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  108.   <div class="headertitle"><div class="title">Quat.inl</div></div>
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    111. 

  111. <a href="_quat_8inl.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="foldopen" id="foldopen00007" data-start="{" data-end="}">
    118. 

  118. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="class_quat.html#a4e344b30517b4411443b17078e5bb218">    7</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_friend" href="class_quat.html#a889abe46c8a28cfafa2a20492ecb9b3a">Quat::operator * </a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inRHS)<span class="keyword"> const</span></div>
    119. 

  119. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword"></span>{</div>
    120. 

  120. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#if defined(JPH_USE_SSE4_1)</span></div>
    121. 

  121. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>    <span class="comment">// Taken from: http://momchil-velikov.blogspot.nl/2013/10/fast-sse-quternion-multiplication.html</span></div>
    122. 

  122. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>    __m128 abcd = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    123. 

  123. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    __m128 xyzw = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    124. 

  124. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
    125. 

  125. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    __m128 t0 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(3, 3, 3, 3));</div>
    126. 

  126. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    __m128 t1 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(2, 3, 0, 1));</div>
    127. 

  127. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
    128. 

  128. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    __m128 t3 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(0, 0, 0, 0));</div>
    129. 

  129. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    __m128 t4 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(1, 0, 3, 2));</div>
    130. 

  130. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
    131. 

  131. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    __m128 t5 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(1, 1, 1, 1));</div>
    132. 

  132. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    __m128 t6 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(2, 0, 3, 1));</div>
    133. 

  133. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
    134. 

  134. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="comment">// [d,d,d,d] * [z,w,x,y] = [dz,dw,dx,dy]</span></div>
    135. 

  135. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    __m128 m0 = _mm_mul_ps(t0, t1);</div>
    136. 

  136. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
    137. 

  137. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <span class="comment">// [a,a,a,a] * [y,x,w,z] = [ay,ax,aw,az]</span></div>
    138. 

  138. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    __m128 m1 = _mm_mul_ps(t3, t4);</div>
    139. 

  139. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
    140. 

  140. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">// [b,b,b,b] * [z,x,w,y] = [bz,bx,bw,by]</span></div>
    141. 

  141. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    __m128 m2 = _mm_mul_ps(t5, t6);</div>
    142. 

  142. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
    143. 

  143. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="comment">// [c,c,c,c] * [w,z,x,y] = [cw,cz,cx,cy]</span></div>
    144. 

  144. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    __m128 t7 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(2, 2, 2, 2));</div>
    145. 

  145. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    __m128 t8 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 2, 0, 1));</div>
    146. 

  146. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    __m128 m3 = _mm_mul_ps(t7, t8);</div>
    147. 

  147. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
    148. 

  148. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// [dz,dw,dx,dy] + -[ay,ax,aw,az] = [dz+ay,dw-ax,dx+aw,dy-az]</span></div>
    149. 

  149. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    __m128 e = _mm_addsub_ps(m0, m1);</div>
    150. 

  150. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
    151. 

  151. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="comment">// [dx+aw,dz+ay,dy-az,dw-ax]</span></div>
    152. 

  152. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    e = _mm_shuffle_ps(e, e, _MM_SHUFFLE(1, 3, 0, 2));</div>
    153. 

  153. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
    154. 

  154. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// [dx+aw,dz+ay,dy-az,dw-ax] + -[bz,bx,bw,by] = [dx+aw+bz,dz+ay-bx,dy-az+bw,dw-ax-by]</span></div>
    155. 

  155. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    e = _mm_addsub_ps(e, m2);</div>
    156. 

  156. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
    157. 

  157. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="comment">// [dz+ay-bx,dw-ax-by,dy-az+bw,dx+aw+bz]</span></div>
    158. 

  158. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    e = _mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 0, 1, 3));</div>
    159. 

  159. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
    160. 

  160. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="comment">// [dz+ay-bx,dw-ax-by,dy-az+bw,dx+aw+bz] + -[cw,cz,cx,cy] = [dz+ay-bx+cw,dw-ax-by-cz,dy-az+bw+cx,dx+aw+bz-cy]</span></div>
    161. 

  161. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    e = _mm_addsub_ps(e, m3);</div>
    162. 

  162. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
    163. 

  163. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="comment">// [dw-ax-by-cz,dz+ay-bx+cw,dy-az+bw+cx,dx+aw+bz-cy]</span></div>
    164. 

  164. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(_mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 3, 1, 0))));</div>
    165. 

  165. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="preprocessor">#else</span></div>
    166. 

  166. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordtype">float</span> lx = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    167. 

  167. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordtype">float</span> ly = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    168. 

  168. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keywordtype">float</span> lz = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    169. 

  169. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">float</span> lw = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">GetW</a>();</div>
    170. 

  170. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
    171. 

  171. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keywordtype">float</span> rx = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    172. 

  172. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">float</span> ry = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    173. 

  173. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordtype">float</span> rz = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    174. 

  174. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordtype">float</span> rw = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">GetW</a>();</div>
    175. 

  175. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
    176. 

  176. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">float</span> x = lw * rx + lx * rw + ly * rz - lz * ry;</div>
    177. 

  177. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordtype">float</span> y = lw * ry - lx * rz + ly * rw + lz * rx;</div>
    178. 

  178. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keywordtype">float</span> z = lw * rz + lx * ry - ly * rx + lz * rw;</div>
    179. 

  179. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordtype">float</span> w = lw * rw - lx * rx - ly * ry - lz * rz;</div>
    180. 

  180. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
    181. 

  181. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(x, y, z, w);</div>
    182. 

  182. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span><span class="preprocessor">#endif</span></div>
    183. 

  183. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>}</div>
    184. 

  184. </div>
    185. 

  185. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
    186. 

  186. <div class="foldopen" id="foldopen00074" data-start="{" data-end="}">
    187. 

  187. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="class_quat.html#a192ad561dca0797134dab8f8c2e59e29">   74</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#a192ad561dca0797134dab8f8c2e59e29">Quat::sMultiplyImaginary</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inLHS, <a class="code hl_class" href="class_quat.html">QuatArg</a> inRHS)</div>
    188. 

  188. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>{</div>
    189. 

  189. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span><span class="preprocessor">#if defined(JPH_USE_SSE4_1)</span></div>
    190. 

  190. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    __m128 abc0 = inLHS.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>;</div>
    191. 

  191. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    __m128 xyzw = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    192. 

  192. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
    193. 

  193. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="comment">// [a,a,a,a] * [w,y,z,x] = [aw,ay,az,ax]</span></div>
    194. 

  194. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    __m128 aaaa = _mm_shuffle_ps(abc0, abc0, _MM_SHUFFLE(0, 0, 0, 0));</div>
    195. 

  195. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    __m128 xzyw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 1, 2, 0));</div>
    196. 

  196. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    __m128 axazayaw = _mm_mul_ps(aaaa, xzyw);</div>
    197. 

  197. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
    198. 

  198. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="comment">// [b,b,b,b] * [z,x,w,y] = [bz,bx,bw,by]</span></div>
    199. 

  199. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    __m128 bbbb = _mm_shuffle_ps(abc0, abc0, _MM_SHUFFLE(1, 1, 1, 1));</div>
    200. 

  200. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    __m128 ywxz = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(2, 0, 3, 1));</div>
    201. 

  201. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    __m128 bybwbxbz = _mm_mul_ps(bbbb, ywxz);</div>
    202. 

  202. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
    203. 

  203. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">// [c,c,c,c] * [w,z,x,y] = [cw,cz,cx,cy]</span></div>
    204. 

  204. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    __m128 cccc = _mm_shuffle_ps(abc0, abc0, _MM_SHUFFLE(2, 2, 2, 2));</div>
    205. 

  205. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    __m128 yxzw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 2, 0, 1));</div>
    206. 

  206. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    __m128 cycxczcw = _mm_mul_ps(cccc, yxzw);</div>
    207. 

  207. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
    208. 

  208. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="comment">// [+aw,+ay,-az,-ax]</span></div>
    209. 

  209. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    __m128 e = _mm_xor_ps(axazayaw, _mm_set_ps(0.0f, 0.0f, -0.0f, -0.0f));</div>
    210. 

  210. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
    211. 

  211. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="comment">// [+aw,+ay,-az,-ax] + -[bz,bx,bw,by] = [+aw+bz,+ay-bx,-az+bw,-ax-by]</span></div>
    212. 

  212. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    e = _mm_addsub_ps(e, bybwbxbz);</div>
    213. 

  213. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
    214. 

  214. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="comment">// [+ay-bx,-ax-by,-az+bw,+aw+bz]</span></div>
    215. 

  215. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    e = _mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 0, 1, 3));</div>
    216. 

  216. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
    217. 

  217. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="comment">// [+ay-bx,-ax-by,-az+bw,+aw+bz] + -[cw,cz,cx,cy] = [+ay-bx+cw,-ax-by-cz,-az+bw+cx,+aw+bz-cy]</span></div>
    218. 

