#include <Rotation.h>

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

Public Member Functions
	TRotation ()

	TRotation (const BaseQuat &Quat)

	TRotation (const FMatrix44f &Matrix)

	TRotation (const FMatrix44d &Matrix)

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

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

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

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

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

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

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

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

UE_FORCEINLINE_HINT	TQuat (EForceInit)

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

	TQuat (FRealSingle V)

	TQuat (const TRotator< FRealSingle > &R)

	TQuat (const TMatrix< FRealSingle > &M)

	TQuat (TVector< FRealSingle > Axis, FRealSingle AngleRad)

	TQuat (const TQuat< FArg > &From)

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

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

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

TQuat< FRealSingle >	operator- () const

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

UE_FORCEINLINE_HINT bool	IsIdentity (FRealSingle Tolerance=UE_SMALL_NUMBER) const

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

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

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

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

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

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

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

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

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

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

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

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

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

CORE_API TVector< FRealSingle >	Euler () const

void	Normalize (FRealSingle Tolerance=UE_SMALL_NUMBER)

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

bool	IsNormalized () const

UE_FORCEINLINE_HINT FRealSingle	Size () const

UE_FORCEINLINE_HINT FRealSingle	SizeSquared () const

UE_FORCEINLINE_HINT FRealSingle	GetAngle () const

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

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

TVector< FRealSingle >	ToRotationVector () const

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

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

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

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

CORE_API TQuat< FRealSingle >	Log () const

CORE_API TQuat< FRealSingle >	Exp () const

TQuat< FRealSingle >	Inverse () const

void	EnforceShortestArcWith (const TQuat< FRealSingle > &OtherQuat)

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

UE_FORCEINLINE_HINT TVector< FRealSingle >	GetAxisX () const

UE_FORCEINLINE_HINT TVector< FRealSingle >	GetAxisY () const

UE_FORCEINLINE_HINT TVector< FRealSingle >	GetAxisZ () const

UE_FORCEINLINE_HINT TVector< FRealSingle >	GetForwardVector () const

UE_FORCEINLINE_HINT TVector< FRealSingle >	GetRightVector () const

UE_FORCEINLINE_HINT TVector< FRealSingle >	GetUpVector () const

UE_FORCEINLINE_HINT TVector< FRealSingle >	Vector () const

CORE_API TRotator< FRealSingle >	Rotator () const

UE_FORCEINLINE_HINT TMatrix< FRealSingle >	ToMatrix () const

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

TVector< FRealSingle >	GetRotationAxis () const

FRealSingle	AngularDistance (const TQuat< FRealSingle > &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< FRealSingle, FRealSingle, FRealSingle >	ToLUFEuler () const

bool	Serialize (FArchive &Ar)

bool	SerializeFromMismatchedTag (FName StructTag, FArchive &Ar)

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

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

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

static TRotation< FRealSingle, 3 >	FromIdentity ()

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

using	QuatVectorRegister = TVectorRegisterType< FRealSingle >

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

FRealSingle	Y

FRealSingle	Z

FRealSingle	W

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

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

Constructor & Destructor Documentation

◆ TRotation() [1/5]

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

inline

◆ TRotation() [2/5]

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

inline

◆ TRotation() [3/5]

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

inline

◆ TRotation() [4/5]

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

inline

◆ TRotation() [5/5]

template<typename OtherType >

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

inline

Member Function Documentation

◆ CalculateAngularDelta()

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

TVector< FRealSingle, 3 > Chaos::TRotation< FRealSingle, 3 >::CalculateAngularVelocity1	(	const TRotation< FRealSingle, 3 > &	R0,
		const TRotation< FRealSingle, 3 > &	InR1,
		const FRealSingle	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< FRealSingle, 3 > Chaos::TRotation< FRealSingle, 3 >::CalculateAngularVelocity2	(	const TRotation< FRealSingle, 3 > &	R0,
		const TRotation< FRealSingle, 3 > &	InR1,
		const FRealSingle	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()

TRotation< FRealSingle, 3 > Chaos::TRotation< FRealSingle, 3 >::Conjugate ( const ::Chaos::TRotation< FRealSingle, 3 > & InR )

static

Return the complex conjugate of the rotation

◆ DotProduct()

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

inlinestatic

Return the dot product of two quaternions.

◆ FromAxisAngle()

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

inlinestatic

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

◆ FromElements() [1/2]

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

inlinestatic

Create a rotation by explicitly specifying all elements

◆ FromElements() [2/2]

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

inlinestatic

Create a rotation by explicitly specifying all elements

◆ FromIdentity()

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

inlinestatic

Create an identity rotation

◆ FromRotatedVector()

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

static

Generate a Rotation that would rotate vector InitialVector to FinalVector

◆ FromVector()

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

static

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

◆ GetAbsMax()

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

inline

Return the large absolute element value.

◆ GetRotationAxisSafe()

bool Chaos::TRotation< FRealSingle, 3 >::GetRotationAxisSafe	(	TVector< FRealSingle, 3 > &	OutAxis,
		const TVector< FRealSingle, 3 > &	DefaultAxis,
		FRealSingle	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()

TRotation< FRealSingle, 3 > Chaos::TRotation< FRealSingle, 3 >::IntegrateRotationWithAngularVelocity	(	const TRotation< FRealSingle, 3 > &	InR0,
		const TVector< FRealSingle, 3 > &	InW,
		const FRealSingle	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< FRealSingle, 3 >::IsNearlyEqual	(	const TRotation< FRealSingle, 3 > &	A,
		const TRotation< FRealSingle, 3 > &	B,
		const FRealSingle	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< FRealSingle, 3 > Chaos::TRotation< FRealSingle, 3 >::Negate ( const ::Chaos::TRotation< FRealSingle, 3 > & InR )

static

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

◆ ToAxisAndAngleSafe()

bool Chaos::TRotation< FRealSingle, 3 >::ToAxisAndAngleSafe	(	TVector< FRealSingle, 3 > &	OutAxis,
		FRealSingle &	OutAngle,
		const TVector< FRealSingle, 3 > &	DefaultAxis,
		FRealSingle	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< FRealSingle, 3, 3 > Chaos::TRotation< FRealSingle, 3 >::ToMatrix ( ) const

inline

◆ ToMatrixAxes()

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

inline

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

◆ ToSwingTwistX()

void Chaos::TRotation< FRealSingle, 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 files:

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

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()