OgreDualQuaternion.h

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/*
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This source file is part of OGRE
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#ifndef __DualQuaternion_H__
#define __DualQuaternion_H__

#include "OgrePrerequisites.h"
#include "OgreMath.h"

namespace Ogre {

    class _OgreExport DualQuaternion
    {
    public:
        inline DualQuaternion ()
            : w(1), x(0), y(0), z(0), dw(1), dx(0), dy(0), dz(0)
        {
        }
        
        inline DualQuaternion (Real fW, Real fX, Real fY, Real fZ, 
                Real fdW, Real fdX, Real fdY, Real fdZ)
            : w(fW), x(fX), y(fY), z(fZ), dw(fdW), dx(fdX), dy(fdY), dz(fdZ)
        {
        }
        
        inline DualQuaternion(const Matrix4& rot)
        {
            this->fromTransformationMatrix(rot);
        }
        
        inline DualQuaternion(const Quaternion& q, const Vector3& trans)
        {
            this->fromRotationTranslation(q, trans);
        }
        
        inline DualQuaternion(Real* valptr)
        {
            memcpy(&w, valptr, sizeof(Real)*8);
        }

        inline Real operator [] ( const size_t i ) const
        {
            assert( i < 8 );

            return *(&w+i);
        }

        inline Real& operator [] ( const size_t i )
        {
            assert( i < 8 );

            return *(&w+i);
        }
        
        inline DualQuaternion& operator= (const DualQuaternion& rkQ)
        {
            w = rkQ.w;
            x = rkQ.x;
            y = rkQ.y;
            z = rkQ.z;
            dw = rkQ.dw;
            dx = rkQ.dx;
            dy = rkQ.dy;
            dz = rkQ.dz;
            
            return *this;
        }

        inline bool operator== (const DualQuaternion& rhs) const
        {
            return (rhs.w == w) && (rhs.x == x) && (rhs.y == y) && (rhs.z == z) && 
                (rhs.dw == dw) && (rhs.dx == dx) && (rhs.dy == dy) && (rhs.dz == dz);
        }

        inline bool operator!= (const DualQuaternion& rhs) const
        {
            return !operator==(rhs);
        }

        inline Real* ptr()
        {
            return &w;
        }

        inline const Real* ptr() const
        {
            return &w;
        }
        
        inline void swap(DualQuaternion& other)
        {
            std::swap(w, other.w);
            std::swap(x, other.x);
            std::swap(y, other.y);
            std::swap(z, other.z);
            std::swap(dw, other.dw);
            std::swap(dx, other.dx);
            std::swap(dy, other.dy);
            std::swap(dz, other.dz);
        }
        
        inline bool isNaN() const
        {
            return Math::isNaN(w) || Math::isNaN(x) || Math::isNaN(y) || Math::isNaN(z) ||  
                Math::isNaN(dw) || Math::isNaN(dx) || Math::isNaN(dy) || Math::isNaN(dz);
        }

        void fromRotationTranslation (const Quaternion& q, const Vector3& trans);
        
        void toRotationTranslation (Quaternion& q, Vector3& translation) const;

        void fromTransformationMatrix (const Matrix4& kTrans);
        
        void toTransformationMatrix (Matrix4& kTrans) const;

        Real w, x, y, z, dw, dx, dy, dz;

        inline _OgreExport friend std::ostream& operator <<
        ( std::ostream& o, const DualQuaternion& q )
        {
            o << "DualQuaternion(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ", " << q.dw << ", " << q.dx << ", " << q.dy << ", " << q.dz << ")";
            return o;
        }
    };
}

#endif