cpp
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JoltPhysics
mirror of https://github.com/jrouwe/JoltPhysics.git


			
				
					
						
						
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   <div id="projectname">Jolt Physics
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   <div id="projectbrief">A multi core friendly Game Physics Engine</div>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="#friends">Friends</a> &#124;
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  <div class="headertitle"><div class="title">Quat Class Reference</div></div>
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<p><code>#include &lt;<a class="el" href="_quat_8h_source.html">Quat.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a618a8eb64122263b8c64109f03ac47b5" id="r_a618a8eb64122263b8c64109f03ac47b5"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a618a8eb64122263b8c64109f03ac47b5">GetAxisAngle</a> (<a class="el" href="class_vec3.html">Vec3</a> &amp;outAxis, float &amp;outAngle) const</td></tr>
<tr class="memdesc:a618a8eb64122263b8c64109f03ac47b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get axis and angle that represents this quaternion, outAngle will always be in the range \([0, \pi]\).  <br /></td></tr>
<tr class="separator:a618a8eb64122263b8c64109f03ac47b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae0e71415ee746c38c27b04e7dbc9b4ed" id="r_ae0e71415ee746c38c27b04e7dbc9b4ed"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae0e71415ee746c38c27b04e7dbc9b4ed">GetEulerAngles</a> () const</td></tr>
<tr class="memdesc:ae0e71415ee746c38c27b04e7dbc9b4ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion to Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX). Angles in radians.  <br /></td></tr>
<tr class="separator:ae0e71415ee746c38c27b04e7dbc9b4ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a646b3edebee182d86159eed987ba91a0" id="r_a646b3edebee182d86159eed987ba91a0"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a646b3edebee182d86159eed987ba91a0">operator*</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inValue) const</td></tr>
<tr class="memdesc:a646b3edebee182d86159eed987ba91a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotate a vector by this quaternion.  <br /></td></tr>
<tr class="separator:a646b3edebee182d86159eed987ba91a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a108350bfce9aa53b1af87fbe2698f6f4" id="r_a108350bfce9aa53b1af87fbe2698f6f4"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a108350bfce9aa53b1af87fbe2698f6f4">InverseRotate</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inValue) const</td></tr>
<tr class="memdesc:a108350bfce9aa53b1af87fbe2698f6f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotate a vector by the inverse of this quaternion.  <br /></td></tr>
<tr class="separator:a108350bfce9aa53b1af87fbe2698f6f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad591c3ca827733b3be275ffaf808e838" id="r_ad591c3ca827733b3be275ffaf808e838"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad591c3ca827733b3be275ffaf808e838">RotateAxisX</a> () const</td></tr>
<tr class="memdesc:ad591c3ca827733b3be275ffaf808e838"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotate a the vector (1, 0, 0) with this quaternion.  <br /></td></tr>
<tr class="separator:ad591c3ca827733b3be275ffaf808e838"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb1d1a70ed64c0a6fadc849126306706" id="r_adb1d1a70ed64c0a6fadc849126306706"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adb1d1a70ed64c0a6fadc849126306706">RotateAxisY</a> () const</td></tr>
<tr class="memdesc:adb1d1a70ed64c0a6fadc849126306706"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotate a the vector (0, 1, 0) with this quaternion.  <br /></td></tr>
<tr class="separator:adb1d1a70ed64c0a6fadc849126306706"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab226b2147a748e53008556bcf1a3cd76" id="r_ab226b2147a748e53008556bcf1a3cd76"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab226b2147a748e53008556bcf1a3cd76">RotateAxisZ</a> () const</td></tr>
<tr class="memdesc:ab226b2147a748e53008556bcf1a3cd76"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotate a the vector (0, 0, 1) with this quaternion.  <br /></td></tr>
<tr class="separator:ab226b2147a748e53008556bcf1a3cd76"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa95ff0fd4a249749b023c32a5be3a44f" id="r_aa95ff0fd4a249749b023c32a5be3a44f"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa95ff0fd4a249749b023c32a5be3a44f">Dot</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS) const</td></tr>
<tr class="memdesc:aa95ff0fd4a249749b023c32a5be3a44f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dot product.  <br /></td></tr>
<tr class="separator:aa95ff0fd4a249749b023c32a5be3a44f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac69dfd8cdf79a19b8c3f385125ff5ddc" id="r_ac69dfd8cdf79a19b8c3f385125ff5ddc"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac69dfd8cdf79a19b8c3f385125ff5ddc">Conjugated</a> () const</td></tr>
<tr class="memdesc:ac69dfd8cdf79a19b8c3f385125ff5ddc"><td class="mdescLeft">&#160;</td><td class="mdescRight">The conjugate [w, -x, -y, -z] is the same as the inverse for unit quaternions.  <br /></td></tr>
<tr class="separator:ac69dfd8cdf79a19b8c3f385125ff5ddc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac04a00570e1a5e96d49398d40d493bf3" id="r_ac04a00570e1a5e96d49398d40d493bf3"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac04a00570e1a5e96d49398d40d493bf3">Inversed</a> () const</td></tr>
<tr class="memdesc:ac04a00570e1a5e96d49398d40d493bf3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get inverse quaternion.  <br /></td></tr>
<tr class="separator:ac04a00570e1a5e96d49398d40d493bf3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9f563ca8c8a8b71a0aa340d12080c2ef" id="r_a9f563ca8c8a8b71a0aa340d12080c2ef"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9f563ca8c8a8b71a0aa340d12080c2ef">EnsureWPositive</a> () const</td></tr>
