#include <Rotation.h>

Inheritance diagram for Chaos::TRotation< FRealDouble, 3 >:

Public Member Functions
	TRotation ()

	TRotation (const BaseQuat &Quat)

	TRotation (const FMatrix44d &Matrix)

	TRotation (const FMatrix44f &Matrix)

template<typename OtherType >
	TRotation (const UE::Math::TQuat< OtherType > &Other)

PMatrix< FRealDouble, 3, 3 >	ToMatrix () const

bool	ToAxisAndAngleSafe (TVector< FRealDouble, 3 > &OutAxis, FRealDouble &OutAngle, const TVector< FRealDouble, 3 > &DefaultAxis, FRealDouble EpsilionSq=1e-6f) const

bool	GetRotationAxisSafe (TVector< FRealDouble, 3 > &OutAxis, const TVector< FRealDouble, 3 > &DefaultAxis, FRealDouble EpsilionSq=1e-6f) const

void	ToMatrixAxes (TVector< FRealDouble, 3 > &OutX, TVector< FRealDouble, 3 > &OutY, TVector< FRealDouble, 3 > &OutZ)

void	ToSwingTwistX (BaseQuat &OutSwing, BaseQuat &OutTwist) const

FORCEINLINE FRealDouble	GetAbsMax () const
	Return the large absolute element value.

Public Member Functions inherited from UE::Math::TQuat< FRealDouble >
	TQuat ()=default

UE_FORCEINLINE_HINT	TQuat (EForceInit)

	TQuat (FRealDouble InX, FRealDouble InY, FRealDouble InZ, FRealDouble InW)

	TQuat (FRealDouble V)

	TQuat (const TRotator< FRealDouble > &R)

	TQuat (const TMatrix< FRealDouble > &M)

	TQuat (TVector< FRealDouble > Axis, FRealDouble AngleRad)

	TQuat (const TQuat< FArg > &From)

TQuat< FRealDouble >	operator+ (const TQuat< FRealDouble > &Q) const

TQuat< FRealDouble >	operator+= (const TQuat< FRealDouble > &Q)

TQuat< FRealDouble >	operator- (const TQuat< FRealDouble > &Q) const

TQuat< FRealDouble >	operator- () const

bool	Equals (const TQuat< FRealDouble > &Q, FRealDouble Tolerance=UE_KINDA_SMALL_NUMBER) const

UE_FORCEINLINE_HINT bool	IsIdentity (FRealDouble Tolerance=UE_SMALL_NUMBER) const

TQuat< FRealDouble >	operator-= (const TQuat< FRealDouble > &Q)

TQuat< FRealDouble >	operator* (const TQuat< FRealDouble > &Q) const

TVector< FRealDouble >	operator* (const TVector< FRealDouble > &V) const

CORE_API TMatrix< FRealDouble >	operator* (const TMatrix< FRealDouble > &M) const

TQuat< FRealDouble >	operator* (const FArg Scale) const

TQuat< FRealDouble >	operator*= (const TQuat< FRealDouble > &Q)

TQuat< FRealDouble >	operator*= (const FArg Scale)

TQuat< FRealDouble >	operator/= (const FArg Scale)

TQuat< FRealDouble >	operator/ (const FArg Scale) const

bool	Identical (const TQuat *Q, const uint32 PortFlags) const

bool	operator== (const TQuat< FRealDouble > &Q) const

bool	operator!= (const TQuat< FRealDouble > &Q) const

FRealDouble	operator\| (const TQuat< FRealDouble > &Q) const

CORE_API TVector< FRealDouble >	Euler () const

void	Normalize (FRealDouble Tolerance=UE_SMALL_NUMBER)

