Blender: blender::math::DualQuaternionBase< T > Struct Template Reference

Blender V4.3

#include <BLI_math_quaternion_types.hh>

Public Member Functions
	DualQuaternionBase ()=delete

	BLI_STRUCT_EQUALITY_OPERATORS_5 (DualQuaternionBase, quat, trans, quat_weight, scale_weight, scale) friend std

Dual-Quaternion
	DualQuaternionBase (const QuaternionBase< T > &non_dual, const QuaternionBase< T > &dual)

	DualQuaternionBase (const QuaternionBase< T > &non_dual, const QuaternionBase< T > &dual, const MatBase< T, 4, 4 > &scale_mat)

DualQuaternionBase &	operator*= (const T &t)

DualQuaternionBase &	operator+= (const DualQuaternionBase &b)

Static Public Member Functions
static DualQuaternionBase	identity ()

Public Attributes
QuaternionBase< T >	quat

QuaternionBase< T >	trans

MatBase< T, 4, 4 >	scale

T	scale_weight

T	quat_weight

Friends
DualQuaternionBase	operator* (const DualQuaternionBase &a, const T &t)

DualQuaternionBase	operator* (const T &t, const DualQuaternionBase &a)

DualQuaternionBase	operator+ (const DualQuaternionBase &a, const DualQuaternionBase &b)

Detailed Description

template<typename T>
struct blender::math::DualQuaternionBase< T >

A blender::math::DualQuaternionBase<T> implements dual-quaternion skinning with scale aware transformation. It allows volume preserving deformation for skinning.

The type is implemented so that multiple weighted blender::math::DualQuaternionBase<T> can be aggregated into a final rotation. Calling normalize(dual_quat) is mandatory before trying to transform points with it.

Definition at line 188 of file BLI_math_quaternion_types.hh.

Constructor & Destructor Documentation

◆ DualQuaternionBase() [1/3]

template<typename T >

blender::math::DualQuaternionBase< T >::DualQuaternionBase ( )

delete

Referenced by blender::math::DualQuaternionBase< T >::identity().

◆ DualQuaternionBase() [2/3]

template<typename T >

blender::math::DualQuaternionBase< T >::DualQuaternionBase	(	const QuaternionBase< T > &	non_dual,
		const QuaternionBase< T > &	dual )

Dual quaternion without scaling.

Definition at line 346 of file BLI_math_quaternion.hh.

References BLI_assert, and blender::math::is_unit_scale().

◆ DualQuaternionBase() [3/3]

template<typename T >

blender::math::DualQuaternionBase< T >::DualQuaternionBase	(	const QuaternionBase< T > &	non_dual,
		const QuaternionBase< T > &	dual,
		const MatBase< T, 4, 4 > &	scale_mat )

Dual quaternion with scaling.

Definition at line 354 of file BLI_math_quaternion.hh.

References BLI_assert, and blender::math::is_unit_scale().

Member Function Documentation

◆ BLI_STRUCT_EQUALITY_OPERATORS_5()

template<typename T >

blender::math::DualQuaternionBase< T >::BLI_STRUCT_EQUALITY_OPERATORS_5	(	DualQuaternionBase< T >	,
		quat	,
		trans	,
		quat_weight	,
		scale_weight	,
		scale	)

inline

Definition at line 265 of file BLI_math_quaternion_types.hh.

References rot.

◆ identity()

template<typename T >

static DualQuaternionBase blender::math::DualQuaternionBase< T >::identity ( )

inlinestatic

Static functions.

Definition at line 226 of file BLI_math_quaternion_types.hh.

References blender::math::DualQuaternionBase< T >::DualQuaternionBase().

Referenced by blender::math::normalize().

◆ operator*=()

template<typename T >

DualQuaternionBase< T > & blender::math::DualQuaternionBase< T >::operator*= ( const T & t )

Methods. Operators. Apply a scalar weight to a dual quaternion.

Definition at line 411 of file BLI_math_quaternion.hh.