<tr class="memdesc:a9f563ca8c8a8b71a0aa340d12080c2ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ensures that the W component is positive by negating the entire quaternion if it is not. This is useful when you want to store a quaternion as a 3 vector by discarding W and reconstructing it as sqrt(1 - x^2 - y^2 - z^2).  <br /></td></tr>
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<tr class="memitem:abba5ae611cba89b67e967945ffe32c8f" id="r_abba5ae611cba89b67e967945ffe32c8f"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abba5ae611cba89b67e967945ffe32c8f">GetPerpendicular</a> () const</td></tr>
<tr class="memdesc:abba5ae611cba89b67e967945ffe32c8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a quaternion that is perpendicular to this quaternion.  <br /></td></tr>
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<tr class="memitem:ac72ff53fa4780399aa0755e2ca31b450" id="r_ac72ff53fa4780399aa0755e2ca31b450"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac72ff53fa4780399aa0755e2ca31b450">GetRotationAngle</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxis) const</td></tr>
<tr class="memdesc:ac72ff53fa4780399aa0755e2ca31b450"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get rotation angle around inAxis (uses Swing Twist Decomposition to get the twist quaternion and uses q(axis, angle) = [cos(angle / 2), axis * sin(angle / 2)])  <br /></td></tr>
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<tr class="memitem:aa30f29eff5df0de717de979bf3aae295" id="r_aa30f29eff5df0de717de979bf3aae295"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa30f29eff5df0de717de979bf3aae295">GetTwist</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxis) const</td></tr>
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<tr class="memitem:a7bb8b016622e5ad8f361c52f9037f1aa" id="r_a7bb8b016622e5ad8f361c52f9037f1aa"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7bb8b016622e5ad8f361c52f9037f1aa">GetSwingTwist</a> (<a class="el" href="class_quat.html">Quat</a> &amp;outSwing, <a class="el" href="class_quat.html">Quat</a> &amp;outTwist) const</td></tr>
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<tr class="memitem:a54dc8061046dd6ba3fb3a1965cf7319c" id="r_a54dc8061046dd6ba3fb3a1965cf7319c"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a54dc8061046dd6ba3fb3a1965cf7319c">LERP</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inDestination, float inFraction) const</td></tr>
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<tr class="memitem:afc3276d69ac8713afddf3cf970c27371" id="r_afc3276d69ac8713afddf3cf970c27371"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afc3276d69ac8713afddf3cf970c27371">SLERP</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inDestination, float inFraction) const</td></tr>
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<tr class="memitem:ae95e7b6c9f4167b91b674a696c681c6e" id="r_ae95e7b6c9f4167b91b674a696c681c6e"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae95e7b6c9f4167b91b674a696c681c6e">StoreFloat3</a> (<a class="el" href="class_float3.html">Float3</a> *outV) const</td></tr>
<tr class="memdesc:ae95e7b6c9f4167b91b674a696c681c6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Store as 3 floats to memory (X, Y and Z component). Ensures that W is positive before storing.  <br /></td></tr>
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<tr class="memitem:a7c1fba108633b262e9011b39a92b490b" id="r_a7c1fba108633b262e9011b39a92b490b"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7c1fba108633b262e9011b39a92b490b">StoreFloat4</a> (<a class="el" href="class_float4.html">Float4</a> *outV) const</td></tr>
<tr class="memdesc:a7c1fba108633b262e9011b39a92b490b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Store as 4 floats.  <br /></td></tr>
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<tr class="memitem:a5e844d3510c68831f222de05d92669b2" id="r_a5e844d3510c68831f222de05d92669b2"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a5e844d3510c68831f222de05d92669b2">CompressUnitQuat</a> () const</td></tr>
<tr class="memdesc:a5e844d3510c68831f222de05d92669b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compress a unit quaternion to a 32 bit value, precision is around 0.5 degree.  <br /></td></tr>
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<tr><td colspan="2"><div class="groupHeader">Constructors</div></td></tr>
<tr class="memitem:aab09b7638f6936a9ad7a1e4ffce606e8" id="r_aab09b7638f6936a9ad7a1e4ffce606e8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aab09b7638f6936a9ad7a1e4ffce606e8">Quat</a> ()=default</td></tr>
<tr class="memdesc:aab09b7638f6936a9ad7a1e4ffce606e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Intentionally not initialized for performance reasons.  <br /></td></tr>
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<tr class="memitem:a0657861b58c5638d657b9232d0872789" id="r_a0657861b58c5638d657b9232d0872789"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0657861b58c5638d657b9232d0872789">Quat</a> (const <a class="el" href="class_quat.html">Quat</a> &amp;inRHS)=default</td></tr>
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<tr class="memitem:a4a0da4e3fde81586973da99956f7d51c" id="r_a4a0da4e3fde81586973da99956f7d51c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_quat.html">Quat</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4a0da4e3fde81586973da99956f7d51c">operator=</a> (const <a class="el" href="class_quat.html">Quat</a> &amp;inRHS)=default</td></tr>
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<tr class="memitem:add07307f26b40e8ad4dc1bad89e837b9" id="r_add07307f26b40e8ad4dc1bad89e837b9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#add07307f26b40e8ad4dc1bad89e837b9">Quat</a> (float inX, float inY, float inZ, float inW)</td></tr>
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<tr class="memitem:a9b178bf2445e7c1e97e2fdf02c919554" id="r_a9b178bf2445e7c1e97e2fdf02c919554"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9b178bf2445e7c1e97e2fdf02c919554">Quat</a> (const <a class="el" href="class_float4.html">Float4</a> &amp;inV)</td></tr>
