Quat.h File Reference

#include "../BasicTypes.h"
#include "UnrealMathUtility.h"
#include "Vector.h"
#include "Rotator.h"

Include dependency graph for Quat.h:

Go to the source code of this file.

Classes
struct	TIsPODType< FQuat >

Functions
	MS_ALIGN (16) struct FQuat
	GCC_ALIGN (16)

Function Documentation

GCC_ALIGN()

GCC_ALIGN

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16

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MS_ALIGN()

MS_ALIGN

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16

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Floating point quaternion that can represent a rotation about an axis in 3-D space. The X, Y, Z, W components also double as the Axis/Angle format.

Order matters when composing quaternions: C = A * B will yield a quaternion C that logically first applies B then A to any subsequent transformation (right first, then left). Note that this is the opposite order of FTransform multiplication.

Example: LocalToWorld = (LocalToWorld * DeltaRotation) will change rotation in local space by DeltaRotation. Example: LocalToWorld = (DeltaRotation * LocalToWorld) will change rotation in world space by DeltaRotation.

The quaternion's X-component.

The quaternion's Y-component.

The quaternion's Z-component.

The quaternion's W-component.

Identity quaternion.

Default constructor (no initialization).

Creates and initializes a new quaternion, with the W component either 0 or 1.

Parameters

EForceInit

Force init enum: if equal to ForceInitToZero then W is 0, otherwise W = 1 (creating an identity transform)

Constructor.

Parameters

InX	X component of the quaternion
InY	Y component of the quaternion
InZ	Z component of the quaternion
InW	W component of the quaternion

Copy constructor.

Parameters

Q	A FQuat object to use to create new quaternion from.

Creates and initializes a new quaternion from the given rotator.

Parameters

R	The rotator to initialize from.

Creates and initializes a new quaternion from the a rotation around the given axis.

Parameters

Axis	assumed to be a normalized vector
Angle	angle to rotate above the given axis (in radians)

Gets the result of adding a Quaternion to this. This is a component-wise addition; composing quaternions should be done via multiplication.

Parameters

Q	The Quaternion to add.

Returns

The result of addition.

Adds to this quaternion. This is a component-wise addition; composing quaternions should be done via multiplication.

Parameters

Other

The quaternion to add to this.

Returns

Result after addition.

Gets the result of subtracting a Quaternion to this. This is a component-wise subtraction; composing quaternions should be done via multiplication.

Parameters

Q	The Quaternion to subtract.

Returns

The result of subtraction.

Checks whether another Quaternion is equal to this, within specified tolerance.

Parameters

Q	The other Quaternion.
Tolerance	Error tolerance for comparison with other Quaternion.

Returns

true if two Quaternions are equal, within specified tolerance, otherwise false.

Checks whether this Quaternion is an Identity Quaternion. Assumes Quaternion tested is normalized.

Parameters

Tolerance

Error tolerance for comparison with Identity Quaternion.

Returns

true if Quaternion is a normalized Identity Quaternion.

Subtracts another quaternion from this. This is a component-wise subtraction; composing quaternions should be done via multiplication.

Parameters

Q	The other quaternion.

Returns

reference to this after subtraction.

Rotate a vector by this quaternion.

Parameters

V	the vector to be rotated

Returns

vector after rotation

See also

RotateVector

Multiply this quaternion by a scaling factor.

Parameters

Scale

The scaling factor.

Returns

a reference to this after scaling.

Get the result of scaling this quaternion.

Parameters

Scale

The scaling factor.

Returns

The result of scaling.

Divide this quaternion by scale.

Parameters

Scale

What to divide by.

Returns

a reference to this after scaling.

Divide this quaternion by scale.

Parameters

Scale

What to divide by.

Returns

new Quaternion of this after division by scale.

Checks whether two quaternions are identical. This is an exact comparison per-component;see Equals() for a comparison that allows for a small error tolerance and flipped axes of rotation.

Parameters

Q	The other quaternion.

Returns

true if two quaternion are identical, otherwise false.

See also

Equals

Checks whether two quaternions are not identical.

Parameters

Q	The other quaternion.

Returns

true if two quaternion are not identical, otherwise false.

Calculates dot product of two quaternions.

Parameters

Q	The other quaternions.

Returns

The dot product.

Convert a vector of floating-point Euler angles (in degrees) into a Quaternion.

Parameters

Euler

the Euler angles

Returns

constructed FQuat

Convert a Quaternion into floating-point Euler angles (in degrees).

Normalize this quaternion if it is large enough. If it is too small, returns an identity quaternion.