TQuat< FRealDouble >	GetNormalized (FRealDouble Tolerance=UE_SMALL_NUMBER) const

bool	IsNormalized () const

UE_FORCEINLINE_HINT FRealDouble	Size () const

UE_FORCEINLINE_HINT FRealDouble	SizeSquared () const

UE_FORCEINLINE_HINT FRealDouble	GetAngle () const

void	ToAxisAndAngle (TVector< FRealDouble > &Axis, float &Angle) const

void	ToAxisAndAngle (TVector< FRealDouble > &Axis, double &Angle) const

TVector< FRealDouble >	ToRotationVector () const

CORE_API void	ToSwingTwist (const TVector< FRealDouble > &InTwistAxis, TQuat< FRealDouble > &OutSwing, TQuat< FRealDouble > &OutTwist) const

CORE_API FRealDouble	GetTwistAngle (const TVector< FRealDouble > &TwistAxis) const

TVector< FRealDouble >	RotateVector (TVector< FRealDouble > V) const

TVector< FRealDouble >	UnrotateVector (TVector< FRealDouble > V) const

CORE_API TQuat< FRealDouble >	Log () const

CORE_API TQuat< FRealDouble >	Exp () const

TQuat< FRealDouble >	Inverse () const

void	EnforceShortestArcWith (const TQuat< FRealDouble > &OtherQuat)

TQuat< FRealDouble >	GetShortestArcWith (const TQuat< FRealDouble > &OtherQuat) const

UE_FORCEINLINE_HINT TVector< FRealDouble >	GetAxisX () const

UE_FORCEINLINE_HINT TVector< FRealDouble >	GetAxisY () const

UE_FORCEINLINE_HINT TVector< FRealDouble >	GetAxisZ () const

UE_FORCEINLINE_HINT TVector< FRealDouble >	GetForwardVector () const

UE_FORCEINLINE_HINT TVector< FRealDouble >	GetRightVector () const

UE_FORCEINLINE_HINT TVector< FRealDouble >	GetUpVector () const

UE_FORCEINLINE_HINT TVector< FRealDouble >	Vector () const

CORE_API TRotator< FRealDouble >	Rotator () const

UE_FORCEINLINE_HINT TMatrix< FRealDouble >	ToMatrix () const

CORE_API void	ToMatrix (TMatrix< FRealDouble > &Mat) const

TVector< FRealDouble >	GetRotationAxis () const

FRealDouble	AngularDistance (const TQuat< FRealDouble > &Q) const

CORE_API bool	NetSerialize (FArchive &Ar, class UPackageMap *Map, bool &bOutSuccess)

bool	ContainsNaN () const

FString	ToString () const

bool	InitFromString (const FString &InSourceString)

UE_FORCEINLINE_HINT void	DiagnosticCheckNaN () const

UE_FORCEINLINE_HINT void	DiagnosticCheckNaN (const TCHAR *Message) const

TTuple< FRealDouble, FRealDouble, FRealDouble >	ToLUFEuler () const

bool	Serialize (FArchive &Ar)

bool	SerializeFromMismatchedTag (FName StructTag, FArchive &Ar)

Static Public Member Functions
static FRealDouble	DotProduct (const TRotation< FRealDouble, 3 > &L, const TRotation< FRealDouble, 3 > &R)
	Return the dot product of two quaternions.

static CHAOSCORE_API TRotation< FRealDouble, 3 >	Conjugate (const ::Chaos::TRotation< FRealDouble, 3 > &InR)

static CHAOSCORE_API TRotation< FRealDouble, 3 >	Negate (const ::Chaos::TRotation< FRealDouble, 3 > &InR)

static TRotation< FRealDouble, 3 >	FromIdentity ()

static TRotation< FRealDouble, 3 >	FromElements (const FRealDouble X, const FRealDouble Y, const FRealDouble Z, const FRealDouble W)

static TRotation< FRealDouble, 3 >	FromElements (const ::Chaos::TVector< FRealDouble, 3 > &V, const FRealDouble W)

static TRotation< FRealDouble, 3 >	FromAxisAngle (const ::Chaos::TVector< FRealDouble, 3 > &Axis, const FRealDouble AngleRad)

