DualQuaternion

Dual quaternion representation. Dual quaternion is a generalization of quaternion to dual numbers field. Similar to the way that simple quaternion represents rotation in 3D space, dual quaternion represents rigid 3D transformation (translation + rotation), so it can be used in kinematics.

struct DualQuaternion (

) {

this(Quaternion!(T) q1, Quaternion!(T) q2);

this(Quaternion!(T) r, Vector!(T, 3) t);

this(Quaternion!(T) r);

this(Vector!(T, 3) t);

Vector!(T, 3) transform(Vector!(T, 3) v);

Vector!(T, 3) rotate(Vector!(T, 3) v);

DualQuaternion!(T) conjugate();

DualQuaternion!(T) dualConjugate();

DualQuaternion!(T) fullConjugate();

DualQuaternion!(T) opBinary(DualQuaternion!(T) d);

Quaternion!(T) rotation();

Vector!(T, 3) translation();

Matrix!(T, 4) toMatrix4x4();

Dual!(T) norm();

DualQuaternion!(T) normalized();

string toString();

union __anonymous;

}

Constructors

this this(Quaternion!(T) q1, Quaternion!(T) q2): Undocumented in source.
this this(Quaternion!(T) r, Vector!(T, 3) t): Undocumented in source.
this this(Quaternion!(T) r): Undocumented in source.
this this(Vector!(T, 3) t): Undocumented in source.

Members

Functions

conjugate DualQuaternion!(T) conjugate(): Undocumented in source. Be warned that the author may not have intended to support it.
dualConjugate DualQuaternion!(T) dualConjugate(): Undocumented in source. Be warned that the author may not have intended to support it.
fullConjugate DualQuaternion!(T) fullConjugate(): Undocumented in source. Be warned that the author may not have intended to support it.
norm Dual!(T) norm(): Dual quaternion norm
normalized DualQuaternion!(T) normalized(): Set norm to 1
opBinary DualQuaternion!(T) opBinary(DualQuaternion!(T) d): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary DualQuaternion!(T) opBinary(DualQuaternion!(T) d): Undocumented in source. Be warned that the author may not have intended to support it.
opBinary DualQuaternion!(T) opBinary(DualQuaternion!(T) d): Undocumented in source. Be warned that the author may not have intended to support it.
rotate Vector!(T, 3) rotate(Vector!(T, 3) v): Undocumented in source. Be warned that the author may not have intended to support it.
rotation Quaternion!(T) rotation(): Rotation part
toMatrix4x4 Matrix!(T, 4) toMatrix4x4(): Convert to 4x4 matrix
toString string toString(): Convert to string
transform Vector!(T, 3) transform(Vector!(T, 3) v): Undocumented in source. Be warned that the author may not have intended to support it.
translation Vector!(T, 3) translation(): Translation part

Unions

__anonymous union __anonymous: Elements union

DualQuaternion

Constructors

Members

Functions

Unions

Meta

Source