Parameters

Tolerance

Minimum squared length of quaternion for normalization.

Get a normalized copy of this quaternion. If it is too small, returns an identity quaternion.

Parameters

Tolerance

Minimum squared length of quaternion for normalization.

Get the length of this quaternion.

Returns

The length of this quaternion.

Get the length squared of this quaternion.

Returns

The length of this quaternion.

Get the angle of this quaternion

get the axis and angle of rotation of this quaternion

Parameters

Axis{out]	vector of axis of the quaternion
Angle{out]	angle of the quaternion

Warning

: assumes normalized quaternions.

Get the swing and twist decomposition for a specified axis

Parameters

InTwistAxis	Axis to use for decomposition
OutSwing	swing component quaternion
OutTwist	Twist component quaternion

Warning

assumes normalised quaternion and twist axis

Rotate a vector by this quaternion.

Parameters

V	the vector to be rotated

Returns

vector after rotation

Rotate a vector by the inverse of this quaternion.

Parameters

V	the vector to be rotated

Returns

vector after rotation by the inverse of this quaternion.

quaternion with W=0 and V=theta*v.

Note

Exp should really only be used after Log. Assumes a quaternion with W=0 and V=theta*v (where |v| = 1). Exp(q) = (sin(theta)*v, cos(theta))

Returns

inverse of this quaternion

Enforce that the delta between this Quaternion and another one represents the shortest possible rotation angle

Get the forward direction (X axis) after it has been rotated by this Quaternion.

Get the right direction (Y axis) after it has been rotated by this Quaternion.

Get the up direction (Z axis) after it has been rotated by this Quaternion.

Get the forward direction (X axis) after it has been rotated by this Quaternion.

Get the right direction (Y axis) after it has been rotated by this Quaternion.

Get the up direction (Z axis) after it has been rotated by this Quaternion.

Convert a rotation into a unit vector facing in its direction. Equivalent to GetForwardVector().

Get the FRotator representation of this Quaternion.

Get the axis of rotation of the Quaternion. This is the axis around which rotation occurs to transform the canonical coordinate system to the target orientation. For the identity Quaternion which has no such rotation, FVector(1,0,0) is returned.

Find the angular distance between two rotation quaternions (in radians)

Utility to check if there are any non-finite values (NaN or Inf) in this Quat.

Returns

true if there are any non-finite values in this Quaternion, otherwise false.

Get a textual representation of the vector.

Returns

Text describing the vector.

Initialize this FQuat from a FString. The string is expected to contain X=, Y=, Z=, W=, otherwise this FQuat will have indeterminate (invalid) values.

Parameters

InSourceString

FString containing the quaternion values.

Returns

true if the FQuat was initialized; false otherwise.

Generates the 'smallest' (geodesic) rotation between two vectors of arbitrary length.

Generates the 'smallest' (geodesic) rotation between two normals (assumed to be unit length).

Generates the 'smallest' (geodesic) rotation between two vectors of arbitrary length.

Error measure (angle) between two quaternions, ranged [0..1]. Returns the hypersphere-angle between two quaternions; alignment shouldn't matter, though

Note

normalized input is expected.

FQuat::Error with auto-normalization.

Fast Linear Quaternion Interpolation. Result is NOT normalized.

Bi-Linear Quaternion interpolation. Result is NOT normalized.

Spherical interpolation. Will correct alignment. Result is NOT normalized.

Spherical interpolation. Will correct alignment. Result is normalized.

Simpler Slerp that doesn't do any checks for 'shortest distance' etc. We need this for the cubic interpolation stuff so that the multiple Slerps dont go in different directions. Result is NOT normalized.

Simpler Slerp that doesn't do any checks for 'shortest distance' etc. We need this for the cubic interpolation stuff so that the multiple Slerps dont go in different directions. Result is normalized.

Given start and end quaternions of quat1 and quat2, and tangents at those points tang1 and tang2, calculate the point at Alpha (between 0 and 1) between them. Result is normalized. This will correct alignment by ensuring that the shortest path is taken.

Simpler Squad that doesn't do any checks for 'shortest distance' etc. Given start and end quaternions of quat1 and quat2, and tangents at those points tang1 and tang2, calculate the point at Alpha (between 0 and 1) between them. Result is normalized.

Calculate tangents between given points

Parameters

PrevP	quaternion at P-1
P	quaternion to return the tangent
NextP	quaternion P+1
Tension

Todo

document

Parameters

OutTan

Out control point

Definition at line 21 of file Quat.h.