static CHAOSCORE_API TRotation< FRealDouble, 3 >	FromVector (const ::Chaos::TVector< FRealDouble, 3 > &V)

static CHAOSCORE_API TRotation< FRealDouble, 3 >	FromRotatedVector (const ::Chaos::TVector< FRealDouble, 3 > &InitialVector, const ::Chaos::TVector< FRealDouble, 3 > &FinalVector)

static CHAOSCORE_API TVector< FRealDouble, 3 >	CalculateAngularVelocity1 (const TRotation< FRealDouble, 3 > &R0, const TRotation< FRealDouble, 3 > &InR1, const FRealDouble InDt)

static CHAOSCORE_API TVector< FRealDouble, 3 >	CalculateAngularVelocity2 (const TRotation< FRealDouble, 3 > &R0, const TRotation< FRealDouble, 3 > &InR1, const FRealDouble InDt)

static TVector< FRealDouble, 3 >	CalculateAngularVelocity (const TRotation< FRealDouble, 3 > &InR0, const TRotation< FRealDouble, 3 > &InR1, const FRealDouble InDt)

static TVector< FRealDouble, 3 >	CalculateAngularDelta (const TRotation< FRealDouble, 3 > &InR0, const TRotation< FRealDouble, 3 > &InR1)

static CHAOSCORE_API TRotation< FRealDouble, 3 >	IntegrateRotationWithAngularVelocity (const TRotation< FRealDouble, 3 > &InR0, const TVector< FRealDouble, 3 > &InW, const FRealDouble InDt)

static bool	IsNearlyEqual (const TRotation< FRealDouble, 3 > &A, const TRotation< FRealDouble, 3 > &B, const FRealDouble Epsilon)

Static Public Member Functions inherited from UE::Math::TQuat< FRealDouble >
static UE_FORCEINLINE_HINT TQuat< FRealDouble >	MakeFromVectorRegister (QuatVectorRegister V)

static UE_FORCEINLINE_HINT TQuat< FRealDouble >	MakeFromRotator (const TRotator< FRealDouble > &R)

static CORE_API TQuat< FRealDouble >	MakeFromEuler (const TVector< FRealDouble > &Euler)

static TQuat< FRealDouble >	MakeFromRotationVector (const TVector< FRealDouble > &RotationVector)

static UE_FORCEINLINE_HINT TQuat< FRealDouble >	FindBetween (const TVector< FRealDouble > &Vector1, const TVector< FRealDouble > &Vector2)

static CORE_API TQuat< FRealDouble >	FindBetweenNormals (const TVector< FRealDouble > &Normal1, const TVector< FRealDouble > &Normal2)

static CORE_API TQuat< FRealDouble >	FindBetweenVectors (const TVector< FRealDouble > &Vector1, const TVector< FRealDouble > &Vector2)

static FRealDouble	Error (const TQuat< FRealDouble > &Q1, const TQuat< FRealDouble > &Q2)

static FRealDouble	ErrorAutoNormalize (const TQuat< FRealDouble > &A, const TQuat< FRealDouble > &B)

static TQuat< FRealDouble >	FastLerp (const TQuat< FRealDouble > &A, const TQuat< FRealDouble > &B, const FRealDouble Alpha)

static TQuat< FRealDouble >	FastBilerp (const TQuat< FRealDouble > &P00, const TQuat< FRealDouble > &P10, const TQuat< FRealDouble > &P01, const TQuat< FRealDouble > &P11, FRealDouble FracX, FRealDouble FracY)

static CORE_API TQuat< FRealDouble >	Slerp_NotNormalized (const TQuat< FRealDouble > &Quat1, const TQuat< FRealDouble > &Quat2, FRealDouble Slerp)

static UE_FORCEINLINE_HINT TQuat< FRealDouble >	Slerp (const TQuat< FRealDouble > &Quat1, const TQuat< FRealDouble > &Quat2, FRealDouble Slerp)

static CORE_API TQuat< FRealDouble >	SlerpFullPath_NotNormalized (const TQuat< FRealDouble > &quat1, const TQuat< FRealDouble > &quat2, FRealDouble Alpha)