  218. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    e = _mm_addsub_ps(e, cycxczcw);</div>
    219. 

  219. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
    220. 

  220. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="comment">// [-ax-by-cz,+ay-bx+cw,-az+bw+cx,+aw+bz-cy]</span></div>
    221. 

  221. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(_mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 3, 1, 0))));</div>
    222. 

  222. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span><span class="preprocessor">#else</span></div>
    223. 

  223. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="keywordtype">float</span> lx = inLHS.<a class="code hl_function" href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">GetX</a>();</div>
    224. 

  224. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="keywordtype">float</span> ly = inLHS.<a class="code hl_function" href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">GetY</a>();</div>
    225. 

  225. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordtype">float</span> lz = inLHS.<a class="code hl_function" href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">GetZ</a>();</div>
    226. 

  226. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
    227. 

  227. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="keywordtype">float</span> rx = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    228. 

  228. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="keywordtype">float</span> ry = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    229. 

  229. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordtype">float</span> rz = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    230. 

  230. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <span class="keywordtype">float</span> rw = inRHS.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">GetW</a>();</div>
    231. 

  231. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
    232. 

  232. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keywordtype">float</span> x =  (lx * rw) + ly * rz - lz * ry;</div>
    233. 

  233. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <span class="keywordtype">float</span> y = -(lx * rz) + ly * rw + lz * rx;</div>
    234. 

  234. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordtype">float</span> z =  (lx * ry) - ly * rx + lz * rw;</div>
    235. 

  235. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keywordtype">float</span> w = -(lx * rx) - ly * ry - lz * rz;</div>
    236. 

  236. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
    237. 

  237. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(x, y, z, w);</div>
    238. 

  238. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span><span class="preprocessor">#endif</span></div>
    239. 

  239. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>}</div>
    240. 

  240. </div>
    241. 

  241. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
    242. 

  242. <div class="foldopen" id="foldopen00128" data-start="{" data-end="}">
    243. 

  243. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="class_quat.html#a3ac594bf7be610138e90735ae99ff8e9">  128</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#a3ac594bf7be610138e90735ae99ff8e9">Quat::sRotation</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAxis, <span class="keywordtype">float</span> inAngle)</div>
    244. 

  244. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>{</div>
    245. 

  245. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="comment">// returns [inAxis * sin(0.5f * inAngle), cos(0.5f * inAngle)]</span></div>
    246. 

  246. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inAxis.<a class="code hl_function" href="class_vec3.html#a2f10743d69960eaac721399e4ede190a">IsNormalized</a>());</div>
    247. 

  247. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> s, c;</div>
    248. 

  248. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(0.5f * inAngle).<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(s, c);</div>
    249. 

  249. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_function" href="class_vec4.html#aea48c2f435bcc4ddbc79bfb5ddf04c6b">Vec4::sSelect</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(inAxis) * s, c, <a class="code hl_class" href="class_u_vec4.html">UVec4</a>(0, 0, 0, 0xffffffffU)));</div>
    250. 

  250. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>}</div>
    251. 

  251. </div>
    252. 

  252. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
    253. 

  253. <div class="foldopen" id="foldopen00137" data-start="{" data-end="}">
    254. 

  254. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="class_quat.html#a618a8eb64122263b8c64109f03ac47b5">  137</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_quat.html#a618a8eb64122263b8c64109f03ac47b5">Quat::GetAxisAngle</a>(<a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outAxis, <span class="keywordtype">float</span> &amp;outAngle)<span class="keyword"> const</span></div>
    255. 

  255. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span><span class="keyword"></span>{</div>
    256. 

  256. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    257. 

  257. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <a class="code hl_class" href="class_quat.html">Quat</a> w_pos = <a class="code hl_function" href="class_quat.html#a9f563ca8c8a8b71a0aa340d12080c2ef">EnsureWPositive</a>();</div>
    258. 

  258. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keywordtype">float</span> abs_w = w_pos.<a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>();</div>
    259. 

  259. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="keywordflow">if</span> (abs_w &gt;= 1.0f)</div>
    260. 

  260. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    {</div>
    261. 

  261. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        outAxis = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    262. 

  262. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        outAngle = 0.0f;</div>
    263. 

  263. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    }</div>
    264. 

  264. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    <span class="keywordflow">else</span></div>
    265. 

  265. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    {</div>
    266. 

  266. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>        outAngle = 2.0f * <a class="code hl_function" href="_trigonometry_8h.html#a4d69678f84c03b333e32ca716998db39">ACos</a>(abs_w);</div>
    267. 

  267. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>        outAxis = w_pos.<a class="code hl_function" href="class_quat.html#afa7fe10bf8a457fb2d524791ccd79ec4">GetXYZ</a>().<a class="code hl_function" href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">NormalizedOr</a>(<a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>());</div>
    268. 

  268. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    }</div>
    269. 

  269. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>}</div>
    270. 

  270. </div>
    271. 

  271. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
    272. 

  272. <div class="foldopen" id="foldopen00154" data-start="{" data-end="}">
    273. 

  273. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="class_quat.html#a7e32ae62e2b33bf30ba3c40f9e66bfed">  154</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#a7e32ae62e2b33bf30ba3c40f9e66bfed">Quat::sFromTo</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inFrom, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inTo)</div>
    274. 

  274. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>{</div>
    275. 

  275. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="comment">/*</span></div>
    276. 

  276. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span><span class="comment">        Uses (inFrom = v1, inTo = v2):</span></div>
    277. 

  277. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span><span class="comment"></span> </div>
    278. 

  278. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span><span class="comment">        angle = arcos(v1 . v2 / |v1||v2|)</span></div>
    279. 

  279. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span><span class="comment">        axis = normalize(v1 x v2)</span></div>
    280. 

  280. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span><span class="comment"></span> </div>
    281. 

  281. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span><span class="comment">        Quaternion is then:</span></div>
    282. 

  282. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span><span class="comment"></span> </div>
    283. 

  283. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span><span class="comment">        s = sin(angle / 2)</span></div>
    284. 

  284. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span><span class="comment">        x = axis.x * s</span></div>
    285. 

  285. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span><span class="comment">        y = axis.y * s</span></div>
    286. 

  286. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="comment">        z = axis.z * s</span></div>
    287. 

  287. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span><span class="comment">        w = cos(angle / 2)</span></div>
    288. 

  288. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span><span class="comment"></span> </div>
    289. 

  289. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span><span class="comment">        Using identities:</span></div>
    290. 

  290. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span><span class="comment"></span> </div>
    291. 

  291. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span><span class="comment">        sin(2 * a) = 2 * sin(a) * cos(a)</span></div>
    292. 

  292. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span><span class="comment">        cos(2 * a) = cos(a)^2 - sin(a)^2</span></div>
    293. 

  293. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span><span class="comment">        sin(a)^2 + cos(a)^2 = 1</span></div>
    294. 

  294. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span><span class="comment"></span> </div>
    295. 

  295. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span><span class="comment">        This reduces to:</span></div>
    296. 

  296. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span><span class="comment"></span> </div>
    297. 

  297. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="comment">        x = (v1 x v2).x</span></div>
    298. 

  298. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span><span class="comment">        y = (v1 x v2).y</span></div>
    299. 

  299. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span><span class="comment">        z = (v1 x v2).z</span></div>
    300. 

  300. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="comment">        w = |v1||v2| + v1 . v2</span></div>
    301. 

  301. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span><span class="comment"></span> </div>
    302. 

  302. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="comment">        which then needs to be normalized because the whole equation was multiplied by 2 cos(angle / 2)</span></div>
    303. 

  303. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span><span class="comment">    */</span></div>
    304. 

  304. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
    305. 

  305. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="keywordtype">float</span> len_v1_v2 = sqrt(inFrom.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>() * inTo.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>());</div>
    306. 

  306. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    <span class="keywordtype">float</span> w = len_v1_v2 + inFrom.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(inTo);</div>
    307. 

  307. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
    308. 

  308. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    <span class="keywordflow">if</span> (w == 0.0f)</div>
    309. 

  309. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    {</div>
    310. 

  310. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        <span class="keywordflow">if</span> (len_v1_v2 == 0.0f)</div>
    311. 

  311. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        {</div>
    312. 

  312. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>            <span class="comment">// If either of the vectors has zero length, there is no rotation and we return identity</span></div>
    313. 

  313. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a>();</div>
    314. 

  314. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>        }</div>
    315. 

  315. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>        <span class="keywordflow">else</span></div>
    316. 

  316. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>        {</div>
    317. 

  317. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>            <span class="comment">// If vectors are perpendicular, take one of the many 180 degree rotations that exist</span></div>
    318. 

  318. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(inFrom.<a class="code hl_function" href="class_vec3.html#a24a96972fdbe04ae9a3e340fd4c39b81">GetNormalizedPerpendicular</a>(), 0));</div>
    319. 

  319. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>        }</div>
    320. 

  320. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    }</div>
    321. 

  321. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span> </div>
    322. 

  322. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v = inFrom.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(inTo);</div>
    323. 

  323. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(v, w)).<a class="code hl_function" href="class_vec3.html#a0f7559f2691ad67826f42ca19916b7a9">Normalized</a>();</div>
    324. 

  324. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>}</div>
    325. 

  325. </div>
    326. 

  326. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span> </div>
    327. 

  327. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Random&gt;</div>
    328. 

  328. <div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
    329. 

  329. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="class_quat.html#a0686810998da92e9ab857b314b282d91">  208</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#a0686810998da92e9ab857b314b282d91">Quat::sRandom</a>(Random &amp;inRandom)</div>
    330. 

  330. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>{</div>
    331. 

  331. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    std::uniform_real_distribution&lt;float&gt; zero_to_one(0.0f, 1.0f);</div>
    332. 

  332. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="keywordtype">float</span> x0 = zero_to_one(inRandom);</div>
    333. 

  333. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>    <span class="keywordtype">float</span> r1 = sqrt(1.0f - x0), r2 = sqrt(x0);</div>
    334. 

  334. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    std::uniform_real_distribution&lt;float&gt; zero_to_two_pi(0.0f, 2.0f * JPH_PI);</div>
    335. 

  335. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> s, c;</div>
    336. 

  336. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a>(zero_to_two_pi(inRandom), zero_to_two_pi(inRandom), 0, 0).<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(s, c);</div>
    337. 

  337. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(s.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>() * r1, c.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>() * r1, s.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>() * r2, c.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>() * r2);</div>
    338. 

  338. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>}</div>
    339. 

  339. </div>
    340. 

  340. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span> </div>
    341. 

  341. <div class="foldopen" id="foldopen00219" data-start="{" data-end="}">
    342. 

  342. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno"><a class="line" href="class_quat.html#a1ef2428c09a41f3d0549d216ecfca710">  219</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#a1ef2428c09a41f3d0549d216ecfca710">Quat::sEulerAngles</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAngles)</div>
    343. 

  343. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>{</div>
    344. 

  344. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> half(0.5f * inAngles);</div>
    345. 

  345. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> s, c;</div>
    346. 

  346. <div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>    half.<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(s, c);</div>
    347. 

  347. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span> </div>
    348. 

  348. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    <span class="keywordtype">float</span> cx = c.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    349. 

  349. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>    <span class="keywordtype">float</span> sx = s.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    350. 

  350. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>    <span class="keywordtype">float</span> cy = c.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    351. 

  351. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    <span class="keywordtype">float</span> sy = s.<a class="code hl_function" href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">GetY</a>();</div>
    352. 

  352. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>    <span class="keywordtype">float</span> cz = c.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    353. 

  353. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    <span class="keywordtype">float</span> sz = s.<a class="code hl_function" href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">GetZ</a>();</div>
    354. 

  354. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span> </div>
    355. 

  355. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(</div>
    356. 

  356. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>        cz * sx * cy - sz * cx * sy,</div>
    357. 

  357. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>        cz * cx * sy + sz * sx * cy,</div>
    358. 

  358. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>        sz * cx * cy - cz * sx * sy,</div>
    359. 

  359. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>        cz * cx * cy + sz * sx * sy);</div>
    360. 

  360. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>}</div>
    361. 

  361. </div>
    362. 

  362. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
    363. 

  363. <div class="foldopen" id="foldopen00239" data-start="{" data-end="}">
    364. 

  364. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="class_quat.html#ae0e71415ee746c38c27b04e7dbc9b4ed">  239</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_quat.html#ae0e71415ee746c38c27b04e7dbc9b4ed">Quat::GetEulerAngles</a>()<span class="keyword"> const</span></div>
    365. 

  365. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span><span class="keyword"></span>{</div>
    366. 

  366. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <span class="keywordtype">float</span> y_sq = <a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>() * <a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>();</div>
    367. 

  367. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
    368. 

  368. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <span class="comment">// X</span></div>
    369. 

  369. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>    <span class="keywordtype">float</span> t0 = 2.0f * (<a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>() * <a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>() + <a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>() * <a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>());</div>
    370. 

  370. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    <span class="keywordtype">float</span> t1 = 1.0f - 2.0f * (<a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>() * <a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>() + y_sq);</div>
    371. 

  371. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span> </div>
    372. 

  372. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <span class="comment">// Y</span></div>
    373. 

  373. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>    <span class="keywordtype">float</span> t2 = 2.0f * (<a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>() * <a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>() - <a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>() * <a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>());</div>
    374. 

  374. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    t2 = t2 &gt; 1.0f? 1.0f : t2;</div>
    375. 

  375. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>    t2 = t2 &lt; -1.0f? -1.0f : t2;</div>
    376. 

  376. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
    377. 

  377. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    <span class="comment">// Z</span></div>
    378. 

  378. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <span class="keywordtype">float</span> t3 = 2.0f * (<a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>() * <a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>() + <a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>() * <a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>());</div>
    379. 

  379. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>    <span class="keywordtype">float</span> t4 = 1.0f - 2.0f * (y_sq + <a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>() * <a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>());</div>
    380. 

  380. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span> </div>
    381. 

  381. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(<a class="code hl_function" href="_trigonometry_8h.html#a64f4ce00d99917535c674ec5172ccf78">ATan2</a>(t0, t1), <a class="code hl_function" href="_trigonometry_8h.html#a8d14d3276803ebb781ac40821491c959">ASin</a>(t2), <a class="code hl_function" href="_trigonometry_8h.html#a64f4ce00d99917535c674ec5172ccf78">ATan2</a>(t3, t4));</div>
    382. 

  382. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>}</div>
    383. 

  383. </div>
    384. 

  384. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
    385. 

  385. <div class="foldopen" id="foldopen00259" data-start="{" data-end="}">
    386. 

  386. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="class_quat.html#aa30f29eff5df0de717de979bf3aae295">  259</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#aa30f29eff5df0de717de979bf3aae295">Quat::GetTwist</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAxis)<span class="keyword"> const</span></div>
    387. 

  387. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span><span class="keyword"></span>{</div>
    388. 

  388. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <a class="code hl_class" href="class_quat.html">Quat</a> twist(<a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_function" href="class_quat.html#afa7fe10bf8a457fb2d524791ccd79ec4">GetXYZ</a>().<a class="code hl_function" href="class_quat.html#aa95ff0fd4a249749b023c32a5be3a44f">Dot</a>(inAxis) * inAxis, <a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>()));</div>
    389. 

  389. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="keywordtype">float</span> twist_len = twist.<a class="code hl_function" href="class_quat.html#a60f30c650e027a892e699c156c7eca67">LengthSq</a>();</div>
    390. 

  390. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    <span class="keywordflow">if</span> (twist_len != 0.0f)</div>
    391. 

  391. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>        <span class="keywordflow">return</span> twist / sqrt(twist_len);</div>
    392. 

  392. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <span class="keywordflow">else</span></div>
    393. 

  393. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a>();</div>
    394. 

  394. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>}</div>
    395. 

  395. </div>
    396. 

  396. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span> </div>
    397. 

  397. <div class="foldopen" id="foldopen00269" data-start="{" data-end="}">
    398. 

  398. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="class_quat.html#a7bb8b016622e5ad8f361c52f9037f1aa">  269</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_quat.html#a7bb8b016622e5ad8f361c52f9037f1aa">Quat::GetSwingTwist</a>(<a class="code hl_class" href="class_quat.html">Quat</a> &amp;outSwing, <a class="code hl_class" href="class_quat.html">Quat</a> &amp;outTwist)<span class="keyword"> const</span></div>
    399. 

  399. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span><span class="keyword"></span>{</div>
    400. 

  400. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    <span class="keywordtype">float</span> x = <a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>(), y = <a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>(), z = <a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>(), w = <a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>();</div>
    401. 

  401. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="keywordtype">float</span> s = sqrt(<a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(w) + <a class="code hl_function" href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a>(x));</div>
    402. 

  402. <div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <span class="keywordflow">if</span> (s != 0.0f)</div>
    403. 

  403. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    {</div>
    404. 

  404. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        outTwist = <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(x / s, 0, 0, w / s);</div>
    405. 

  405. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>        outSwing = <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(0, (w * y - x * z) / s, (w * z + x * y) / s, s);</div>
    406. 

  406. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    }</div>
    407. 

  407. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <span class="keywordflow">else</span></div>
    408. 

  408. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    {</div>
    409. 

  409. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>        <span class="comment">// If both x and w are zero, this must be a 180 degree rotation around either y or z</span></div>
    410. 

  410. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>        outTwist = <a class="code hl_function" href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a>();</div>
    411. 

  411. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>        outSwing = *<span class="keyword">this</span>;</div>
    412. 

  412. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    }</div>
    413. 

  413. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>}</div>
    414. 

  414. </div>
    415. 

  415. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span> </div>
    416. 

  416. <div class="foldopen" id="foldopen00286" data-start="{" data-end="}">
    417. 

  417. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="class_quat.html#a54dc8061046dd6ba3fb3a1965cf7319c">  286</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#a54dc8061046dd6ba3fb3a1965cf7319c">Quat::LERP</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inDestination, <span class="keywordtype">float</span> inFraction)<span class="keyword"> const</span></div>
    418. 

  418. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span><span class="keyword"></span>{</div>
    419. 

  419. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    <span class="keywordtype">float</span> scale0 = 1.0f - inFraction;</div>
    420. 

  420. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(scale0) * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(inFraction) * inDestination.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>);</div>
    421. 

  421. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>}</div>
    422. 

  422. </div>
    423. 

  423. <div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span> </div>
    424. 

  424. <div class="foldopen" id="foldopen00292" data-start="{" data-end="}">
    425. 

  425. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno"><a class="line" href="class_quat.html#afc3276d69ac8713afddf3cf970c27371">  292</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#afc3276d69ac8713afddf3cf970c27371">Quat::SLERP</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inDestination, <span class="keywordtype">float</span> inFraction)<span class="keyword"> const</span></div>
    426. 

  426. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span><span class="keyword"></span>{</div>
    427. 

  427. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>    <span class="comment">// Difference at which to LERP instead of SLERP</span></div>
    428. 

  428. <div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>    <span class="keyword">const</span> <span class="keywordtype">float</span> delta = 0.0001f;</div>
    429. 

  429. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span> </div>
    430. 

  430. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    <span class="comment">// Calc cosine</span></div>
    431. 

  431. <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>    <span class="keywordtype">float</span> sign_scale1 = 1.0f;</div>
    432. 

  432. <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>    <span class="keywordtype">float</span> cos_omega = <a class="code hl_function" href="class_quat.html#aa95ff0fd4a249749b023c32a5be3a44f">Dot</a>(inDestination);</div>
    433. 

  433. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span> </div>
    434. 

  434. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>    <span class="comment">// Adjust signs (if necessary)</span></div>
    435. 

  435. <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>    <span class="keywordflow">if</span> (cos_omega &lt; 0.0f)</div>
    436. 

  436. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    {</div>
    437. 

  437. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>        cos_omega = -cos_omega;</div>
    438. 

  438. <div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>        sign_scale1 = -1.0f;</div>
    439. 

  439. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    }</div>
    440. 

  440. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span> </div>
    441. 

  441. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>    <span class="comment">// Calculate coefficients</span></div>
    442. 

  442. <div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    <span class="keywordtype">float</span> scale0, scale1;</div>
    443. 

  443. <div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>    <span class="keywordflow">if</span> (1.0f - cos_omega &gt; delta)</div>
    444. 

  444. <div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    {</div>
    445. 

  445. <div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>        <span class="comment">// Standard case (slerp)</span></div>
    446. 

  446. <div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>        <span class="keywordtype">float</span> omega = <a class="code hl_function" href="_trigonometry_8h.html#a4d69678f84c03b333e32ca716998db39">ACos</a>(cos_omega);</div>
    447. 

  447. <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>        <span class="keywordtype">float</span> sin_omega = <a class="code hl_function" href="_trigonometry_8h.html#a89091907eb3da97f690e324849d773cb">Sin</a>(omega);</div>
    448. 

  448. <div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>        scale0 = <a class="code hl_function" href="_trigonometry_8h.html#a89091907eb3da97f690e324849d773cb">Sin</a>((1.0f - inFraction) * omega) / sin_omega;</div>
    449. 

  449. <div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>        scale1 = sign_scale1 * <a class="code hl_function" href="_trigonometry_8h.html#a89091907eb3da97f690e324849d773cb">Sin</a>(inFraction * omega) / sin_omega;</div>
    450. 

  450. <div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>    }</div>
    451. 

  451. <div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>    <span class="keywordflow">else</span></div>
    452. 

  452. <div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>    {</div>
    453. 

  453. <div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>        <span class="comment">// Quaternions are very close so we can do a linear interpolation</span></div>
    454. 

  454. <div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>        scale0 = 1.0f - inFraction;</div>
    455. 

  455. <div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>        scale1 = sign_scale1 * inFraction;</div>
    456. 

  456. <div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>    }</div>
    457. 

  457. <div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span> </div>
    458. 

  458. <div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>    <span class="comment">// Interpolate between the two quaternions</span></div>
    459. 

  459. <div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(scale0) * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(scale1) * inDestination.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>).Normalized();</div>
    460. 

  460. <div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>}</div>
    461. 

  461. </div>
    462. 

  462. <div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span> </div>
    463. 

  463. <div class="foldopen" id="foldopen00329" data-start="{" data-end="}">
    464. 

  464. <div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="class_quat.html#a646b3edebee182d86159eed987ba91a0">  329</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_friend" href="class_quat.html#a889abe46c8a28cfafa2a20492ecb9b3a">Quat::operator * </a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inValue)<span class="keyword"> const</span></div>
    465. 

  465. <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span><span class="keyword"></span>{</div>
    466. 

  466. <div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>    <span class="comment">// Rotating a vector by a quaternion is done by: p&#39; = q * (p, 0) * q^-1 (q^-1 = conjugated(q) for a unit quaternion)</span></div>
    467. 

  467. <div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>    <span class="comment">// Using Rodrigues formula: https://en.m.wikipedia.org/wiki/Euler%E2%80%93Rodrigues_formula</span></div>
    468. 

  468. <div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>    <span class="comment">// This is equivalent to: p&#39; = p + 2 * (q.w * q.xyz x p + q.xyz x (q.xyz x p))</span></div>
    469. 

  469. <div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>    <span class="comment">//</span></div>
    470. 

  470. <div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    <span class="comment">// This is:</span></div>
    471. 

  471. <div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>    <span class="comment">//</span></div>
    472. 

  472. <div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>    <span class="comment">// Vec3 xyz = GetXYZ();</span></div>
    473. 

  473. <div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>    <span class="comment">// Vec3 q_cross_p = xyz.Cross(inValue);</span></div>
    474. 

  474. <div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>    <span class="comment">// Vec3 q_cross_q_cross_p = xyz.Cross(q_cross_p);</span></div>
    475. 

  475. <div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>    <span class="comment">// Vec3 v = mValue.SplatW3() * q_cross_p + q_cross_q_cross_p;</span></div>
    476. 

  476. <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    <span class="comment">// return inValue + (v + v);</span></div>
    477. 

  477. <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>    <span class="comment">//</span></div>
    478. 

  478. <div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>    <span class="comment">// But we can write out the cross products in a more efficient way:</span></div>
    479. 

  479. <div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    480. 

  480. <div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> xyz = <a class="code hl_function" href="class_quat.html#afa7fe10bf8a457fb2d524791ccd79ec4">GetXYZ</a>();</div>
    481. 

  481. <div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> yzx = xyz.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;();</div>
    482. 

  482. <div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> q_cross_p = (inValue.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;() * xyz - yzx * inValue).Swizzle&lt;SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X&gt;();</div>
    483. 

  483. <div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> q_cross_q_cross_p = (q_cross_p.Swizzle&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;() * xyz - yzx * q_cross_p).Swizzle&lt;SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X&gt;();</div>
    484. 

  484. <div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#a127b2288b92508494650a004ff4f4978">SplatW3</a>() * q_cross_p + q_cross_q_cross_p;</div>
    485. 

  485. <div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>    <span class="keywordflow">return</span> inValue + (v + v);</div>
    486. 

  486. <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>}</div>
    487. 

  487. </div>
    488. 

  488. <div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span> </div>
    489. 

  489. <div class="foldopen" id="foldopen00353" data-start="{" data-end="}">
    490. 

  490. <div class="line"><a id="l00353" name="l00353"></a><span class="lineno"><a class="line" href="class_quat.html#a108350bfce9aa53b1af87fbe2698f6f4">  353</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_quat.html#a108350bfce9aa53b1af87fbe2698f6f4">Quat::InverseRotate</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inValue)<span class="keyword"> const</span></div>
    491. 

  491. <div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span><span class="keyword"></span>{</div>
    492. 

  492. <div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    493. 

  493. <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> xyz = <a class="code hl_function" href="class_quat.html#afa7fe10bf8a457fb2d524791ccd79ec4">GetXYZ</a>(); <span class="comment">// Needs to be negated, but we do this in the equations below</span></div>
    494. 

  494. <div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> yzx = xyz.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;();</div>
    495. 

  495. <div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> q_cross_p = (yzx * inValue - inValue.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;() * xyz).Swizzle&lt;SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X&gt;();</div>
    496. 

  496. <div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> q_cross_q_cross_p = (yzx * q_cross_p - q_cross_p.<a class="code hl_function" href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;() * xyz).Swizzle&lt;SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X&gt;();</div>
    497. 

  497. <div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#a127b2288b92508494650a004ff4f4978">SplatW3</a>() * q_cross_p + q_cross_q_cross_p;</div>
    498. 

  498. <div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>    <span class="keywordflow">return</span> inValue + (v + v);</div>
    499. 

  499. <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>}</div>
    500. 

  500. </div>
    501. 

  501. <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span> </div>
    502. 

  502. <div class="foldopen" id="foldopen00364" data-start="{" data-end="}">
    503. 

  503. <div class="line"><a id="l00364" name="l00364"></a><span class="lineno"><a class="line" href="class_quat.html#ad591c3ca827733b3be275ffaf808e838">  364</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_quat.html#ad591c3ca827733b3be275ffaf808e838">Quat::RotateAxisX</a>()<span class="keyword"> const</span></div>
    504. 

  504. <div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span><span class="keyword"></span>{</div>
    505. 

  505. <div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>    <span class="comment">// This is *this * Vec3::sAxisX() written out:</span></div>
    506. 

  506. <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    507. 

  507. <div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> t = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>;</div>
    508. 

  508. <div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(t.<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>() * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + (t.<a class="code hl_function" href="class_vec4.html#aa890d45169669b6845a2770a72166fcf">SplatW</a>() * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;()).<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;1, 1, -1, 1&gt;() - <a class="code hl_class" href="class_vec4.html">Vec4</a>(1, 0, 0, 0));</div>
    509. 

  509. <div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>}</div>
    510. 

  510. </div>
    511. 

  511. <div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span> </div>
    512. 

  512. <div class="foldopen" id="foldopen00372" data-start="{" data-end="}">
    513. 

  513. <div class="line"><a id="l00372" name="l00372"></a><span class="lineno"><a class="line" href="class_quat.html#adb1d1a70ed64c0a6fadc849126306706">  372</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_quat.html#adb1d1a70ed64c0a6fadc849126306706">Quat::RotateAxisY</a>()<span class="keyword"> const</span></div>
    514. 

  514. <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span><span class="keyword"></span>{</div>
    515. 

  515. <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>    <span class="comment">// This is *this * Vec3::sAxisY() written out:</span></div>
    516. 

  516. <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    517. 

  517. <div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> t = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>;</div>
    518. 

  518. <div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>    <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(t.<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>() * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + (t.<a class="code hl_function" href="class_vec4.html#aa890d45169669b6845a2770a72166fcf">SplatW</a>() * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>&gt;()).<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;-1, 1, 1, 1&gt;() - <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 1, 0, 0));</div>
    519. 

  519. <div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>}</div>
    520. 

  520. </div>
    521. 

  521. <div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span> </div>
    522. 

  522. <div class="foldopen" id="foldopen00380" data-start="{" data-end="}">
    523. 

  523. <div class="line"><a id="l00380" name="l00380"></a><span class="lineno"><a class="line" href="class_quat.html#ab226b2147a748e53008556bcf1a3cd76">  380</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_quat.html#ab226b2147a748e53008556bcf1a3cd76">Quat::RotateAxisZ</a>()<span class="keyword"> const</span></div>
    524. 

  524. <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span><span class="keyword"></span>{</div>
    525. 

  525. <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>    <span class="comment">// This is *this * Vec3::sAxisZ() written out:</span></div>
    526. 

  526. <div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    527. 

  527. <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> t = <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>;</div>
    528. 

  528. <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>    <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(t.<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>() * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a> + (t.<a class="code hl_function" href="class_vec4.html#aa890d45169669b6845a2770a72166fcf">SplatW</a>() * <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>&gt;()).<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;1, -1, 1, 1&gt;() - <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 1, 0));</div>
    529. 

  529. <div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>}</div>
    530. 

  530. </div>
    531. 

  531. <div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span> </div>
    532. 

  532. <div class="foldopen" id="foldopen00388" data-start="{" data-end="}">
    533. 

  533. <div class="line"><a id="l00388" name="l00388"></a><span class="lineno"><a class="line" href="class_quat.html#ae95e7b6c9f4167b91b674a696c681c6e">  388</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_quat.html#ae95e7b6c9f4167b91b674a696c681c6e">Quat::StoreFloat3</a>(<a class="code hl_class" href="class_float3.html">Float3</a> *outV)<span class="keyword"> const</span></div>
    534. 

  534. <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span><span class="keyword"></span>{</div>
    535. 

  535. <div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    536. 

  536. <div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>    <a class="code hl_function" href="class_quat.html#a9f563ca8c8a8b71a0aa340d12080c2ef">EnsureWPositive</a>().<a class="code hl_function" href="class_quat.html#afa7fe10bf8a457fb2d524791ccd79ec4">GetXYZ</a>().<a class="code hl_function" href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">StoreFloat3</a>(outV);</div>
    537. 

  537. <div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>}</div>
    538. 

  538. </div>
    539. 

  539. <div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span> </div>
    540. 

  540. <div class="foldopen" id="foldopen00394" data-start="{" data-end="}">
    541. 

  541. <div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="class_quat.html#a7c1fba108633b262e9011b39a92b490b">  394</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_quat.html#a7c1fba108633b262e9011b39a92b490b">Quat::StoreFloat4</a>(<a class="code hl_class" href="class_float4.html">Float4</a> *outV)<span class="keyword"> const</span></div>
    542. 

  542. <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span><span class="keyword"></span>{</div>
    543. 

  543. <div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    <a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#afdfae50fe6a7d86e7d1684fc71be7ed0">StoreFloat4</a>(outV);</div>
    544. 

  544. <div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>}</div>
    545. 

  545. </div>
    546. 

  546. <div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span> </div>
    547. 

  547. <div class="foldopen" id="foldopen00399" data-start="{" data-end="}">
    548. 

  548. <div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="class_quat.html#a60c11537faec1e7517a957f02afc4b6d">  399</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_quat.html#a60c11537faec1e7517a957f02afc4b6d">Quat::sLoadFloat3Unsafe</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_float3.html">Float3</a> &amp;inV)</div>
    549. 

  549. <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>{</div>
    550. 

  550. <div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> v = <a class="code hl_function" href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a>(inV);</div>
    551. 

  551. <div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>    <span class="keywordtype">float</span> w = sqrt(max(1.0f - v.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>(), 0.0f)); <span class="comment">// It is possible that the length of v is a fraction above 1, and we don&#39;t want to introduce NaN&#39;s in that case so we clamp to 0</span></div>
    552. 

  552. <div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(v, w));</div>
    553. 

  553. <div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>}</div>
    554. 

  554. </div>
    555. 

  555. <div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span> </div>
    556. 

  556. <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    557. 

  557. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    558. 

  558. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    559. 

  559. <div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
    560. 

  560. <div class="ttc" id="a_math_8h_html_a61379b8b743a16fe823daeebc1482570"><div class="ttname"><a href="_math_8h.html#a61379b8b743a16fe823daeebc1482570">Square</a></div><div class="ttdeci">JPH_INLINE constexpr T Square(T inV)</div><div class="ttdoc">Square a value.</div><div class="ttdef"><b>Definition</b> Math.h:55</div></div>
    561. 

  561. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a></div><div class="ttdeci">@ SWIZZLE_Z</div><div class="ttdoc">Use the Z component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:14</div></div>
    562. 

  562. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a></div><div class="ttdeci">@ SWIZZLE_W</div><div class="ttdoc">Use the W component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:15</div></div>
    563. 

  563. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a></div><div class="ttdeci">@ SWIZZLE_X</div><div class="ttdoc">Use the X component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:12</div></div>
    564. 

  564. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a></div><div class="ttdeci">@ SWIZZLE_Y</div><div class="ttdoc">Use the Y component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:13</div></div>
    565. 

  565. <div class="ttc" id="a_trigonometry_8h_html_a4d69678f84c03b333e32ca716998db39"><div class="ttname"><a href="_trigonometry_8h.html#a4d69678f84c03b333e32ca716998db39">ACos</a></div><div class="ttdeci">JPH_INLINE float ACos(float inX)</div><div class="ttdef"><b>Definition</b> Trigonometry.h:42</div></div>
    566. 

  566. <div class="ttc" id="a_trigonometry_8h_html_a64f4ce00d99917535c674ec5172ccf78"><div class="ttname"><a href="_trigonometry_8h.html#a64f4ce00d99917535c674ec5172ccf78">ATan2</a></div><div class="ttdeci">JPH_INLINE float ATan2(float inY, float inX)</div><div class="ttdoc">Arc tangent of y / x using the signs of the arguments to determine the correct quadrant (returns valu...</div><div class="ttdef"><b>Definition</b> Trigonometry.h:74</div></div>
    567. 

  567. <div class="ttc" id="a_trigonometry_8h_html_a89091907eb3da97f690e324849d773cb"><div class="ttname"><a href="_trigonometry_8h.html#a89091907eb3da97f690e324849d773cb">Sin</a></div><div class="ttdeci">JPH_NAMESPACE_BEGIN JPH_INLINE float Sin(float inX)</div><div class="ttdoc">Sine of x (input in radians)</div><div class="ttdef"><b>Definition</b> Trigonometry.h:12</div></div>
    568. 

  568. <div class="ttc" id="a_trigonometry_8h_html_a8d14d3276803ebb781ac40821491c959"><div class="ttname"><a href="_trigonometry_8h.html#a8d14d3276803ebb781ac40821491c959">ASin</a></div><div class="ttdeci">JPH_INLINE float ASin(float inX)</div><div class="ttdef"><b>Definition</b> Trigonometry.h:35</div></div>
    569. 

  569. <div class="ttc" id="aclass_float3_html"><div class="ttname"><a href="class_float3.html">Float3</a></div><div class="ttdoc">Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.</div><div class="ttdef"><b>Definition</b> Float3.h:13</div></div>
    570. 

  570. <div class="ttc" id="aclass_float4_html"><div class="ttname"><a href="class_float4.html">Float4</a></div><div class="ttdoc">Class that holds 4 float values. Convert to Vec4 to perform calculations.</div><div class="ttdef"><b>Definition</b> Float4.h:11</div></div>
    571. 

  571. <div class="ttc" id="aclass_quat_html"><div class="ttname"><a href="class_quat.html">Quat</a></div><div class="ttdef"><b>Definition</b> Quat.h:33</div></div>
    572. 

  572. <div class="ttc" id="aclass_quat_html_a0686810998da92e9ab857b314b282d91"><div class="ttname"><a href="class_quat.html#a0686810998da92e9ab857b314b282d91">Quat::sRandom</a></div><div class="ttdeci">static Quat sRandom(Random &amp;inRandom)</div><div class="ttdoc">Random unit quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:208</div></div>
    573. 

  573. <div class="ttc" id="aclass_quat_html_a108350bfce9aa53b1af87fbe2698f6f4"><div class="ttname"><a href="class_quat.html#a108350bfce9aa53b1af87fbe2698f6f4">Quat::InverseRotate</a></div><div class="ttdeci">JPH_INLINE Vec3 InverseRotate(Vec3Arg inValue) const</div><div class="ttdoc">Rotate a vector by the inverse of this quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:353</div></div>
    574. 

  574. <div class="ttc" id="aclass_quat_html_a13d0159a54a94e6a90dc5952f454b09e"><div class="ttname"><a href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">Quat::GetW</a></div><div class="ttdeci">JPH_INLINE float GetW() const</div><div class="ttdoc">Get W component (real part)</div><div class="ttdef"><b>Definition</b> Quat.h:79</div></div>
    575. 

  575. <div class="ttc" id="aclass_quat_html_a192ad561dca0797134dab8f8c2e59e29"><div class="ttname"><a href="class_quat.html#a192ad561dca0797134dab8f8c2e59e29">Quat::sMultiplyImaginary</a></div><div class="ttdeci">static JPH_INLINE Quat sMultiplyImaginary(Vec3Arg inLHS, QuatArg inRHS)</div><div class="ttdoc">Multiply a quaternion with imaginary components and no real component (x, y, z, 0) with a quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:74</div></div>
    576. 

  576. <div class="ttc" id="aclass_quat_html_a1ef2428c09a41f3d0549d216ecfca710"><div class="ttname"><a href="class_quat.html#a1ef2428c09a41f3d0549d216ecfca710">Quat::sEulerAngles</a></div><div class="ttdeci">static Quat sEulerAngles(Vec3Arg inAngles)</div><div class="ttdoc">Conversion from Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX)....</div><div class="ttdef"><b>Definition</b> Quat.inl:219</div></div>
    577. 

  577. <div class="ttc" id="aclass_quat_html_a21f44684684b475d9f5d02ed9c580def"><div class="ttname"><a href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">Quat::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdoc">Get Y component (imaginary part j)</div><div class="ttdef"><b>Definition</b> Quat.h:73</div></div>
    578. 

  578. <div class="ttc" id="aclass_quat_html_a38dfc20f7628eee4492125a41ad91764"><div class="ttname"><a href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">Quat::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdoc">Get Z component (imaginary part k)</div><div class="ttdef"><b>Definition</b> Quat.h:76</div></div>
    579. 

  579. <div class="ttc" id="aclass_quat_html_a3ac594bf7be610138e90735ae99ff8e9"><div class="ttname"><a href="class_quat.html#a3ac594bf7be610138e90735ae99ff8e9">Quat::sRotation</a></div><div class="ttdeci">static JPH_INLINE Quat sRotation(Vec3Arg inAxis, float inAngle)</div><div class="ttdoc">Rotation from axis and angle.</div><div class="ttdef"><b>Definition</b> Quat.inl:128</div></div>
    580. 

  580. <div class="ttc" id="aclass_quat_html_a3fb43a7bca4b20ce7573030fd826aa96"><div class="ttname"><a href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">Quat::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get X component (imaginary part i)</div><div class="ttdef"><b>Definition</b> Quat.h:70</div></div>
    581. 

  581. <div class="ttc" id="aclass_quat_html_a54dc8061046dd6ba3fb3a1965cf7319c"><div class="ttname"><a href="class_quat.html#a54dc8061046dd6ba3fb3a1965cf7319c">Quat::LERP</a></div><div class="ttdeci">JPH_INLINE Quat LERP(QuatArg inDestination, float inFraction) const</div><div class="ttdef"><b>Definition</b> Quat.inl:286</div></div>
    582. 

  582. <div class="ttc" id="aclass_quat_html_a60c11537faec1e7517a957f02afc4b6d"><div class="ttname"><a href="class_quat.html#a60c11537faec1e7517a957f02afc4b6d">Quat::sLoadFloat3Unsafe</a></div><div class="ttdeci">static JPH_INLINE Quat sLoadFloat3Unsafe(const Float3 &amp;inV)</div><div class="ttdoc">Load 3 floats from memory (X, Y and Z component and then calculates W) reads 32 bits extra which it d...</div><div class="ttdef"><b>Definition</b> Quat.inl:399</div></div>
    583. 

  583. <div class="ttc" id="aclass_quat_html_a60f30c650e027a892e699c156c7eca67"><div class="ttname"><a href="class_quat.html#a60f30c650e027a892e699c156c7eca67">Quat::LengthSq</a></div><div class="ttdeci">JPH_INLINE float LengthSq() const</div><div class="ttdef"><b>Definition</b> Quat.h:133</div></div>
    584. 

  584. <div class="ttc" id="aclass_quat_html_a618a8eb64122263b8c64109f03ac47b5"><div class="ttname"><a href="class_quat.html#a618a8eb64122263b8c64109f03ac47b5">Quat::GetAxisAngle</a></div><div class="ttdeci">JPH_INLINE void GetAxisAngle(Vec3 &amp;outAxis, float &amp;outAngle) const</div><div class="ttdoc">Get axis and angle that represents this quaternion, outAngle will always be in the range .</div><div class="ttdef"><b>Definition</b> Quat.inl:137</div></div>
    585. 

  585. <div class="ttc" id="aclass_quat_html_a73a43fe262fbbbc0b1872d238b972794"><div class="ttname"><a href="class_quat.html#a73a43fe262fbbbc0b1872d238b972794">Quat::sIdentity</a></div><div class="ttdeci">static JPH_INLINE Quat sIdentity()</div><div class="ttdef"><b>Definition</b> Quat.h:104</div></div>
    586. 

  586. <div class="ttc" id="aclass_quat_html_a7bb8b016622e5ad8f361c52f9037f1aa"><div class="ttname"><a href="class_quat.html#a7bb8b016622e5ad8f361c52f9037f1aa">Quat::GetSwingTwist</a></div><div class="ttdeci">JPH_INLINE void GetSwingTwist(Quat &amp;outSwing, Quat &amp;outTwist) const</div><div class="ttdef"><b>Definition</b> Quat.inl:269</div></div>
    587. 

  587. <div class="ttc" id="aclass_quat_html_a7c1fba108633b262e9011b39a92b490b"><div class="ttname"><a href="class_quat.html#a7c1fba108633b262e9011b39a92b490b">Quat::StoreFloat4</a></div><div class="ttdeci">JPH_INLINE void StoreFloat4(Float4 *outV) const</div><div class="ttdoc">Store as 4 floats.</div><div class="ttdef"><b>Definition</b> Quat.inl:394</div></div>
    588. 

  588. <div class="ttc" id="aclass_quat_html_a7e32ae62e2b33bf30ba3c40f9e66bfed"><div class="ttname"><a href="class_quat.html#a7e32ae62e2b33bf30ba3c40f9e66bfed">Quat::sFromTo</a></div><div class="ttdeci">static JPH_INLINE Quat sFromTo(Vec3Arg inFrom, Vec3Arg inTo)</div><div class="ttdef"><b>Definition</b> Quat.inl:154</div></div>
    589. 

  589. <div class="ttc" id="aclass_quat_html_a889abe46c8a28cfafa2a20492ecb9b3a"><div class="ttname"><a href="class_quat.html#a889abe46c8a28cfafa2a20492ecb9b3a">Quat::operator*</a></div><div class="ttdeci">friend Quat operator*(float inValue, QuatArg inRHS)</div><div class="ttdef"><b>Definition</b> Quat.h:155</div></div>
    590. 

