract a quaternion from another quaternion. More...
FbxDualQuaternion	operator* (const FbxDualQuaternion &pDualQuaternion) const
	Memberwise multiplication of two vectors. More...
FbxDualQuaternion	operator/ (const FbxDualQuaternion &pDualQuaternion) const
	Memberwise division of a dual quaternion with another dual quaternion. More...
FbxDualQuaternion &	operator+= (const FbxDualQuaternion &pDualQuaternion)
	Add two quaternions together. More...
FbxDualQuaternion &	operator-= (const FbxDualQuaternion &pDualQuaternion)
	Subtract a dual quaternion from another vector. More...
FbxDualQuaternion &	operator*= (const FbxDualQuaternion &pDualQuaternion)
	Memberwise multiplication of two quaternions. More...
FbxDualQuaternion &	operator/= (const FbxDualQuaternion &pDualQuaternion)
	Memberwise division of a dual quaternion by another dual quaternion. More...
FbxDualQuaternion	operator* (const FbxVector4 pVector) const
	Multiplication of a dual quaternion by a FbxVector4. More...
FbxDualQuaternion	Product (const FbxDualQuaternion &pDualQuaternion) const
	Return dual quaternion product. More...
void	Normalize ()
	Normalize the dual quaternion, length set to 1. More...
void	Inverse ()
	Calculate the dual quaternion's inverse. More...
FbxVector4	Deform (FbxVector4 &pPoint)
	Deform a point by this dual quaternion. More...

Conjugate Operations
Dual quaternion has three types of conjugate.
void	Conjugate ()
	Conjugate both quaternions of this dual quaternion. More...
void	Dual ()
	Conjugate in dual space. More...
void	DualConjugate ()
	Conjugate both quaternions of this dual quaternion in dual space. More...

Boolean Operations
bool	operator== (const FbxDualQuaternion &pV) const
	Equivalence operator. More...
bool	operator!= (const FbxDualQuaternion &pV) const
	Non equivalence operator. More...

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
	)

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

(

)

Get the first quaternion of the dual quaternion.

Returns

The first quaternion of the dual quaternion.

Examples:

FbxQuaternion& GetSecondQuaternion

(

)

Get the second quaternion of the dual quaternion.

Returns

The second quaternion of the dual quaternion.

const FbxQuaternion& GetFirstQuaternion

(

)

const

Get the first quaternion of the dual quaternion.

Returns

The first quaternion of the dual quaternion.

const FbxQuaternion& GetSecondQuaternion

(

)

const

Get the second quaternion of the dual quaternion.

Returns

The second quaternion of the dual quaternion.

FbxQuaternion GetRotation

(

)

const

Get the rotation part from the dual quaternion.

Returns

FbxQuaternion object to represent rotation.

FbxVector4 GetTranslation

(

)

const

Get the translation part from the dual quaternion.

Returns

FbxVector4 object to represent translation.

Remarks

A dual quaternion can represent rotation followed by translation, or translation followed by rotation. This method assumes that the rotation is expressed first, followed by translation, as is done by most DCC tools.

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

Return dual quaternion product.

Parameters

pDualQuaternion

Product dual quaternion.

Returns

The dual quaternion that is the product of this and pDualQuaternion.

void Normalize

(

)

Normalize the dual quaternion, length set to 1.

Examples:

void Inverse

(

)

Calculate the dual quaternion's inverse.

Returns

The inverse of this dual quaternion.

FbxVector4 Deform

(

FbxVector4 &

pPoint

)

Deform a point by this dual quaternion.

Returns

The inverse of this quaternion.

Examples:

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.

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