static UE_FORCEINLINE_HINT TQuat< FRealDouble >	SlerpFullPath (const TQuat< FRealDouble > &quat1, const TQuat< FRealDouble > &quat2, FRealDouble Alpha)

static CORE_API TQuat< FRealDouble >	Squad (const TQuat< FRealDouble > &quat1, const TQuat< FRealDouble > &tang1, const TQuat< FRealDouble > &quat2, const TQuat< FRealDouble > &tang2, FRealDouble Alpha)

static CORE_API TQuat< FRealDouble >	SquadFullPath (const TQuat< FRealDouble > &quat1, const TQuat< FRealDouble > &tang1, const TQuat< FRealDouble > &quat2, const TQuat< FRealDouble > &tang2, FRealDouble Alpha)

static CORE_API void	CalcTangents (const TQuat< FRealDouble > &PrevP, const TQuat< FRealDouble > &P, const TQuat< FRealDouble > &NextP, FRealDouble Tension, TQuat< FRealDouble > &OutTan)

static TQuat	MakeFromLUFEuler (const TTuple< FRealDouble, FRealDouble, FRealDouble > &InLUFEuler)

Additional Inherited Members
Public Types inherited from UE::Math::TQuat< FRealDouble >
using	FReal = FRealDouble

using	QuatVectorRegister = TVectorRegisterType< FRealDouble >

Public Attributes inherited from UE::Math::TQuat< FRealDouble >
FRealDouble	X

FRealDouble	Y

FRealDouble	Z

FRealDouble	W

Static Public Attributes inherited from UE::Math::TQuat< FRealDouble >
static CORE_API const TQuat< FRealDouble >	Identity

Protected Member Functions inherited from UE::Math::TQuat< FRealDouble >
	TQuat (QuatVectorRegister V)

Constructor & Destructor Documentation

◆ TRotation() [1/5]

Chaos::TRotation< FRealDouble, 3 >::TRotation ( )

inline

◆ TRotation() [2/5]

Chaos::TRotation< FRealDouble, 3 >::TRotation ( const BaseQuat & Quat )

inline

◆ TRotation() [3/5]

Chaos::TRotation< FRealDouble, 3 >::TRotation ( const FMatrix44d & Matrix )

inline

◆ TRotation() [4/5]

Chaos::TRotation< FRealDouble, 3 >::TRotation ( const FMatrix44f & Matrix )

inline

◆ TRotation() [5/5]

template<typename OtherType >

Chaos::TRotation< FRealDouble, 3 >::TRotation ( const UE::Math::TQuat< OtherType > & Other )

inline

Member Function Documentation

◆ CalculateAngularDelta()

static TVector< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::CalculateAngularDelta	(	const TRotation< FRealDouble, 3 > &	InR0,
		const TRotation< FRealDouble, 3 > &	InR1
	)

inlinestatic

Calculate the axis-angle delta (angular velocity * dt) required to take an object with orientation R0 to orientation R1.

This should match the algorithm used in PerParticleUpdateFromDeltaPosition rule.

◆ CalculateAngularVelocity()

static TVector< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::CalculateAngularVelocity	(	const TRotation< FRealDouble, 3 > &	InR0,
		const TRotation< FRealDouble, 3 > &	InR1,
		const FRealDouble	InDt
	)

inlinestatic

Calculate the angular velocity required to take an object with orientation R0 to orientation R1 in time Dt.

This should match the algorithm used in PerParticleUpdateFromDeltaPosition rule.

◆ CalculateAngularVelocity1()

static CHAOSCORE_API TVector< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::CalculateAngularVelocity1	(	const TRotation< FRealDouble, 3 > &	R0,
		const TRotation< FRealDouble, 3 > &	InR1,
		const FRealDouble	InDt
	)

static

Calculate the angular velocity required to take an object with orientation R0 to orientation R1 in time Dt.

