dualQuatd.h

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//
// Copyright 2021 Pixar
//
// Licensed under the Apache License, Version 2.0 (the "Apache License")
// with the following modification; you may not use this file except in
// compliance with the Apache License and the following modification to it:
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//
// 6. Trademarks. This License does not grant permission to use the trade
//    names, trademarks, service marks, or product names of the Licensor
//    and its affiliates, except as required to comply with Section 4(c) of
//    the License and to reproduce the content of the NOTICE file.
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//     http://www.apache.org/licenses/LICENSE-2.0
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// dualQuat.template.h file to make changes.

#ifndef PXR_BASE_GF_DUALQUATD_H
#define PXR_BASE_GF_DUALQUATD_H


#include "pxr/pxr.h"
#include "pxr/base/gf/api.h"
#include "pxr/base/gf/declare.h"
#include "pxr/base/gf/traits.h"

#include "pxr/base/gf/quatd.h"

#include <boost/functional/hash.hpp>

#include <iosfwd>

PXR_NAMESPACE_OPEN_SCOPE

template <>
struct GfIsGfDualQuat<class GfDualQuatd> { static const bool value = true; };

double GfDot(const GfDualQuatd& dq1, const GfDualQuatd& dq2);


class GfDualQuatd final
{
  public:
    typedef double ScalarType;

    GfDualQuatd() {}

    explicit GfDualQuatd( double realVal ) : _real( realVal ), _dual( 0 ) {}

    explicit GfDualQuatd( const GfQuatd &real )
        : _real( real ), _dual( 0 ) {
    }

    GfDualQuatd( const GfQuatd &real, const GfQuatd &dual )
        : _real( real ), _dual( dual ) {
    }

    GfDualQuatd( const GfQuatd &rotation, const GfVec3d &translation )
        : _real( rotation ) {
        SetTranslation( translation );
    }

    GF_API
    GfDualQuatd(const GfDualQuatf &other);
    GF_API
    GfDualQuatd(const GfDualQuath &other);

    void SetReal(const GfQuatd &real) {
        _real  = real;
    }

    void SetDual(const GfQuatd &dual) {
        _dual  = dual;
    }

    const GfQuatd &GetReal() const {
        return _real;
    }

    const GfQuatd &GetDual() const {
        return _dual;
    }

    static GfDualQuatd GetZero() {
        return GfDualQuatd(GfQuatd::GetZero(), GfQuatd::GetZero());
    }

    static GfDualQuatd GetIdentity() {
        return GfDualQuatd(GfQuatd::GetIdentity(), GfQuatd::GetZero());
    }

    GF_API
    std::pair<double, double> GetLength() const;

    GF_API
    GfDualQuatd GetNormalized(double eps = GF_MIN_VECTOR_LENGTH) const;

    GF_API
    std::pair<double, double> Normalize(double eps = GF_MIN_VECTOR_LENGTH);

    GF_API
    GfDualQuatd GetConjugate() const;

    GF_API
    GfDualQuatd GetInverse() const;

    GF_API
    void SetTranslation( const GfVec3d &translation );

    GF_API
    GfVec3d GetTranslation() const;

    friend inline size_t hash_value(const GfDualQuatd &dq) {
        size_t h = 0;
        boost::hash_combine(h, dq.GetReal());
        boost::hash_combine(h, dq.GetDual());
        return h;
    }

    bool operator ==(const GfDualQuatd &dq) const {
        return (GetReal() == dq.GetReal() &&
                GetDual() == dq.GetDual());
    }

    bool operator !=(const GfDualQuatd &dq) const {
        return ! (*this == dq);
    }

    GfDualQuatd &operator +=(const GfDualQuatd &dq)  {
        _real += dq._real;
        _dual += dq._dual;
        return *this;
    }

    GfDualQuatd &operator -=(const GfDualQuatd &dq)  {
        _real -= dq._real;
        _dual -= dq._dual;
        return *this;
    }

    GF_API
    GfDualQuatd &operator *=(const GfDualQuatd &dq);

    GfDualQuatd &operator *=(double s) {
        _real *= s;
        _dual *= s;
        return *this;
    }

    GfDualQuatd &operator /=(double s) {
        return (*this) *= 1.0 / s;
    }

    friend GfDualQuatd operator +(const GfDualQuatd &dq1,
                                     const GfDualQuatd &dq2) {
        GfDualQuatd dqt = dq1;
        return dqt += dq2;
    }

    friend GfDualQuatd operator -(const GfDualQuatd &dq1,
                                     const GfDualQuatd &dq2) {
        GfDualQuatd dqt = dq1;
        return dqt -= dq2;
    }

    friend GfDualQuatd operator *(const GfDualQuatd &dq1,
                                     const GfDualQuatd &dq2) {
        GfDualQuatd dqt  = dq1;
        return dqt *= dq2;
    }

    friend GfDualQuatd operator *(const GfDualQuatd &dq, double s) {
        GfDualQuatd dqt  = dq;
        return dqt *= s;
    }

    friend GfDualQuatd operator *(double s, const GfDualQuatd &dq) {
        GfDualQuatd dqt  = dq;
        return dqt *= s;
    }

    friend GfDualQuatd operator /(const GfDualQuatd &dq, double s) {
        GfDualQuatd dqt  = dq;
        return dqt /= s;
    }

    GF_API
    GfVec3d Transform(const GfVec3d &vec) const;

  private:
    GfQuatd _real;   // for rotation
    GfQuatd _dual;   // for translation
};


GF_API std::ostream &operator<<(std::ostream &out, const GfDualQuatd &dq);


inline double
GfDot(const GfDualQuatd& dq1, const GfDualQuatd& dq2) {
    return GfDot(dq1.GetReal(), dq2.GetReal()) + GfDot(dq1.GetDual(), dq2.GetDual());
}

PXR_NAMESPACE_CLOSE_SCOPE

#endif // PXR_BASE_GF_DUALQUATD_H