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<tr class="memitem:aa27e46b0f37c06e419e552ec8473abd1" id="r_aa27e46b0f37c06e419e552ec8473abd1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aa27e46b0f37c06e419e552ec8473abd1">Quat</a> (<a class="el" href="_math_types_8h.html#a2f6a6bbc069039fb4bc5813de8e77aa1">Vec4Arg</a> inV)</td></tr>
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<tr><td colspan="2"><div class="groupHeader">Tests</div></td></tr>
<tr class="memitem:a55ec695a492daa028921cca4740db11b" id="r_a55ec695a492daa028921cca4740db11b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a55ec695a492daa028921cca4740db11b">operator==</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS) const</td></tr>
<tr class="memdesc:a55ec695a492daa028921cca4740db11b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two quaternions are exactly equal.  <br /></td></tr>
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<tr class="memitem:a23c4e00d9d6905c284c728cf3e184934" id="r_a23c4e00d9d6905c284c728cf3e184934"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a23c4e00d9d6905c284c728cf3e184934">operator!=</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS) const</td></tr>
<tr class="memdesc:a23c4e00d9d6905c284c728cf3e184934"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two quaternions are different.  <br /></td></tr>
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<tr class="memitem:a9c0afa78ae80b13a6c8adf1240a7c95e" id="r_a9c0afa78ae80b13a6c8adf1240a7c95e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9c0afa78ae80b13a6c8adf1240a7c95e">IsClose</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS, float inMaxDistSq=1.0e-12f) const</td></tr>
<tr class="memdesc:a9c0afa78ae80b13a6c8adf1240a7c95e"><td class="mdescLeft">&#160;</td><td class="mdescRight">If this quaternion is close to inRHS. Note that q and -q represent the same rotation, this is not checked here.  <br /></td></tr>
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<tr class="memitem:ae628a9685f0be008f18752ea9302b4e4" id="r_ae628a9685f0be008f18752ea9302b4e4"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a> (float inTolerance=1.0e-5f) const</td></tr>
<tr class="memdesc:ae628a9685f0be008f18752ea9302b4e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">If the length of this quaternion is 1 +/- inTolerance.  <br /></td></tr>
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<tr class="memitem:a62b95b1c1d36ecbd6f9732ca4789a7bf" id="r_a62b95b1c1d36ecbd6f9732ca4789a7bf"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a62b95b1c1d36ecbd6f9732ca4789a7bf">IsNaN</a> () const</td></tr>
<tr class="memdesc:a62b95b1c1d36ecbd6f9732ca4789a7bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">If any component of this quaternion is a NaN (not a number)  <br /></td></tr>
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<tr><td colspan="2"><div class="groupHeader">Get components</div></td></tr>
<tr class="memitem:a3fb43a7bca4b20ce7573030fd826aa96" id="r_a3fb43a7bca4b20ce7573030fd826aa96"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a> () const</td></tr>
<tr class="memdesc:a3fb43a7bca4b20ce7573030fd826aa96"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get X component (imaginary part i)  <br /></td></tr>
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<tr class="memitem:a21f44684684b475d9f5d02ed9c580def" id="r_a21f44684684b475d9f5d02ed9c580def"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a21f44684684b475d9f5d02ed9c580def">GetY</a> () const</td></tr>
<tr class="memdesc:a21f44684684b475d9f5d02ed9c580def"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get Y component (imaginary part j)  <br /></td></tr>
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<tr class="memitem:a38dfc20f7628eee4492125a41ad91764" id="r_a38dfc20f7628eee4492125a41ad91764"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a38dfc20f7628eee4492125a41ad91764">GetZ</a> () const</td></tr>
<tr class="memdesc:a38dfc20f7628eee4492125a41ad91764"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get Z component (imaginary part k)  <br /></td></tr>
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<tr class="memitem:a13d0159a54a94e6a90dc5952f454b09e" id="r_a13d0159a54a94e6a90dc5952f454b09e"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a13d0159a54a94e6a90dc5952f454b09e">GetW</a> () const</td></tr>
<tr class="memdesc:a13d0159a54a94e6a90dc5952f454b09e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get W component (real part)  <br /></td></tr>
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<tr class="memitem:afa7fe10bf8a457fb2d524791ccd79ec4" id="r_afa7fe10bf8a457fb2d524791ccd79ec4"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afa7fe10bf8a457fb2d524791ccd79ec4">GetXYZ</a> () const</td></tr>
<tr class="memdesc:afa7fe10bf8a457fb2d524791ccd79ec4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the imaginary part of the quaternion.  <br /></td></tr>
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<tr class="memitem:a7800c0c4cb017273d86793d8a09bf136" id="r_a7800c0c4cb017273d86793d8a09bf136"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_vec4.html">Vec4</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7800c0c4cb017273d86793d8a09bf136">GetXYZW</a> () const</td></tr>
<tr class="memdesc:a7800c0c4cb017273d86793d8a09bf136"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the quaternion as a <a class="el" href="class_vec4.html">Vec4</a>.  <br /></td></tr>
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<tr class="memitem:ae53457812ce9ffa5fb7b6b8a3c5c97e5" id="r_ae53457812ce9ffa5fb7b6b8a3c5c97e5"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae53457812ce9ffa5fb7b6b8a3c5c97e5">SetX</a> (float inX)</td></tr>
<tr class="memdesc:ae53457812ce9ffa5fb7b6b8a3c5c97e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set individual components.  <br /></td></tr>