References BLI_assert, blender::math::DualQuaternionBase< T >::quat, blender::math::DualQuaternionBase< T >::quat_weight, blender::math::DualQuaternionBase< T >::scale, blender::math::DualQuaternionBase< T >::scale_weight, and blender::math::DualQuaternionBase< T >::trans.

◆ operator+=()

template<typename T >

DualQuaternionBase< T > & blender::math::DualQuaternionBase< T >::operator+= ( const DualQuaternionBase< T > & b )

Add two weighted dual-quaternions rotations.

Definition at line 365 of file BLI_math_quaternion.hh.

References b, and blender::math::DualQuaternionBase< T >::quat.

Friends And Related Symbol Documentation

◆ operator* [1/2]

template<typename T >

DualQuaternionBase operator*	(	const DualQuaternionBase< T > &	a,
		const T &	t )

friend

Apply a scalar weight to a dual quaternion.

Definition at line 242 of file BLI_math_quaternion_types.hh.

◆ operator* [2/2]

template<typename T >

DualQuaternionBase operator*	(	const T &	t,
		const DualQuaternionBase< T > &	a )

friend

Apply a scalar weight to a dual quaternion.

Definition at line 250 of file BLI_math_quaternion_types.hh.

◆ operator+

template<typename T >

DualQuaternionBase operator+	(	const DualQuaternionBase< T > &	a,
		const DualQuaternionBase< T > &	b )

friend

Add two weighted dual-quaternions rotations.

Definition at line 258 of file BLI_math_quaternion_types.hh.

Member Data Documentation

◆ quat

template<typename T >

QuaternionBase<T> blender::math::DualQuaternionBase< T >::quat

Non-dual part.

Definition at line 190 of file BLI_math_quaternion_types.hh.

Referenced by blender::math::normalize(), blender::math::DualQuaternionBase< T >::operator*=(), blender::math::DualQuaternionBase< T >::operator+=(), blender::math::tests::TEST(), blender::tests::TEST(), blender::tests::TEST(), and blender::math::transform_point().

◆ quat_weight

template<typename T >

T blender::math::DualQuaternionBase< T >::quat_weight

The weight of this dual-quaternion. Used for and summation & normalizing. A weight of 0 means the quaternion is not valid.

Definition at line 208 of file BLI_math_quaternion_types.hh.

Referenced by blender::math::is_normalized(), blender::math::normalize(), blender::math::DualQuaternionBase< T >::operator*=(), blender::math::tests::TEST(), blender::tests::TEST(), and blender::tests::TEST().

◆ scale

template<typename T >

MatBase<T, 4, 4> blender::math::DualQuaternionBase< T >::scale

Scaling is saved separately to handle cases of non orthonormal axes, non uniform scale and flipped axes.

Definition at line 201 of file BLI_math_quaternion_types.hh.

Referenced by blender::math::normalize(), blender::math::DualQuaternionBase< T >::operator*=(), blender::math::tests::TEST(), blender::tests::TEST(), and blender::math::transform_point().

◆ scale_weight

template<typename T >

T blender::math::DualQuaternionBase< T >::scale_weight

The weight of DualQuaternionBase.scale. Set to 0 if uniformly scaled to skip scale sum.

Definition at line 203 of file BLI_math_quaternion_types.hh.

Referenced by blender::math::normalize(), blender::math::DualQuaternionBase< T >::operator*=(), blender::math::tests::TEST(), blender::tests::TEST(), blender::tests::TEST(), and blender::math::transform_point().

◆ trans

template<typename T >

QuaternionBase<T> blender::math::DualQuaternionBase< T >::trans

Dual part.

Definition at line 192 of file BLI_math_quaternion_types.hh.

Referenced by blender::math::normalize(), blender::math::DualQuaternionBase< T >::operator*=(), blender::math::tests::TEST(), blender::tests::TEST(), blender::tests::TEST(), and blender::math::transform_point().

The documentation for this struct was generated from the following files: