Hi, My name is Mateusz Janiak and I come from Poland. I`m sending You proposal of a Dual Quaternions implementation based on the Quat class.
Briefly about application and mathematical properties - those structures allow storing and manipulating an object orientation and position in a compact way providing efficient and reliable methods for managing both position and orientation at one operation. I have also implemented some additional functionality for Quaternions (logarithm, exponent, power functions with slerp and squad interpolations). Similarly those functions were implemented for Dual Quaternions. I have tested this classes inside my test framework (second generation wavelets, lifting scheme) which was basically based only on Quaternions (orientation/rotation). Moving to Dual Quaternion implementaiton did not change the results. If somebody is interested in my current work please visit: http://hm.pjwstk.edu.pl/en/ I do Phd. in the field of human motion analisys based on the multiresolution methods (wavelets, lifting scheme) on Quaternions/Dual Quaternions. We are dealing with a move compression, smoothing, decomposition, synthesis, move edition, ect. Additionally I have enclosed test.cpp with several tests for basic operations. As it is a new feature I think it should be OK against the latest SVN revision. I hope You will appreciate my work and include Dual Quaternions to the next OSG release as i t might be very usefull for many users. With best regards Mateusz Janiak
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