  590. <div class="ttc" id="aclass_quat_html_a9f563ca8c8a8b71a0aa340d12080c2ef"><div class="ttname"><a href="class_quat.html#a9f563ca8c8a8b71a0aa340d12080c2ef">Quat::EnsureWPositive</a></div><div class="ttdeci">JPH_INLINE Quat EnsureWPositive() const</div><div class="ttdoc">Ensures that the W component is positive by negating the entire quaternion if it is not....</div><div class="ttdef"><b>Definition</b> Quat.h:188</div></div>
    591. 

  591. <div class="ttc" id="aclass_quat_html_aa30f29eff5df0de717de979bf3aae295"><div class="ttname"><a href="class_quat.html#aa30f29eff5df0de717de979bf3aae295">Quat::GetTwist</a></div><div class="ttdeci">JPH_INLINE Quat GetTwist(Vec3Arg inAxis) const</div><div class="ttdef"><b>Definition</b> Quat.inl:259</div></div>
    592. 

  592. <div class="ttc" id="aclass_quat_html_aa95ff0fd4a249749b023c32a5be3a44f"><div class="ttname"><a href="class_quat.html#aa95ff0fd4a249749b023c32a5be3a44f">Quat::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(QuatArg inRHS) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Quat.h:179</div></div>
    593. 

  593. <div class="ttc" id="aclass_quat_html_aab09b7638f6936a9ad7a1e4ffce606e8"><div class="ttname"><a href="class_quat.html#aab09b7638f6936a9ad7a1e4ffce606e8">Quat::Quat</a></div><div class="ttdeci">Quat()=default</div><div class="ttdoc">Intentionally not initialized for performance reasons.</div></div>
    594. 

  594. <div class="ttc" id="aclass_quat_html_ab226b2147a748e53008556bcf1a3cd76"><div class="ttname"><a href="class_quat.html#ab226b2147a748e53008556bcf1a3cd76">Quat::RotateAxisZ</a></div><div class="ttdeci">JPH_INLINE Vec3 RotateAxisZ() const</div><div class="ttdoc">Rotate a the vector (0, 0, 1) with this quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:380</div></div>
    595. 

  595. <div class="ttc" id="aclass_quat_html_ad591c3ca827733b3be275ffaf808e838"><div class="ttname"><a href="class_quat.html#ad591c3ca827733b3be275ffaf808e838">Quat::RotateAxisX</a></div><div class="ttdeci">JPH_INLINE Vec3 RotateAxisX() const</div><div class="ttdoc">Rotate a the vector (1, 0, 0) with this quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:364</div></div>
    596. 

  596. <div class="ttc" id="aclass_quat_html_adb1d1a70ed64c0a6fadc849126306706"><div class="ttname"><a href="class_quat.html#adb1d1a70ed64c0a6fadc849126306706">Quat::RotateAxisY</a></div><div class="ttdeci">JPH_INLINE Vec3 RotateAxisY() const</div><div class="ttdoc">Rotate a the vector (0, 1, 0) with this quaternion.</div><div class="ttdef"><b>Definition</b> Quat.inl:372</div></div>
    597. 

  597. <div class="ttc" id="aclass_quat_html_ae0e71415ee746c38c27b04e7dbc9b4ed"><div class="ttname"><a href="class_quat.html#ae0e71415ee746c38c27b04e7dbc9b4ed">Quat::GetEulerAngles</a></div><div class="ttdeci">Vec3 GetEulerAngles() const</div><div class="ttdoc">Conversion to Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX)....</div><div class="ttdef"><b>Definition</b> Quat.inl:239</div></div>
    598. 

  598. <div class="ttc" id="aclass_quat_html_ae628a9685f0be008f18752ea9302b4e4"><div class="ttname"><a href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">Quat::IsNormalized</a></div><div class="ttdeci">bool IsNormalized(float inTolerance=1.0e-5f) const</div><div class="ttdoc">If the length of this quaternion is 1 +/- inTolerance.</div><div class="ttdef"><b>Definition</b> Quat.h:60</div></div>
    599. 

  599. <div class="ttc" id="aclass_quat_html_ae95e7b6c9f4167b91b674a696c681c6e"><div class="ttname"><a href="class_quat.html#ae95e7b6c9f4167b91b674a696c681c6e">Quat::StoreFloat3</a></div><div class="ttdeci">JPH_INLINE void StoreFloat3(Float3 *outV) const</div><div class="ttdoc">Store as 3 floats to memory (X, Y and Z component). Ensures that W is positive before storing.</div><div class="ttdef"><b>Definition</b> Quat.inl:388</div></div>
    600. 

  600. <div class="ttc" id="aclass_quat_html_afa7fe10bf8a457fb2d524791ccd79ec4"><div class="ttname"><a href="class_quat.html#afa7fe10bf8a457fb2d524791ccd79ec4">Quat::GetXYZ</a></div><div class="ttdeci">JPH_INLINE Vec3 GetXYZ() const</div><div class="ttdoc">Get the imaginary part of the quaternion.</div><div class="ttdef"><b>Definition</b> Quat.h:82</div></div>
    601. 

  601. <div class="ttc" id="aclass_quat_html_afad087a5997d1318f544b5c9819c4d9b"><div class="ttname"><a href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">Quat::mValue</a></div><div class="ttdeci">Vec4 mValue</div><div class="ttdoc">4 vector that stores [x, y, z, w] parts of the quaternion</div><div class="ttdef"><b>Definition</b> Quat.h:261</div></div>
    602. 

  602. <div class="ttc" id="aclass_quat_html_afc3276d69ac8713afddf3cf970c27371"><div class="ttname"><a href="class_quat.html#afc3276d69ac8713afddf3cf970c27371">Quat::SLERP</a></div><div class="ttdeci">JPH_INLINE Quat SLERP(QuatArg inDestination, float inFraction) const</div><div class="ttdef"><b>Definition</b> Quat.inl:292</div></div>
    603. 

  603. <div class="ttc" id="aclass_u_vec4_html"><div class="ttname"><a href="class_u_vec4.html">UVec4</a></div><div class="ttdef"><b>Definition</b> UVec4.h:12</div></div>
    604. 

  604. <div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
    605. 

  605. <div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
    606. 

  606. <div class="ttc" id="aclass_vec3_html_a0f7559f2691ad67826f42ca19916b7a9"><div class="ttname"><a href="class_vec3.html#a0f7559f2691ad67826f42ca19916b7a9">Vec3::Normalized</a></div><div class="ttdeci">JPH_INLINE Vec3 Normalized() const</div><div class="ttdoc">Normalize vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:707</div></div>
    607. 

  607. <div class="ttc" id="aclass_vec3_html_a224811af391ccfd1e05282eda22d1de8"><div class="ttname"><a href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Vec3::Cross</a></div><div class="ttdeci">JPH_INLINE Vec3 Cross(Vec3Arg inV2) const</div><div class="ttdoc">Cross product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:595</div></div>
    608. 

  608. <div class="ttc" id="aclass_vec3_html_a24a96972fdbe04ae9a3e340fd4c39b81"><div class="ttname"><a href="class_vec3.html#a24a96972fdbe04ae9a3e340fd4c39b81">Vec3::GetNormalizedPerpendicular</a></div><div class="ttdeci">JPH_INLINE Vec3 GetNormalizedPerpendicular() const</div><div class="ttdoc">Get normalized vector that is perpendicular to this vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:827</div></div>
    609. 

  609. <div class="ttc" id="aclass_vec3_html_a284e29f161ae7709a934f402bd2a848c"><div class="ttname"><a href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">Vec3::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get individual components.</div><div class="ttdef"><b>Definition</b> Vec3.h:127</div></div>
    610. 

  610. <div class="ttc" id="aclass_vec3_html_a2f10743d69960eaac721399e4ede190a"><div class="ttname"><a href="class_vec3.html#a2f10743d69960eaac721399e4ede190a">Vec3::IsNormalized</a></div><div class="ttdeci">JPH_INLINE bool IsNormalized(float inTolerance=1.0e-6f) const</div><div class="ttdoc">Test if vector is normalized.</div><div class="ttdef"><b>Definition</b> Vec3.inl:752</div></div>
    611. 

  611. <div class="ttc" id="aclass_vec3_html_a6c6409cad56e4e357f73d43cd719ffe8"><div class="ttname"><a href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">Vec3::NormalizedOr</a></div><div class="ttdeci">JPH_INLINE Vec3 NormalizedOr(Vec3Arg inZeroValue) const</div><div class="ttdoc">Normalize vector or return inZeroValue if the length of the vector is zero.</div><div class="ttdef"><b>Definition</b> Vec3.inl:721</div></div>
    612. 

  612. <div class="ttc" id="aclass_vec3_html_aa84e1ff8ea2e1cea4b73c7768966fa03"><div class="ttname"><a href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">Vec3::mValue</a></div><div class="ttdeci">Type mValue</div><div class="ttdef"><b>Definition</b> Vec3.h:299</div></div>
    613. 

