//// DualQuaternion.cpp//// Created by Anthony J. Thibault on Dec 13th 2017.// Copyright (c) 2017 High Fidelity, Inc. All rights reserved.//// Distributed under the Apache License, Version 2.0.// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "DualQuaternion.h"#include "GLMHelpers.h" // delegating constructorDualQuaternion::DualQuaternion() : _real(1.0f, 0.0f, 0.0f, 0.0), _dual(0.0f, 0.0f, 0.0f, 0.0f) {} DualQuaternion::DualQuaternion(const glm::mat4& m) : DualQuaternion(glmExtractRotation(m), extractTranslation(m)) {} DualQuaternion::DualQuaternion(const glm::quat& real, const glm::quat& dual) : _real(real), _dual(dual) {} DualQuaternion::DualQuaternion(const glm::vec4& real, const glm::vec4& dual) : _real(real.w, real.x, real.y, real.z), _dual(dual.w, dual.x, dual.y, dual.z) {} DualQuaternion::DualQuaternion(const glm::quat& rotation, const glm::vec3& translation) { _real = rotation; _dual = glm::quat(0.0f, 0.5f * translation.x, 0.5f * translation.y, 0.5f * translation.z) * rotation;} DualQuaternion DualQuaternion::operator*(const DualQuaternion& rhs) const { return DualQuaternion(_real * rhs._real, _real * rhs._dual + _dual * rhs._real);} DualQuaternion DualQuaternion::operator*(float scalar) const { return DualQuaternion(_real * scalar, _dual * scalar);} DualQuaternion DualQuaternion::operator+(const DualQuaternion& rhs) const { return DualQuaternion(_real + rhs._real, _dual + rhs._dual);} glm::vec3 DualQuaternion::xformPoint(const glm::vec3& rhs) const { DualQuaternion v(glm::quat(), glm::quat(0.0f, rhs.x, rhs.y, rhs.z)); DualQuaternion dualConj(glm::conjugate(_real), -glm::conjugate(_dual)); DualQuaternion result = *this * v * dualConj; return vec3(result._dual.x, result._dual.y, result._dual.z);} glm::quat DualQuaternion::getRotation() const { return _real;} glm::vec3 DualQuaternion::getTranslation() const { glm::quat result = 2.0f * (_dual * glm::inverse(_real)); return glm::vec3(result.x, result.y, result.z);} glm::vec3 DualQuaternion::xformVector(const glm::vec3& rhs) const { return _real * rhs;} DualQuaternion DualQuaternion::inverse() const { glm::quat invReal = glm::inverse(_real); return DualQuaternion(invReal, - invReal * _dual * invReal);} DualQuaternion DualQuaternion::conjugate() const { return DualQuaternion(glm::conjugate(_real), glm::conjugate(_dual));} float DualQuaternion::length() const { float dot = this->dot(*this); return sqrtf(dot);} DualQuaternion DualQuaternion::normalize() const { float invLen = 1.0f / length(); return *this * invLen;} float DualQuaternion::dot(const DualQuaternion& rhs) const { DualQuaternion result = *this * conjugate(); return result._real.w;} DualQuaternion DualQuaternion::operator-() const { return DualQuaternion(-_real, -_dual);}
//
// DualQuaternion.cpp
//
// Created by Anthony J. Thibault on Dec 13th 2017.
// Copyright (c) 2017 High Fidelity, Inc. All rights reserved.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "DualQuaternion.h"
#include "GLMHelpers.h"
// delegating constructor
DualQuaternion::DualQuaternion() : _real(1.0f, 0.0f, 0.0f, 0.0), _dual(0.0f, 0.0f, 0.0f, 0.0f) {
}
DualQuaternion::DualQuaternion(const glm::mat4& m) : DualQuaternion(glmExtractRotation(m), extractTranslation(m)) {
}
DualQuaternion::DualQuaternion(const glm::quat& real, const glm::quat& dual) : _real(real), _dual(dual) {
}
DualQuaternion::DualQuaternion(const glm::vec4& real, const glm::vec4& dual) :
_real(real.w, real.x, real.y, real.z),
_dual(dual.w, dual.x, dual.y, dual.z) {
}
DualQuaternion::DualQuaternion(const glm::quat& rotation, const glm::vec3& translation) {
_real = rotation;
_dual = glm::quat(0.0f, 0.5f * translation.x, 0.5f * translation.y, 0.5f * translation.z) * rotation;
}
DualQuaternion DualQuaternion::operator*(const DualQuaternion& rhs) const {
return DualQuaternion(_real * rhs._real, _real * rhs._dual + _dual * rhs._real);
}
DualQuaternion DualQuaternion::operator*(float scalar) const {
return DualQuaternion(_real * scalar, _dual * scalar);
}
DualQuaternion DualQuaternion::operator+(const DualQuaternion& rhs) const {
return DualQuaternion(_real + rhs._real, _dual + rhs._dual);
}
glm::vec3 DualQuaternion::xformPoint(const glm::vec3& rhs) const {
DualQuaternion v(glm::quat(), glm::quat(0.0f, rhs.x, rhs.y, rhs.z));
DualQuaternion dualConj(glm::conjugate(_real), -glm::conjugate(_dual));
DualQuaternion result = *this * v * dualConj;
return vec3(result._dual.x, result._dual.y, result._dual.z);
}
glm::quat DualQuaternion::getRotation() const {
return _real;
}
glm::vec3 DualQuaternion::getTranslation() const {
glm::quat result = 2.0f * (_dual * glm::inverse(_real));
return glm::vec3(result.x, result.y, result.z);
}
glm::vec3 DualQuaternion::xformVector(const glm::vec3& rhs) const {
return _real * rhs;
}
DualQuaternion DualQuaternion::inverse() const {
glm::quat invReal = glm::inverse(_real);
return DualQuaternion(invReal, - invReal * _dual * invReal);
}
DualQuaternion DualQuaternion::conjugate() const {
return DualQuaternion(glm::conjugate(_real), glm::conjugate(_dual));
}
float DualQuaternion::length() const {
float dot = this->dot(*this);
return sqrtf(dot);
}
DualQuaternion DualQuaternion::normalize() const {
float invLen = 1.0f / length();
return *this * invLen;
}
float DualQuaternion::dot(const DualQuaternion& rhs) const {
DualQuaternion result = *this * conjugate();
return result._real.w;
}
DualQuaternion DualQuaternion::operator-() const {
return DualQuaternion(-_real, -_dual);
}