Uses the relation: DQ/DT = (W * Q)/2

◆ CalculateAngularVelocity2()

static CHAOSCORE_API TVector< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::CalculateAngularVelocity2	(	const TRotation< FRealDouble, 3 > &	R0,
		const TRotation< FRealDouble, 3 > &	InR1,
		const FRealDouble	InDt
	)

static

Calculate the angular velocity required to take an object with orientation R0 to orientation R1 in time Dt.

Uses the Quaternion to Axis/Angle method.

◆ Conjugate()

static CHAOSCORE_API TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::Conjugate ( const ::Chaos::TRotation< FRealDouble, 3 > & InR )

static

Return the complex conjugate of the rotation

◆ DotProduct()

static FRealDouble Chaos::TRotation< FRealDouble, 3 >::DotProduct	(	const TRotation< FRealDouble, 3 > &	L,
		const TRotation< FRealDouble, 3 > &	R
	)

inlinestatic

Return the dot product of two quaternions.

◆ FromAxisAngle()

static TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::FromAxisAngle	(	const ::Chaos::TVector< FRealDouble, 3 > &	Axis,
		const FRealDouble	AngleRad
	)

inlinestatic

Create a rotation about an axis by an angle specified in radians

◆ FromElements() [1/2]

static TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::FromElements	(	const ::Chaos::TVector< FRealDouble, 3 > &	V,
		const FRealDouble	W
	)

inlinestatic

Create a rotation by explicitly specifying all elements

◆ FromElements() [2/2]

static TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::FromElements	(	const FRealDouble	X,
		const FRealDouble	Y,
		const FRealDouble	Z,
		const FRealDouble	W
	)

inlinestatic

Create a rotation by explicitly specifying all elements

◆ FromIdentity()

static TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::FromIdentity ( )

inlinestatic

Create an identity rotation

◆ FromRotatedVector()

static CHAOSCORE_API TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::FromRotatedVector	(	const ::Chaos::TVector< FRealDouble, 3 > &	InitialVector,
		const ::Chaos::TVector< FRealDouble, 3 > &	FinalVector
	)

static

Generate a Rotation that would rotate vector InitialVector to FinalVector

◆ FromVector()

static CHAOSCORE_API TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::FromVector ( const ::Chaos::TVector< FRealDouble, 3 > & V )

static

Create a rotation about an axis V/|V| by angle |V| in radians

◆ GetAbsMax()

FORCEINLINE FRealDouble Chaos::TRotation< FRealDouble, 3 >::GetAbsMax ( ) const

inline

Return the large absolute element value.

◆ GetRotationAxisSafe()

bool Chaos::TRotation< FRealDouble, 3 >::GetRotationAxisSafe	(	TVector< FRealDouble, 3 > &	OutAxis,
		const TVector< FRealDouble, 3 > &	DefaultAxis,
		FRealDouble	EpsilionSq = `1e-6f`
	)		const

inline

Extract the axis from the Quaternion.

Parameters

OutAxis	The axis of rotation.
DefaultAxis	The axis to set when the angle is too small to accurately calculate the axis.
EpsilonSq	The squared tolerance used to check for small angles.

Returns: Whether the axis was successfully calculated (true except for very small angles around or less than Epsilon).

Warning: The axis calculation cannot succeed for small angles due to numerical error. In this case, the function will return false, but set the axis to DefaultAxis.

Note: EpsilonSq is approximately the square of the angle below which we cannot calculate the axis. It needs to be "much greater" than square of the error in the quaternion values which is usually ~1e-4, so values around 1e-3^2 = 1e-6 or greater are about right.

◆ IntegrateRotationWithAngularVelocity()

static CHAOSCORE_API TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::IntegrateRotationWithAngularVelocity	(	const TRotation< FRealDouble, 3 > &	InR0,
		const TVector< FRealDouble, 3 > &	InW,
		const FRealDouble	InDt
	)

static

Return a new rotation equal to the input rotation with angular velocity W applied over time Dt.

