DualQuaternionT.hh

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/*===========================================================================*\
 *                                                                           *
 *   $Revision: 9595 $                                                       *
 *   $Author: wilden $                                                       *
 *   $Date: 2010-06-17 12:48:23 +0200 (Thu, 17 Jun 2010) $                   *
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\*===========================================================================*/



//=============================================================================
//
//  CLASS DualQuaternion
//
//=============================================================================

#ifndef ACG_DUALQUATERNION_HH
#define ACG_DUALQUATERNION_HH


//== INCLUDES =================================================================

#include "QuaternionT.hh"


//== NAMESPACES  ==============================================================

namespace ACG {


//== CLASS DEFINITION =========================================================


template <class Scalar>
class DualQuaternionT
{
public:

  typedef QuaternionT<Scalar>      Quaternion;
  typedef DualQuaternionT<Scalar>  DualQuaternion;
  typedef VectorT<Scalar,3>        Vec3;
  typedef VectorT<Scalar,4>        Vec4;
  typedef Matrix4x4T<Scalar>       Matrix;

  Quaternion real_;
  Quaternion dual_;
  
  
  // Constructors
  //
  
  DualQuaternionT();
  
  DualQuaternionT(const DualQuaternion& _other);
  
  DualQuaternionT(const Quaternion& _real, const Quaternion& _dual);
  
  DualQuaternionT(Scalar _Rw, Scalar _Rx, Scalar _Ry, Scalar _Rz,
                  Scalar _Dw, Scalar _Dx, Scalar _Dy, Scalar _Dz);

  DualQuaternionT(Quaternion _rotation);
  
  DualQuaternionT(const Vec3& _translation);
  
  DualQuaternionT(const Vec3& _translation, const Quaternion& _rotation);
  
  DualQuaternionT(const Matrix& _transformation);
  
  // default quaternions
  
  static DualQuaternion identity();

  static DualQuaternion zero();
  
  // Operators
  //
  
  DualQuaternion conjugate() const;

  DualQuaternion invert() const;
  
  void normalize();
  
  bool operator==(const DualQuaternion& _other) const;
  bool operator!=(const DualQuaternion& _other) const;
  
  DualQuaternion operator+(const DualQuaternion& _other) const;
  DualQuaternion& operator+=(const DualQuaternion& _other);
  
  DualQuaternion operator-(const DualQuaternion& _other) const;
  DualQuaternion& operator-=(const DualQuaternion& _other);

  DualQuaternion operator*(const DualQuaternion& _q) const;

  DualQuaternion operator*(const Scalar& _scalar) const;
  
  DualQuaternion& operator*=(const DualQuaternion& _q);

  Scalar& operator [](const unsigned int& b);

  template <typename VectorType>
  static DualQuaternion interpolate(VectorType& _weights, const std::vector<DualQuaternion>& _dualQuaternions);
  
  Vec3 transform_point(const Vec3& _point) const;
  
  Vec3 transform_vector(const Vec3& _point) const;
  
  void printInfo();

};


typedef DualQuaternionT<float>  DualQuaternionf;
typedef DualQuaternionT<double> DualQuaterniond;


//=============================================================================
} // namespace ACG
//=============================================================================
#if defined(INCLUDE_TEMPLATES) && !defined(ACG_DUALQUATERNIONT_C)
#define ACG_QUATERNIONT_TEMPLATES
#include "DualQuaternionT.cc"
#endif
//=============================================================================
#endif // ACG_DUALQUATERNION_HH defined
//=============================================================================