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) ;


arrayof T[8]Elements as static array
q1 Quaternion!TRotation part
q2 Quaternion!TTranslation part


norm () Dual quaternion norm
normalized () Set norm to 1
rotation () Rotation part
toMatrix4x4 () Convert to 4x4 matrix
toString () Convert to string
translation () Translation part