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<tr class="memitem:a4a4db6760750a34c25199455c07b6bb9" id="r_a4a4db6760750a34c25199455c07b6bb9"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4a4db6760750a34c25199455c07b6bb9">SetY</a> (float inY)</td></tr>
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<tr class="memitem:a3f494dde1e2e0bc50dbc2abd13210b23" id="r_a3f494dde1e2e0bc50dbc2abd13210b23"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3f494dde1e2e0bc50dbc2abd13210b23">SetZ</a> (float inZ)</td></tr>
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<tr class="memitem:ae32d59954e6b05258af7123c00141654" id="r_ae32d59954e6b05258af7123c00141654"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae32d59954e6b05258af7123c00141654">SetW</a> (float inW)</td></tr>
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<tr class="memitem:a9fb5be70301ba85a3292119d71a5e9c4" id="r_a9fb5be70301ba85a3292119d71a5e9c4"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9fb5be70301ba85a3292119d71a5e9c4">Set</a> (float inX, float inY, float inZ, float inW)</td></tr>
<tr class="memdesc:a9fb5be70301ba85a3292119d71a5e9c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set all components.  <br /></td></tr>
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<tr><td colspan="2"><div class="groupHeader">Length / normalization operations</div></td></tr>
<tr class="memitem:a60f30c650e027a892e699c156c7eca67" id="r_a60f30c650e027a892e699c156c7eca67"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a60f30c650e027a892e699c156c7eca67">LengthSq</a> () const</td></tr>
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<tr class="memitem:ab93ff288ad62172d343e11ce4fbf07d0" id="r_ab93ff288ad62172d343e11ce4fbf07d0"><td class="memItemLeft" align="right" valign="top">JPH_INLINE float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab93ff288ad62172d343e11ce4fbf07d0">Length</a> () const</td></tr>
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<tr class="memitem:a9d4b1ee8c4685a4589766e1c8cacc268" id="r_a9d4b1ee8c4685a4589766e1c8cacc268"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9d4b1ee8c4685a4589766e1c8cacc268">Normalized</a> () const</td></tr>
<tr class="memdesc:a9d4b1ee8c4685a4589766e1c8cacc268"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normalize the quaternion (make it length 1)  <br /></td></tr>
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Static Public Member Functions</h2></td></tr>
<tr class="memitem:a3ac594bf7be610138e90735ae99ff8e9" id="r_a3ac594bf7be610138e90735ae99ff8e9"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3ac594bf7be610138e90735ae99ff8e9">sRotation</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAxis, float inAngle)</td></tr>
<tr class="memdesc:a3ac594bf7be610138e90735ae99ff8e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotation from axis and angle.  <br /></td></tr>
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<tr class="memitem:a7e32ae62e2b33bf30ba3c40f9e66bfed" id="r_a7e32ae62e2b33bf30ba3c40f9e66bfed"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7e32ae62e2b33bf30ba3c40f9e66bfed">sFromTo</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inFrom, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inTo)</td></tr>
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<tr class="memitem:a0686810998da92e9ab857b314b282d91" id="r_a0686810998da92e9ab857b314b282d91"><td class="memTemplParams" colspan="2">template&lt;class Random &gt; </td></tr>
<tr class="memitem:a0686810998da92e9ab857b314b282d91"><td class="memTemplItemLeft" align="right" valign="top">static <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a0686810998da92e9ab857b314b282d91">sRandom</a> (Random &amp;inRandom)</td></tr>
<tr class="memdesc:a0686810998da92e9ab857b314b282d91"><td class="mdescLeft">&#160;</td><td class="mdescRight">Random unit quaternion.  <br /></td></tr>
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<tr class="memitem:a1ef2428c09a41f3d0549d216ecfca710" id="r_a1ef2428c09a41f3d0549d216ecfca710"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1ef2428c09a41f3d0549d216ecfca710">sEulerAngles</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inAngles)</td></tr>
<tr class="memdesc:a1ef2428c09a41f3d0549d216ecfca710"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion from Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX). Angles in radians.  <br /></td></tr>
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<tr class="memitem:a192ad561dca0797134dab8f8c2e59e29" id="r_a192ad561dca0797134dab8f8c2e59e29"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a192ad561dca0797134dab8f8c2e59e29">sMultiplyImaginary</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inLHS, <a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS)</td></tr>
<tr class="memdesc:a192ad561dca0797134dab8f8c2e59e29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Multiply a quaternion with imaginary components and no real component (x, y, z, 0) with a quaternion.  <br /></td></tr>
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<tr class="memitem:a60c11537faec1e7517a957f02afc4b6d" id="r_a60c11537faec1e7517a957f02afc4b6d"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a60c11537faec1e7517a957f02afc4b6d">sLoadFloat3Unsafe</a> (const <a class="el" href="class_float3.html">Float3</a> &amp;inV)</td></tr>
<tr class="memdesc:a60c11537faec1e7517a957f02afc4b6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Load 3 floats from memory (X, Y and Z component and then calculates W) reads 32 bits extra which it doesn't use.  <br /></td></tr>
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<tr class="memitem:a820cff433aae6ef61bc681c942602a78" id="r_a820cff433aae6ef61bc681c942602a78"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a820cff433aae6ef61bc681c942602a78">sDecompressUnitQuat</a> (<a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> inValue)</td></tr>
<tr class="memdesc:a820cff433aae6ef61bc681c942602a78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decompress a unit quaternion from a 32 bit value.  <br /></td></tr>
