DualQuaternion.h

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/************************************************************************
* @file DualQuater.h
*
* @brief 对偶四元数类
*
* @details 对偶四元数类
*
* @author dixu
*
* @version 1.0
*
* @date 2014-9-11
*
* @license 北京华科软科技有限公司
*
*************************************************************************/
 
#ifndef BIMHOMEBASE_DUALQUATERNION_H
#define BIMHOMEBASE_DUALQUATERNION_H
 
#include "DualNumber.h"
#include <BHGlobal.h>
 
namespace Base
{
    class BaseExport DualQuat
    {
    public:
        DualQuat()
        {
        }
 
        DualQuat(DualNumber x, DualNumber y, DualNumber z, DualNumber w)
            : x(x), y(y), z(z), w(w)
        {
        }
 
        DualQuat(double x, double y, double z, double w, double dx, double dy, double dz, double dw)
            : x(x, dx), y(y, dy), z(z, dz), w(w, dw)
        {
        }
 
        DualQuat(double x, double y, double z, double w)
            : x(x), y(y), z(z), w(w)
        {
        }
 
        DualQuat(DualQuat re, DualQuat du);
 
        static DualQuat identity()
        {
            return DualQuat(0.0, 0.0, 0.0, 1.0);
        }
 
        DualQuat real() const
        {
            return DualQuat(x.getRE(), y.getRE(), z.getRE(), w.getRE());
        }
 
        DualQuat dual() const
        {
            return DualQuat(x.getDU(), y.getDU(), z.getDU(), w.getDU());
        }
 
        DualQuat conj() const
        {
            return DualQuat(-x, -y, -z, w);
        }
 
        DualQuat vec() const
        {
            return DualQuat(x, y, z, 0.0);
        }
 
        double length() const
        {
            return sqrt(x.getRE() * x.getRE() + y.getRE() * y.getRE() + z.getRE() * z.getRE() + w.getRE() * w.getRE());
        }
 
        double theta() const
        {
            return 2.0 * atan2(vec().length(), w.getRE());
        }
 
        static double dot(DualQuat a, DualQuat b);
 
        DualQuat pow(double t, bool shorten = true) const;
 
        DualQuat operator -() const
        {
            return DualQuat(-x, -y, -z, -w);
        }
 
        DualNumber getX() const
        {
            return x;
        }
 
        DualNumber getY() const
        {
            return y;
        }
 
        DualNumber getZ() const
        {
            return z;
        }
 
        DualNumber getW() const
        {
            return w;
        }
 
        void setX(const DualNumber& number)
        {
            x = number;
        }
 
        void setY(const DualNumber& number)
        {
            y = number;
        }
 
        void setZ(const DualNumber& number)
        {
            z = number;
        }
 
        void setW(const DualNumber& number)
        {
            w = number;
        }
 
    public:
        DualNumber x;       
        DualNumber y;       
        DualNumber z;       
        DualNumber w;       
    };
 
    DualQuat operator+(DualQuat a, DualQuat b);
 
    DualQuat operator-(DualQuat a, DualQuat b);
 
    DualQuat operator*(DualQuat a, DualQuat b);
 
    DualQuat operator*(DualQuat a, double b);
 
    DualQuat operator*(double a, DualQuat b);
 
    DualQuat operator*(DualQuat a, DualNumber b);
 
    DualQuat operator*(DualNumber a, DualQuat b);
 
} //namespace
 
#endif