dualQuath.h
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26 // dualQuat.template.h file to make changes.
27 
28 #ifndef PXR_BASE_GF_DUALQUATH_H
29 #define PXR_BASE_GF_DUALQUATH_H
30 
33 
34 #include "pxr/pxr.h"
35 #include "pxr/base/gf/api.h"
36 #include "pxr/base/gf/declare.h"
37 #include "pxr/base/gf/traits.h"
38 #include "pxr/base/gf/half.h"
39 
40 #include "pxr/base/gf/quath.h"
41 #include "pxr/base/tf/hash.h"
42 
43 #include <iosfwd>
44 
45 PXR_NAMESPACE_OPEN_SCOPE
46 
47 template <>
48 struct GfIsGfDualQuat<class GfDualQuath> { static const bool value = true; };
49 
51 GfHalf GfDot(const GfDualQuath& dq1, const GfDualQuath& dq2);
52 
53 
67 class GfDualQuath final
68 {
69  public:
70  typedef GfHalf ScalarType;
71 
74 
82  explicit GfDualQuath( GfHalf realVal ) : _real( realVal ), _dual( 0 ) {}
83 
87  explicit GfDualQuath( const GfQuath &real )
88  : _real( real ), _dual( 0 ) {
89  }
90 
92  GfDualQuath( const GfQuath &real, const GfQuath &dual )
93  : _real( real ), _dual( dual ) {
94  }
95 
97  GfDualQuath( const GfQuath &rotation, const GfVec3h &translation )
98  : _real( rotation ) {
99  SetTranslation( translation );
100  }
101 
103  GF_API
104  explicit GfDualQuath(const GfDualQuatd &other);
106  GF_API
107  explicit GfDualQuath(const GfDualQuatf &other);
108 
110  void SetReal(const GfQuath &real) {
111  _real = real;
112  }
113 
115  void SetDual(const GfQuath &dual) {
116  _dual = dual;
117  }
118 
120  const GfQuath &GetReal() const {
121  return _real;
122  }
123 
125  const GfQuath &GetDual() const {
126  return _dual;
127  }
128 
131  static GfDualQuath GetZero() {
133  }
134 
139  }
140 
142  GF_API
143  std::pair<GfHalf, GfHalf> GetLength() const;
144 
148  GF_API
150 
155  GF_API
156  std::pair<GfHalf, GfHalf> Normalize(GfHalf eps = GF_MIN_VECTOR_LENGTH);
157 
159  GF_API
160  GfDualQuath GetConjugate() const;
161 
163  GF_API
164  GfDualQuath GetInverse() const;
165 
167  GF_API
168  void SetTranslation( const GfVec3h &translation );
169 
171  GF_API
172  GfVec3h GetTranslation() const;
173 
175  friend inline size_t hash_value(const GfDualQuath &dq) {
176  return TfHash::Combine(dq.GetReal(), dq.GetDual());
177  }
178 
181  bool operator ==(const GfDualQuath &dq) const {
182  return (GetReal() == dq.GetReal() &&
183  GetDual() == dq.GetDual());
184  }
185 
188  bool operator !=(const GfDualQuath &dq) const {
189  return ! (*this == dq);
190  }
191 
194  _real += dq._real;
195  _dual += dq._dual;
196  return *this;
197  }
198 
201  _real -= dq._real;
202  _dual -= dq._dual;
203  return *this;
204  }
205 
207  GF_API
208  GfDualQuath &operator *=(const GfDualQuath &dq);
209 
212  _real *= s;
213  _dual *= s;
214  return *this;
215  }
216 
219  return (*this) *= 1.0 / s;
220  }
221 
223  friend GfDualQuath operator +(const GfDualQuath &dq1,
224  const GfDualQuath &dq2) {
225  GfDualQuath dqt = dq1;
226  return dqt += dq2;
227  }
228 
230  friend GfDualQuath operator -(const GfDualQuath &dq1,
231  const GfDualQuath &dq2) {
232  GfDualQuath dqt = dq1;
233  return dqt -= dq2;
234  }
235 
237  friend GfDualQuath operator *(const GfDualQuath &dq1,
238  const GfDualQuath &dq2) {
239  GfDualQuath dqt = dq1;
240  return dqt *= dq2;
241  }
242 
244  friend GfDualQuath operator *(const GfDualQuath &dq, GfHalf s) {
245  GfDualQuath dqt = dq;
246  return dqt *= s;
247  }
248 
250  friend GfDualQuath operator *(GfHalf s, const GfDualQuath &dq) {
251  GfDualQuath dqt = dq;
252  return dqt *= s;
253  }
254 
256  friend GfDualQuath operator /(const GfDualQuath &dq, GfHalf s) {
257  GfDualQuath dqt = dq;
258  return dqt /= s;
259  }
260 
262  GF_API
263  GfVec3h Transform(const GfVec3h &vec) const;
264 
265  private:
266  GfQuath _real; // for rotation
267  GfQuath _dual; // for translation
268 };
269 
270 
273 GF_API std::ostream &operator<<(std::ostream &out, const GfDualQuath &dq);
274 
275 
277 inline GfHalf
278 GfDot(const GfDualQuath& dq1, const GfDualQuath& dq2) {
279  return GfDot(dq1.GetReal(), dq2.GetReal()) + GfDot(dq1.GetDual(), dq2.GetDual());
280 }
281 
282 PXR_NAMESPACE_CLOSE_SCOPE
283 
284 #endif // PXR_BASE_GF_DUALQUATH_H
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients,...
Definition: quath.h:60
friend size_t hash_value(const GfDualQuath &dq)
Hash.
Definition: dualQuath.h:175
friend GfDualQuath operator+(const GfDualQuath &dq1, const GfDualQuath &dq2)
Component-wise binary sum operator.
Definition: dualQuath.h:223
bool operator !=(const GfDualQuath &dq) const
Component-wise dual quaternion inequality test.
Definition: dualQuath.h:188
Basic type: a real part quaternion and a dual part quaternion.
Definition: dualQuatd.h:66
GfDualQuath & operator+=(const GfDualQuath &dq)
Component-wise unary sum operator.
Definition: dualQuath.h:193
pxr_half::half GfHalf
A 16-bit floating point data type.
Definition: half.h:41
friend GfDualQuath operator *(const GfDualQuath &dq, GfHalf s)
Returns the product of dual quaternion dq and scalar s.
Definition: dualQuath.h:244
This header serves to simply bring in the half float datatype and provide a hash_value function.
GfHalf GfDot(const GfDualQuath &dq1, const GfDualQuath &dq2)
Return the dot (inner) product of two dual quaternions.
Definition: dualQuath.h:278
GF_API GfDualQuath GetConjugate() const
Returns the conjugate of this dual quaternion.
A metafunction with a static const bool member 'value' that is true for GfDualQuat types and false fo...
Definition: traits.h:52
Declares Gf types.
GF_API void SetTranslation(const GfVec3h &translation)
Set the translation component of this dual quaternion.
const GfQuath & GetReal() const
Returns the real part of the dual quaternion.
Definition: dualQuath.h:120
GF_API std::pair< GfHalf, GfHalf > GetLength() const
Returns geometric length of this dual quaternion.
GfDualQuath(const GfQuath &real)
Initialize the real part to real quaternion and the imaginary part to zero quaternion.
Definition: dualQuath.h:87
static GfQuath GetIdentity()
Return the identity quaternion, with real coefficient 1 and an imaginary coefficients all zero.
Definition: quath.h:103
const GfQuath & GetDual() const
Returns the dual part of the dual quaternion.
Definition: dualQuath.h:125
GfDualQuath & operator -=(const GfDualQuath &dq)
Component-wise unary difference operator.
