Struct 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(T)
;
Fields
| Name | Type | Description |
|---|---|---|
arrayof
|
T[8] | Elements as static array |
q1
|
Quaternion!T | Rotation part |
q2
|
Quaternion!T | Translation part |
Methods
| Name | Description |
|---|---|
norm
()
|
Dual quaternion norm |
normalized
()
|
Set norm to 1 |
rotation
()
|
Rotation part |
toMatrix4x4
()
|
Convert to 4x4 matrix |
toString
()
|
Convert to string |
translation
()
|
Translation part |