KFbxDualQuaternion Class Reference

This reference page is linked to from the following overview topics: FBX SDK 2012.

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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.

Examples:

ViewScene/DrawScene.cxx.

Definition at line 53 of file kfbxdualquaternion.h.

#include <kfbxdualquaternion.h>

List of all members.

Constructors and Destructor
	KFbxDualQuaternion ()
	Constructor.
	KFbxDualQuaternion (const KFbxQuaternion &pV1, const KFbxQuaternion &pV2)
	Constructor.
	KFbxDualQuaternion (const KFbxDualQuaternion &pV)
	Copy constructor.
	KFbxDualQuaternion (const KFbxQuaternion &pRotation, const KFbxVector4 &pTranslation)
	Constructor.
	KFbxDualQuaternion (double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2)
	Constructor.
	~KFbxDualQuaternion ()
	Destructor.
Access
KFbxDualQuaternion &	operator= (const KFbxDualQuaternion &pDualQuaternion)
	Assignment operation.
void	Set (double pX1, double pY1, double pZ1, double pW1, double pX2, double pY2, double pZ2, double pW2)
	Set vector.
KFbxQuaternion &	GetFirstQuaternion ()
	Get the first quaternion of the dual quaternion.
KFbxQuaternion &	GetSecondQuaternion ()
	Get the second quaternion of the dual quaternion.
const KFbxQuaternion &	GetFirstQuaternion () const
	Get the first quaternion of the dual quaternion.
const KFbxQuaternion &	GetSecondQuaternion () const
	Get the second quaternion of the dual quaternion.
KFbxQuaternion	GetRotation () const
	Get the rotation part from the dual quaternion.
KFbxVector4	GetTranslation () const
	Get the translation part from the dual quaternion.
Scalar Operations
KFbxDualQuaternion	operator+ (double pValue) const
	Add a value to all vector components.
KFbxDualQuaternion	operator- (double pValue) const
	Subtract a value from all vector components.
KFbxDualQuaternion	operator* (double pValue) const
	Multiply all vector components by a value.
KFbxDualQuaternion	operator/ (double pValue) const
	Divide all vector components by a value.
KFbxDualQuaternion &	operator+= (double pValue)
	Add a value to all vector components.
KFbxDualQuaternion &	operator-= (double pValue)
	Subtract a value from all vector components.
KFbxDualQuaternion &	operator*= (double pValue)
	Multiply a value to all vector elements.
KFbxDualQuaternion &	operator/= (double pValue)
	Divide all vector elements by a value.
Vector Operations
KFbxDualQuaternion	operator- () const
	Unary minus operator.
KFbxDualQuaternion	operator+ (const KFbxDualQuaternion &pDualQuaternion) const
	Add two vectors together.
KFbxDualQuaternion	operator- (const KFbxDualQuaternion &pDualQuaternion) const
	Subtract a quaternion from another quaternion.
KFbxDualQuaternion	operator* (const KFbxDualQuaternion &pDualQuaternion) const
	Memberwise multiplication of two vectors.
KFbxDualQuaternion	operator/ (const KFbxDualQuaternion &pDualQuaternion) const
	Memberwise division of a dual quaternion with another dual quaternion.
KFbxDualQuaternion &	operator+= (const KFbxDualQuaternion &pDualQuaternion)
	Add two quaternions together.
KFbxDualQuaternion &	operator-= (const KFbxDualQuaternion &pDualQuaternion)
	Subtract a dual quaternion from another vector.
KFbxDualQuaternion &	operator*= (const KFbxDualQuaternion &pDualQuaternion)
	Memberwise multiplication of two quaternions.
KFbxDualQuaternion &	operator/= (const KFbxDualQuaternion &pDualQuaternion)
	Memberwise division of a dual quaternion by another dual quaternion.
KFbxDualQuaternion	operator* (const KFbxVector4 pVector) const
	Multiplication of a dual quaternion by a KFbxVector4.
KFbxDualQuaternion	Product (const KFbxDualQuaternion &pDualQuaternion) const
	Return dual quaternion product.
void	Normalize ()
	Normalize the dual quaternion, length set to 1.
void	Inverse ()
	Calculate the dual quaternion's inverse.
KFbxVector4	Deform (KFbxVector4 &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 KFbxDualQuaternion &pV) const
	Equivalence operator.
bool	operator!= (const KFbxDualQuaternion &pV) const
	Non equivalence operator.

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Constructor & Destructor Documentation

KFbxDualQuaternion

(

)

Constructor.

KFbxDualQuaternion	(	const KFbxQuaternion &	pV1,
		const KFbxQuaternion &	pV2
	)

Constructor.

Parameters:

pV1	KFbxQuaternion object.
pV2	KFbxQuaternion object.

KFbxDualQuaternion

(

const KFbxDualQuaternion &

pV

)

Copy constructor.

Parameters:

pV	KFbxQuaternion object copied to this one.

KFbxDualQuaternion	(	const KFbxQuaternion &	pRotation,
		const KFbxVector4 &	pTranslation
	)

Constructor.

Parameters:

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

KFbxDualQuaternion	(	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.

~KFbxDualQuaternion

(

)

Destructor.

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Member Function Documentation

KFbxDualQuaternion& operator=

(

const KFbxDualQuaternion &

pDualQuaternion

)

Assignment operation.

Parameters:

pDualQuaternion

KFbxDualQuaternion 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.

KFbxQuaternion& GetFirstQuaternion

(

)

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Get the first quaternion of the dual quaternion.

Returns:

The first quaternion of the dual quaternion.

Examples:

ViewScene/DrawScene.cxx.

KFbxQuaternion& GetSecondQuaternion

(

)

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Get the second quaternion of the dual quaternion.

Returns:

The second quaternion of the dual quaternion.

const KFbxQuaternion& GetFirstQuaternion

(

)

const

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Get the first quaternion of the dual quaternion.

Returns:

The first quaternion of the dual quaternion.

const KFbxQuaternion& GetSecondQuaternion

(

)

const

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Get the second quaternion of the dual quaternion.

Returns:

The second quaternion of the dual quaternion.

KFbxQuaternion GetRotation

(

)

const

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Get the rotation part from the dual quaternion.

Returns:

KFbxQuaternion object to represent rotation.

KFbxVector4 GetTranslation

(

)

const

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Get the translation part from the dual quaternion.

Returns:

KFbxVector4 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.

KFbxDualQuaternion 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.

KFbxDualQuaternion 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.

KFbxDualQuaternion 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.

KFbxDualQuaternion 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.

KFbxDualQuaternion& 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.

KFbxDualQuaternion& 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.

KFbxDualQuaternion& 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.

KFbxDualQuaternion& 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.

KFbxDualQuaternion operator-

(

)

const

Unary minus operator.

Returns:

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

KFbxDualQuaternion operator+

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion operator-

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion operator*

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion operator/

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion& operator+=

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion& operator-=

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion& operator*=

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion& operator/=

(

const KFbxDualQuaternion &

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.

KFbxDualQuaternion operator*

(

const KFbxVector4

pVector

)

const

Multiplication of a dual quaternion by a KFbxVector4.

Parameters:

pVector

The KFbxVector4 to multiply with.

Returns:

The dual quaternion v' = KFbxDualQuaternion(mQ1, (mQ1 * pVector) + mQ2).

Remarks:

The values in pDualQuaternion are not checked.

KFbxDualQuaternion Product

(

const KFbxDualQuaternion &

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.

Examples:

ViewScene/DrawScene.cxx.

void Inverse

(

)

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Calculate the dual quaternion's inverse.

Returns:

The inverse of this dual quaternion.

KFbxVector4 Deform

(

KFbxVector4 &

pPoint

)

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Deform a point by this dual quaternion.

Returns:

The inverse of this quaternion.

Examples:

ViewScene/DrawScene.cxx.

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 KFbxDualQuaternion &

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 1.0e-6 tolerance), false otherwise.

bool operator!=

(

const KFbxDualQuaternion &

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 1.0e-6 tolerance), true otherwise.

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

• fbxfilesdk/kfbxmath/kfbxdualquaternion.h