Definition: dualQuath.h:200
static size_t Combine(Args &&... args)
Produce a hash code by combining the hash codes of several objects.
Definition: hash.h:519
void SetReal(const GfQuath &real)
Sets the real part of the dual quaternion.
Definition: dualQuath.h:110
GfDualQuath & operator/=(GfHalf s)
Scales this dual quaternion by 1 / s.
Definition: dualQuath.h:218
GF_API GfVec3h Transform(const GfVec3h &vec) const
Transforms the row vector vec by the dual quaternion.
GfDualQuath(GfHalf realVal)
Initialize the real part to realVal and the imaginary part to zero quaternion.
Definition: dualQuath.h:82
GfDualQuath(const GfQuath &real, const GfQuath &dual)
This constructor initializes the real and dual parts.
Definition: dualQuath.h:92
Basic type: a real part quaternion and a dual part quaternion.
Definition: dualQuatf.h:66
GfDualQuath()
The default constructor leaves the dual quaternion undefined.
Definition: dualQuath.h:73
static GfQuath GetZero()
Return the zero quaternion, with real coefficient 0 and an imaginary coefficients all zero.
Definition: quath.h:99
static GfDualQuath GetZero()
Returns the zero dual quaternion, which has a real part of (0,0,0,0) and a dual part of (0,...
Definition: dualQuath.h:131
friend GfDualQuath operator/(const GfDualQuath &dq, GfHalf s)
Returns the product of dual quaternion dq and scalar 1 / s.
Definition: dualQuath.h:256
void SetDual(const GfQuath &dual)
Sets the dual part of the dual quaternion.
Definition: dualQuath.h:115
GF_API std::pair< GfHalf, GfHalf > Normalize(GfHalf eps=GF_MIN_VECTOR_LENGTH)
Normalizes this dual quaternion in place.
GF_API GfDualQuath GetNormalized(GfHalf eps=GF_MIN_VECTOR_LENGTH) const
Returns a normalized (unit-length) version of this dual quaternion.
friend GfDualQuath operator *(GfHalf s, const GfDualQuath &dq)
Returns the product of dual quaternion dq and scalar s.
Definition: dualQuath.h:250
GfDualQuath & operator *=(GfHalf s)
Scales this dual quaternion by s.
Definition: dualQuath.h:211
GfDualQuath(const GfQuath &rotation, const GfVec3h &translation)
This constructor initializes from a rotation and a translation components.
Definition: dualQuath.h:97
GF_API GfDualQuath & operator *=(const GfDualQuath &dq)
Post-multiplies dual quaternion dq into this dual quaternion.
bool operator==(const GfDualQuath &dq) const
Component-wise dual quaternion equality test.
Definition: dualQuath.h:181
GF_API std::ostream & operator<<(std::ostream &out, const GfDualQuath &dq)
Output a GfDualQuath using the format ((rw, rx, ry, rz), (dw, dx, dy, dz)).
GF_API GfDualQuath GetInverse() const
Returns the inverse of this dual quaternion.
friend GfDualQuath operator *(const GfDualQuath &dq1, const GfDualQuath &dq2)
Returns the product of dual quaternions dq1 and dq2.
Definition: dualQuath.h:237
GF_API GfVec3h GetTranslation() const
Get the translation component of this dual quaternion.
static GfDualQuath GetIdentity()
Returns the identity dual quaternion, which has a real part of (1,0,0,0) and a dual part of (0,...
Definition: dualQuath.h:137
Basic type for a vector of 3 GfHalf components.
Definition: vec3h.h:63
friend GfDualQuath operator -(const GfDualQuath &dq1, const GfDualQuath &dq2)
Component-wise binary difference operator.
Definition: dualQuath.h:230
Basic type: a real part quaternion and a dual part quaternion.
Definition: dualQuath.h:67
#define GF_MIN_VECTOR_LENGTH
This constant is used to determine whether the length of a vector is too small to handle accurately.
Definition: limits.h:34