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<tr><td colspan="2"><div class="groupHeader">Default quaternions</div></td></tr>
<tr class="memitem:aed30764b796cee2d0169b126c3839bc1" id="r_aed30764b796cee2d0169b126c3839bc1"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aed30764b796cee2d0169b126c3839bc1">sZero</a> ()</td></tr>
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<tr class="memitem:a73a43fe262fbbbc0b1872d238b972794" id="r_a73a43fe262fbbbc0b1872d238b972794"><td class="memItemLeft" align="right" valign="top">static JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a73a43fe262fbbbc0b1872d238b972794">sIdentity</a> ()</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:afad087a5997d1318f544b5c9819c4d9b" id="r_afad087a5997d1318f544b5c9819c4d9b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec4.html">Vec4</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afad087a5997d1318f544b5c9819c4d9b">mValue</a></td></tr>
<tr class="memdesc:afad087a5997d1318f544b5c9819c4d9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">4 vector that stores [x, y, z, w] parts of the quaternion  <br /></td></tr>
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Friends</h2></td></tr>
<tr class="memitem:add2e8fbe3d49728e6cd82834f0f2ef3c" id="r_add2e8fbe3d49728e6cd82834f0f2ef3c"><td class="memItemLeft" align="right" valign="top">ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#add2e8fbe3d49728e6cd82834f0f2ef3c">operator&lt;&lt;</a> (ostream &amp;inStream, <a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inQ)</td></tr>
<tr class="memdesc:add2e8fbe3d49728e6cd82834f0f2ef3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">To String.  <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader">Additions / multiplications</h2></td></tr>
<tr class="memitem:a581ca135acfa86ebf00bb6e1636aef29" id="r_a581ca135acfa86ebf00bb6e1636aef29"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a581ca135acfa86ebf00bb6e1636aef29">operator+=</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS)</td></tr>
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<tr class="memitem:a8297012460ea2f4851ed1f0f80eeddb9" id="r_a8297012460ea2f4851ed1f0f80eeddb9"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8297012460ea2f4851ed1f0f80eeddb9">operator-=</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS)</td></tr>
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<tr class="memitem:ada769d2a82345ec6a2abd706216d46e2" id="r_ada769d2a82345ec6a2abd706216d46e2"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ada769d2a82345ec6a2abd706216d46e2">operator*=</a> (float inValue)</td></tr>
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<tr class="memitem:afc3765d179c478cf2c08d76bd9391bfa" id="r_afc3765d179c478cf2c08d76bd9391bfa"><td class="memItemLeft" align="right" valign="top">JPH_INLINE void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#afc3765d179c478cf2c08d76bd9391bfa">operator/=</a> (float inValue)</td></tr>
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<tr class="memitem:abdb3a55008ba319143df69f97b94d7e5" id="r_abdb3a55008ba319143df69f97b94d7e5"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#abdb3a55008ba319143df69f97b94d7e5">operator-</a> () const</td></tr>
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<tr class="memitem:a05bb92518353f7309399282af7e906e3" id="r_a05bb92518353f7309399282af7e906e3"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a05bb92518353f7309399282af7e906e3">operator+</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS) const</td></tr>
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<tr class="memitem:a7c2cc189b41905f2d02154a2d4863e19" id="r_a7c2cc189b41905f2d02154a2d4863e19"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7c2cc189b41905f2d02154a2d4863e19">operator-</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS) const</td></tr>
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<tr class="memitem:a4e344b30517b4411443b17078e5bb218" id="r_a4e344b30517b4411443b17078e5bb218"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4e344b30517b4411443b17078e5bb218">operator*</a> (<a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS) const</td></tr>
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<tr class="memitem:ae6b513e0018c4191b92eee8fb4594a5e" id="r_ae6b513e0018c4191b92eee8fb4594a5e"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ae6b513e0018c4191b92eee8fb4594a5e">operator*</a> (float inValue) const</td></tr>
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<tr class="memitem:a022e859768c59cdbdef45cdacada80d2" id="r_a022e859768c59cdbdef45cdacada80d2"><td class="memItemLeft" align="right" valign="top">JPH_INLINE <a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a022e859768c59cdbdef45cdacada80d2">operator/</a> (float inValue) const</td></tr>
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<tr class="memitem:a889abe46c8a28cfafa2a20492ecb9b3a" id="r_a889abe46c8a28cfafa2a20492ecb9b3a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_quat.html">Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a889abe46c8a28cfafa2a20492ecb9b3a">operator*</a> (float inValue, <a class="el" href="_math_types_8h.html#a3c723d55f34e02bc506abe3dfb7bd2aa">QuatArg</a> inRHS)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Quaternion class, quaternions are 4 dimensional vectors which can describe rotations in 3 dimensional space if their length is 1.</p>
<p>They are written as:</p>
<p>\(q = w + x \: i + y \: j + z \: k\)</p>
<p>or in vector notation:</p>
<p>\(q = [w, v] = [w, x, y, z]\)</p>
<p>Where:</p>
<p>w = the real part v = the imaginary part, (x, y, z)</p>
<p>Note that we store the quaternion in a <a class="el" href="class_vec4.html">Vec4</a> as [x, y, z, w] because that makes it easy to extract the rotation axis of the quaternion:</p>
<p>q = [cos(angle / 2), sin(angle / 2) * rotation_axis] </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p>Intentionally not initialized for performance reasons. </p>