  613. <div class="ttc" id="aclass_vec3_html_aac08ebd63b9ab4fa089a5ed3224a8679"><div class="ttname"><a href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">Vec3::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdef"><b>Definition</b> Vec3.h:128</div></div>
    614. 

  614. <div class="ttc" id="aclass_vec3_html_ab22c62c48d2de13947c0cd3413018364"><div class="ttname"><a href="class_vec3.html#ab22c62c48d2de13947c0cd3413018364">Vec3::StoreFloat3</a></div><div class="ttdeci">JPH_INLINE void StoreFloat3(Float3 *outV) const</div><div class="ttdoc">Store 3 floats to memory.</div><div class="ttdef"><b>Definition</b> Vec3.inl:772</div></div>
    615. 

  615. <div class="ttc" id="aclass_vec3_html_aba501a6a474028084799f871c9083dc1"><div class="ttname"><a href="class_vec3.html#aba501a6a474028084799f871c9083dc1">Vec3::LengthSq</a></div><div class="ttdeci">JPH_INLINE float LengthSq() const</div><div class="ttdoc">Squared length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:666</div></div>
    616. 

  616. <div class="ttc" id="aclass_vec3_html_ad03c52ab27761bc1e64e33c47632ba51"><div class="ttname"><a href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a></div><div class="ttdeci">static JPH_INLINE Vec3 sZero()</div><div class="ttdoc">Vector with all zeros.</div><div class="ttdef"><b>Definition</b> Vec3.inl:103</div></div>
    617. 

  617. <div class="ttc" id="aclass_vec3_html_aea30fe731618ffa249ecdcba2c66ab4e"><div class="ttname"><a href="class_vec3.html#aea30fe731618ffa249ecdcba2c66ab4e">Vec3::sLoadFloat3Unsafe</a></div><div class="ttdeci">static JPH_INLINE Vec3 sLoadFloat3Unsafe(const Float3 &amp;inV)</div><div class="ttdoc">Load 3 floats from memory (reads 32 bits extra which it doesn't use)</div><div class="ttdef"><b>Definition</b> Vec3.inl:135</div></div>
    618. 

  618. <div class="ttc" id="aclass_vec3_html_aeca36d050a7c2b41d3ac0438874d8c60"><div class="ttname"><a href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">Vec3::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdef"><b>Definition</b> Vec3.h:129</div></div>
    619. 

  619. <div class="ttc" id="aclass_vec3_html_afd477997c0834bd3080156e730ced38d"><div class="ttname"><a href="class_vec3.html#afd477997c0834bd3080156e730ced38d">Vec3::Swizzle</a></div><div class="ttdeci">JPH_INLINE Vec3 Swizzle() const</div><div class="ttdoc">Swizzle the elements in inV.</div></div>
    620. 

  620. <div class="ttc" id="aclass_vec4_html"><div class="ttname"><a href="class_vec4.html">Vec4</a></div><div class="ttdef"><b>Definition</b> Vec4.h:14</div></div>
    621. 

  621. <div class="ttc" id="aclass_vec4_html_a02525e7f8473c93268058324115eeb02"><div class="ttname"><a href="class_vec4.html#a02525e7f8473c93268058324115eeb02">Vec4::SplatX</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatX() const</div><div class="ttdoc">Replicate the X component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:573</div></div>
    622. 

  622. <div class="ttc" id="aclass_vec4_html_a127b2288b92508494650a004ff4f4978"><div class="ttname"><a href="class_vec4.html#a127b2288b92508494650a004ff4f4978">Vec4::SplatW3</a></div><div class="ttdeci">JPH_INLINE Vec3 SplatW3() const</div><div class="ttdoc">Replicate the W component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:650</div></div>
    623. 

  623. <div class="ttc" id="aclass_vec4_html_a309afd4b510feba9179a867802e5ecac"><div class="ttname"><a href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">Vec4::FlipSign</a></div><div class="ttdeci">JPH_INLINE Vec4 FlipSign() const</div><div class="ttdoc">Flips the signs of the components, e.g. FlipSign&lt;-1, 1, -1, 1&gt;() will flip the signs of the X and Z c...</div><div class="ttdef"><b>Definition</b> Vec4.inl:785</div></div>
    624. 

  624. <div class="ttc" id="aclass_vec4_html_a3779a0a05de85b286afeb12f65d08090"><div class="ttname"><a href="class_vec4.html#a3779a0a05de85b286afeb12f65d08090">Vec4::GetW</a></div><div class="ttdeci">JPH_INLINE float GetW() const</div><div class="ttdef"><b>Definition</b> Vec4.h:122</div></div>
    625. 

  625. <div class="ttc" id="aclass_vec4_html_a7ea3bcf62a6055b45527f720a51d0005"><div class="ttname"><a href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">Vec4::SplatY</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatY() const</div><div class="ttdoc">Replicate the Y component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:584</div></div>
    626. 

  626. <div class="ttc" id="aclass_vec4_html_a8fcd8e6ed1b4cf308656cca7cf68d5ee"><div class="ttname"><a href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">Vec4::SplatZ</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatZ() const</div><div class="ttdoc">Replicate the Z component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:595</div></div>
    627. 

  627. <div class="ttc" id="aclass_vec4_html_aa890d45169669b6845a2770a72166fcf"><div class="ttname"><a href="class_vec4.html#aa890d45169669b6845a2770a72166fcf">Vec4::SplatW</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatW() const</div><div class="ttdoc">Replicate the W component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:606</div></div>
    628. 

  628. <div class="ttc" id="aclass_vec4_html_aad89aa3a9c4215f45c0dbe1fb65830c3"><div class="ttname"><a href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">Vec4::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get individual components.</div><div class="ttdef"><b>Definition</b> Vec4.h:119</div></div>
    629. 

  629. <div class="ttc" id="aclass_vec4_html_abc7417303ad93e9bbe7506e7cd045724"><div class="ttname"><a href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Vec4::Swizzle</a></div><div class="ttdeci">JPH_INLINE Vec4 Swizzle() const</div><div class="ttdoc">Swizzle the elements in inV.</div></div>
    630. 

  630. <div class="ttc" id="aclass_vec4_html_ac25b6ecd8f3fa3afe02509da4a155e5c"><div class="ttname"><a href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">Vec4::mValue</a></div><div class="ttdeci">Type mValue</div><div class="ttdef"><b>Definition</b> Vec4.h:311</div></div>
    631. 

  631. <div class="ttc" id="aclass_vec4_html_ae5f0ef8f9fd4deb1359806fac122f309"><div class="ttname"><a href="class_vec4.html#ae5f0ef8f9fd4deb1359806fac122f309">Vec4::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdef"><b>Definition</b> Vec4.h:121</div></div>
    632. 

  632. <div class="ttc" id="aclass_vec4_html_aea48c2f435bcc4ddbc79bfb5ddf04c6b"><div class="ttname"><a href="class_vec4.html#aea48c2f435bcc4ddbc79bfb5ddf04c6b">Vec4::sSelect</a></div><div class="ttdeci">static JPH_INLINE Vec4 sSelect(Vec4Arg inNotSet, Vec4Arg inSet, UVec4Arg inControl)</div><div class="ttdoc">Component wise select, returns inNotSet when highest bit of inControl = 0 and inSet when highest bit ...</div><div class="ttdef"><b>Definition</b> Vec4.inl:264</div></div>
    633. 

  633. <div class="ttc" id="aclass_vec4_html_aee5a8598cce851f687263d9b3a163989"><div class="ttname"><a href="class_vec4.html#aee5a8598cce851f687263d9b3a163989">Vec4::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdef"><b>Definition</b> Vec4.h:120</div></div>
    634. 

  634. <div class="ttc" id="aclass_vec4_html_af18f350dd2885dc48ff7e7cbf4b8bc9d"><div class="ttname"><a href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a></div><div class="ttdeci">static JPH_INLINE Vec4 sReplicate(float inV)</div><div class="ttdoc">Replicate inV across all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:74</div></div>
    635. 

  635. <div class="ttc" id="aclass_vec4_html_af7e7da5ada5c3e85aac45d62871a867c"><div class="ttname"><a href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">Vec4::SinCos</a></div><div class="ttdeci">void SinCos(Vec4 &amp;outSin, Vec4 &amp;outCos) const</div><div class="ttdoc">Calculate the sine and cosine for each element of this vector (input in radians)</div><div class="ttdef"><b>Definition</b> Vec4.inl:867</div></div>
    636. 

  636. <div class="ttc" id="aclass_vec4_html_afdfae50fe6a7d86e7d1684fc71be7ed0"><div class="ttname"><a href="class_vec4.html#afdfae50fe6a7d86e7d1684fc71be7ed0">Vec4::StoreFloat4</a></div><div class="ttdeci">JPH_INLINE void StoreFloat4(Float4 *outV) const</div><div class="ttdoc">Store 4 floats to memory.</div><div class="ttdef"><b>Definition</b> Vec4.inl:807</div></div>
    637. 

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