Uses the relation: DQ/DT = (W * Q)/2

◆ IsNearlyEqual()

static bool Chaos::TRotation< FRealDouble, 3 >::IsNearlyEqual	(	const TRotation< FRealDouble, 3 > &	A,
		const TRotation< FRealDouble, 3 > &	B,
		const FRealDouble	Epsilon
	)

inlinestatic

Check that two rotations are approximately equal. Assumes the quaternions are normalized and in the same hemisphere. For small values of Epsilon, this is approximately equivalent to checking that the rotations are within 2*Epsilon radians of each other.

◆ Negate()

static CHAOSCORE_API TRotation< FRealDouble, 3 > Chaos::TRotation< FRealDouble, 3 >::Negate ( const ::Chaos::TRotation< FRealDouble, 3 > & InR )

static

Negate all values of the quaternion (note: not the inverse rotation. See Conjugate)

◆ ToAxisAndAngleSafe()

bool Chaos::TRotation< FRealDouble, 3 >::ToAxisAndAngleSafe	(	TVector< FRealDouble, 3 > &	OutAxis,
		FRealDouble &	OutAngle,
		const TVector< FRealDouble, 3 > &	DefaultAxis,
		FRealDouble	EpsilionSq = `1e-6f`
	)		const

inline

Extract the axis and angle from the Quaternion.

Parameters

OutAxis	The axis of rotation.
OutAngle	The angle of rotation about the axis (radians).
DefaultAxis	The axis to set when the angle is too small to accurately calculate the axis.
EpsilonSq	The squared tolerance used to check for small angles.

Returns: Whether the axis was successfully calculated (true except for very small angles around or less than Epsilon).

Warning: The axis calculation cannot succeed for small angles due to numerical error. In this case, the function will return false, but set the axis to DefaultAxis.

Note: EpsilonSq is approximately the square of the angle below which we cannot calculate the axis. It needs to be "much greater" than square of the error in the quaternion values which is usually ~1e-4, so values around 1e-3^2 = 1e-6 or greater are about right.

◆ ToMatrix()

PMatrix< FRealDouble, 3, 3 > Chaos::TRotation< FRealDouble, 3 >::ToMatrix ( ) const

inline

◆ ToMatrixAxes()

void Chaos::TRotation< FRealDouble, 3 >::ToMatrixAxes	(	TVector< FRealDouble, 3 > &	OutX,
		TVector< FRealDouble, 3 > &	OutY,
		TVector< FRealDouble, 3 > &	OutZ
	)

inline

Convert to a matrix and return as the 3 matrix axes.

◆ ToSwingTwistX()

void Chaos::TRotation< FRealDouble, 3 >::ToSwingTwistX	(	BaseQuat &	OutSwing,
		BaseQuat &	OutTwist
	)		const

inline

Extract the Swing and Twist rotations, assuming that the Twist Axis is (1,0,0). /see ToSwingTwist

The documentation for this class was generated from the following file:

Engine/Source/Runtime/Experimental/ChaosCore/Public/Chaos/Rotation.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ TRotation() [1/5]

◆ TRotation() [2/5]

◆ TRotation() [3/5]

◆ TRotation() [4/5]

◆ TRotation() [5/5]

Member Function Documentation

◆ CalculateAngularDelta()

◆ CalculateAngularVelocity()

◆ CalculateAngularVelocity1()

◆ CalculateAngularVelocity2()

◆ Conjugate()

◆ DotProduct()

◆ FromAxisAngle()

◆ FromElements() [1/2]

◆ FromElements() [2/2]

◆ FromIdentity()

◆ FromRotatedVector()

◆ FromVector()

◆ GetAbsMax()

◆ GetRotationAxisSafe()

◆ IntegrateRotationWithAngularVelocity()

◆ IsNearlyEqual()

◆ Negate()

◆ ToAxisAndAngleSafe()

◆ ToMatrix()

◆ ToMatrixAxes()

◆ ToSwingTwistX()