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          <td class="paramtype">const <a class="el" href="class_quat.html">Quat</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inRHS</em></span></td><td>)</td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inX</em></span>, </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inW</em></span>&#160;)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#aa27e46b0f37c06e419e552ec8473abd1">&#9670;&#160;</a></span>Quat() <span class="overload">[5/5]</span></h2>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a5e844d3510c68831f222de05d92669b2">&#9670;&#160;</a></span>CompressUnitQuat()</h2>

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          <td class="memname">JPH_INLINE <a class="el" href="_core_8h.html#a8f95e75e58492e87412191fabadd8ca8">uint32</a> Quat::CompressUnitQuat </td>
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<p>Compress a unit quaternion to a 32 bit value, precision is around 0.5 degree. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac69dfd8cdf79a19b8c3f385125ff5ddc">&#9670;&#160;</a></span>Conjugated()</h2>

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<p>The conjugate [w, -x, -y, -z] is the same as the inverse for unit quaternions. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa95ff0fd4a249749b023c32a5be3a44f">&#9670;&#160;</a></span>Dot()</h2>

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<p>Dot product. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9f563ca8c8a8b71a0aa340d12080c2ef">&#9670;&#160;</a></span>EnsureWPositive()</h2>

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          <td class="memname">JPH_INLINE <a class="el" href="class_quat.html">Quat</a> Quat::EnsureWPositive </td>
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<p>Ensures that the W component is positive by negating the entire quaternion if it is not. This is useful when you want to store a quaternion as a 3 vector by discarding W and reconstructing it as sqrt(1 - x^2 - y^2 - z^2). </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a618a8eb64122263b8c64109f03ac47b5">&#9670;&#160;</a></span>GetAxisAngle()</h2>

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          <td class="memname">void Quat::GetAxisAngle </td>
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<p>Get axis and angle that represents this quaternion, outAngle will always be in the range \([0, \pi]\). </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae0e71415ee746c38c27b04e7dbc9b4ed">&#9670;&#160;</a></span>GetEulerAngles()</h2>

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<p>Conversion to Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX). Angles in radians. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#abba5ae611cba89b67e967945ffe32c8f">&#9670;&#160;</a></span>GetPerpendicular()</h2>

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<p>Get a quaternion that is perpendicular to this quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac72ff53fa4780399aa0755e2ca31b450">&#9670;&#160;</a></span>GetRotationAngle()</h2>

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<p>Get rotation angle around inAxis (uses Swing Twist Decomposition to get the twist quaternion and uses q(axis, angle) = [cos(angle / 2), axis * sin(angle / 2)]) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7bb8b016622e5ad8f361c52f9037f1aa">&#9670;&#160;</a></span>GetSwingTwist()</h2>

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          <td class="memname">void Quat::GetSwingTwist </td>
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<p>Decomposes quaternion into swing and twist component:</p>
<p>\(q = q_{swing} \: q_{twist}\)</p>
<p>where \(q_{swing} \: \hat{x} = q_{twist} \: \hat{y} = q_{twist} \: \hat{z} = 0\)</p>
<p>In other words:</p>
<ul>
<li>\(q_{twist}\) only rotates around the X-axis.</li>
<li>\(q_{swing}\) only rotates around the Y and Z-axis.</li>
</ul>
<dl class="section see"><dt>See also</dt><dd>Gino van den Bergen - Rotational Joint Limits in Quaternion Space - GDC 2016 </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#aa30f29eff5df0de717de979bf3aae295">&#9670;&#160;</a></span>GetTwist()</h2>

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          <td class="memname"><a class="el" href="class_quat.html">Quat</a> Quat::GetTwist </td>
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<p>Swing Twist Decomposition: any quaternion can be split up as:</p>
<p class="formulaDsp">
\[q = q_{swing} \: q_{twist}\]
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<p>where \(q_{twist}\) rotates only around axis v.</p>
<p>\(q_{twist}\) is:</p>
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\[q_{twist} = \frac{[q_w, q_{ijk} \cdot v \: v]}{\left|[q_w, q_{ijk} \cdot v \: v]\right|}\]
</p>
<p>where q_w is the real part of the quaternion and q_i the imaginary part (a 3 vector).</p>
<p>The swing can then be calculated as:</p>
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\[q_{swing} = q \: q_{twist}^* \]
</p>
<p>Where \(q_{twist}^*\) = complex conjugate of \(q_{twist}\) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a13d0159a54a94e6a90dc5952f454b09e">&#9670;&#160;</a></span>GetW()</h2>

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<p>Get W component (real part) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3fb43a7bca4b20ce7573030fd826aa96">&#9670;&#160;</a></span>GetX()</h2>

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<p>Get X component (imaginary part i) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#afa7fe10bf8a457fb2d524791ccd79ec4">&#9670;&#160;</a></span>GetXYZ()</h2>

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<p>Get the imaginary part of the quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7800c0c4cb017273d86793d8a09bf136">&#9670;&#160;</a></span>GetXYZW()</h2>

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<p>Get the quaternion as a <a class="el" href="class_vec4.html">Vec4</a>. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a21f44684684b475d9f5d02ed9c580def">&#9670;&#160;</a></span>GetY()</h2>

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<p>Get Y component (imaginary part j) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a38dfc20f7628eee4492125a41ad91764">&#9670;&#160;</a></span>GetZ()</h2>

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<p>Get Z component (imaginary part k) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac04a00570e1a5e96d49398d40d493bf3">&#9670;&#160;</a></span>Inversed()</h2>

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<p>Get inverse quaternion. </p>

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<p>Rotate a vector by the inverse of this quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9c0afa78ae80b13a6c8adf1240a7c95e">&#9670;&#160;</a></span>IsClose()</h2>

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<p>If this quaternion is close to inRHS. Note that q and -q represent the same rotation, this is not checked here. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a62b95b1c1d36ecbd6f9732ca4789a7bf">&#9670;&#160;</a></span>IsNaN()</h2>

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<p>If any component of this quaternion is a NaN (not a number) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae628a9685f0be008f18752ea9302b4e4">&#9670;&#160;</a></span>IsNormalized()</h2>

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<p>If the length of this quaternion is 1 +/- inTolerance. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab93ff288ad62172d343e11ce4fbf07d0">&#9670;&#160;</a></span>Length()</h2>

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<p>Length of quaternion. </p><dl class="section return"><dt>Returns</dt><dd>Length of quaternion ( \(|v|\)) </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a60f30c650e027a892e699c156c7eca67">&#9670;&#160;</a></span>LengthSq()</h2>

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<p>Squared length of quaternion. </p><dl class="section return"><dt>Returns</dt><dd>Squared length of quaternion ( \(|v|^2\)) </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a54dc8061046dd6ba3fb3a1965cf7319c">&#9670;&#160;</a></span>LERP()</h2>

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<p>Linear interpolation between two quaternions (for small steps). </p><dl class="params"><dt>Parameters</dt><dd>
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<dl class="section return"><dt>Returns</dt><dd>(1 - inFraction) * this + fraction * inDestination </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a9d4b1ee8c4685a4589766e1c8cacc268">&#9670;&#160;</a></span>Normalized()</h2>

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<p>Normalize the quaternion (make it length 1) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a23c4e00d9d6905c284c728cf3e184934">&#9670;&#160;</a></span>operator!=()</h2>

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<p>Check if two quaternions are different. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae6b513e0018c4191b92eee8fb4594a5e">&#9670;&#160;</a></span>operator*() <span class="overload">[1/3]</span></h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a646b3edebee182d86159eed987ba91a0">&#9670;&#160;</a></span>operator*() <span class="overload">[3/3]</span></h2>

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<p>Rotate a vector by this quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ada769d2a82345ec6a2abd706216d46e2">&#9670;&#160;</a></span>operator*=()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a05bb92518353f7309399282af7e906e3">&#9670;&#160;</a></span>operator+()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a581ca135acfa86ebf00bb6e1636aef29">&#9670;&#160;</a></span>operator+=()</h2>

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<p>Check if two quaternions are exactly equal. </p>

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<p>Rotate a the vector (1, 0, 0) with this quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#adb1d1a70ed64c0a6fadc849126306706">&#9670;&#160;</a></span>RotateAxisY()</h2>

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<p>Rotate a the vector (0, 1, 0) with this quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab226b2147a748e53008556bcf1a3cd76">&#9670;&#160;</a></span>RotateAxisZ()</h2>

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<p>Rotate a the vector (0, 0, 1) with this quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a820cff433aae6ef61bc681c942602a78">&#9670;&#160;</a></span>sDecompressUnitQuat()</h2>

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<p>Decompress a unit quaternion from a 32 bit value. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9fb5be70301ba85a3292119d71a5e9c4">&#9670;&#160;</a></span>Set()</h2>

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<p>Set all components. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae32d59954e6b05258af7123c00141654">&#9670;&#160;</a></span>SetW()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#ae53457812ce9ffa5fb7b6b8a3c5c97e5">&#9670;&#160;</a></span>SetX()</h2>

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<p>Set individual components. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4a4db6760750a34c25199455c07b6bb9">&#9670;&#160;</a></span>SetY()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a3f494dde1e2e0bc50dbc2abd13210b23">&#9670;&#160;</a></span>SetZ()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a1ef2428c09a41f3d0549d216ecfca710">&#9670;&#160;</a></span>sEulerAngles()</h2>

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<p>Conversion from Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX). Angles in radians. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7e32ae62e2b33bf30ba3c40f9e66bfed">&#9670;&#160;</a></span>sFromTo()</h2>

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<p>Create quaternion that rotates a vector from the direction of inFrom to the direction of inTo along the shortest path </p><dl class="section see"><dt>See also</dt><dd><a href="https://www.euclideanspace.com/maths/algebra/vectors/angleBetween/index.htm">https://www.euclideanspace.com/maths/algebra/vectors/angleBetween/index.htm</a> </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a73a43fe262fbbbc0b1872d238b972794">&#9670;&#160;</a></span>sIdentity()</h2>

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<dl class="section return"><dt>Returns</dt><dd>[1, 0, 0, 0] (or in storage format <a class="el" href="class_quat.html">Quat(0, 0, 0, 1)</a>) </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#afc3276d69ac8713afddf3cf970c27371">&#9670;&#160;</a></span>SLERP()</h2>

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          <td class="memname"><a class="el" href="class_quat.html">Quat</a> Quat::SLERP </td>
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<p>Spherical linear interpolation between two quaternions. </p><dl class="params"><dt>Parameters</dt><dd>
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<dl class="section return"><dt>Returns</dt><dd>When fraction is zero this quaternion is returned, when fraction is 1 inDestination is returned. When fraction is between 0 and 1 an interpolation along the shortest path is returned. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a60c11537faec1e7517a957f02afc4b6d">&#9670;&#160;</a></span>sLoadFloat3Unsafe()</h2>

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<p>Load 3 floats from memory (X, Y and Z component and then calculates W) reads 32 bits extra which it doesn't use. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a192ad561dca0797134dab8f8c2e59e29">&#9670;&#160;</a></span>sMultiplyImaginary()</h2>

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<p>Multiply a quaternion with imaginary components and no real component (x, y, z, 0) with a quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0686810998da92e9ab857b314b282d91">&#9670;&#160;</a></span>sRandom()</h2>

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template&lt;class Random &gt; </div>
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<p>Random unit quaternion. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3ac594bf7be610138e90735ae99ff8e9">&#9670;&#160;</a></span>sRotation()</h2>

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<p>Rotation from axis and angle. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae95e7b6c9f4167b91b674a696c681c6e">&#9670;&#160;</a></span>StoreFloat3()</h2>

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<p>Store as 3 floats to memory (X, Y and Z component). Ensures that W is positive before storing. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7c1fba108633b262e9011b39a92b490b">&#9670;&#160;</a></span>StoreFloat4()</h2>

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<p>Store as 4 floats. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aed30764b796cee2d0169b126c3839bc1">&#9670;&#160;</a></span>sZero()</h2>

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<dl class="section return"><dt>Returns</dt><dd>[0, 0, 0, 0] </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a889abe46c8a28cfafa2a20492ecb9b3a">&#9670;&#160;</a></span>operator*</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#add2e8fbe3d49728e6cd82834f0f2ef3c">&#9670;&#160;</a></span>operator&lt;&lt;</h2>

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          <td class="memname">ostream &amp; operator&lt;&lt; </td>
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<p>To String. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#afad087a5997d1318f544b5c9819c4d9b">&#9670;&#160;</a></span>mValue</h2>

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<p>4 vector that stores [x, y, z, w] parts of the quaternion </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>Jolt/Math/<a class="el" href="_quat_8h_source.html">Quat.h</a></li>
<li>Jolt/Math/<a class="el" href="_quat_8inl_source.html">Quat.inl</a></li>
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