#include <Quat.h>

Public Types
using	FReal = T

using	QuatVectorRegister = TVectorRegisterType< T >

Public Member Functions
	TQuat ()=default

UE_FORCEINLINE_HINT	TQuat (EForceInit)

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

template<typename DummyT = T UE_REQUIRES(std::is_arithmetic_v<T>)>
	TQuat (T V)

	TQuat (const TRotator< T > &R)

	TQuat (const TMatrix< T > &M)

	TQuat (TVector< T > Axis, T AngleRad)

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

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

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

TQuat< T >	operator- () const

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

UE_FORCEINLINE_HINT bool	IsIdentity (T Tolerance=UE_SMALL_NUMBER) const

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

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

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

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

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

template<typename FArg UE_REQUIRES>
TQuat< T >	operator*= (const FArg Scale)

template<typename FArg UE_REQUIRES>
TQuat< T >	operator* (const FArg Scale) const

template<typename FArg UE_REQUIRES>
TQuat< T >	operator/= (const FArg Scale)

template<typename FArg UE_REQUIRES>
TQuat< T >	operator/ (const FArg Scale) const

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

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

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

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

CORE_API TVector< T >	Euler () const

void	Normalize (T Tolerance=UE_SMALL_NUMBER)

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

bool	IsNormalized () const

UE_FORCEINLINE_HINT T	Size () const

UE_FORCEINLINE_HINT T	SizeSquared () const

UE_FORCEINLINE_HINT T	GetAngle () const

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

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

TVector< T >	ToRotationVector () const

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

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

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

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

CORE_API TQuat< T >	Log () const

CORE_API TQuat< T >	Exp () const

TQuat< T >	Inverse () const

void	EnforceShortestArcWith (const TQuat< T > &OtherQuat)

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

UE_FORCEINLINE_HINT TVector< T >	GetAxisX () const

UE_FORCEINLINE_HINT TVector< T >	GetAxisY () const

UE_FORCEINLINE_HINT TVector< T >	GetAxisZ () const

UE_FORCEINLINE_HINT TVector< T >	GetForwardVector () const

UE_FORCEINLINE_HINT TVector< T >	GetRightVector () const

UE_FORCEINLINE_HINT TVector< T >	GetUpVector () const

UE_FORCEINLINE_HINT TVector< T >	Vector () const

CORE_API TRotator< T >	Rotator () const

UE_FORCEINLINE_HINT TMatrix< T >	ToMatrix () const

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

TVector< T >	GetRotationAxis () const

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

bool	Serialize (FArchive &Ar)

bool	SerializeFromMismatchedTag (FName StructTag, FArchive &Ar)

template<typename FArg UE_REQUIRES>
	TQuat (const TQuat< FArg > &From)

Static Public Member Functions
static UE_FORCEINLINE_HINT TQuat< T >	MakeFromVectorRegister (QuatVectorRegister V)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Public Attributes
T	X

T	Y

T	Z

T	W

Static Public Attributes
static CORE_API const TQuat< T >	Identity

Protected Member Functions
	TQuat (QuatVectorRegister V)

Detailed Description

template<typename T>
struct UE::Math::TQuat< T >

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

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

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

Member Typedef Documentation

◆ FReal

template<typename T >

using UE::Math::TQuat< T >::FReal = T

Type of the template param (float or double)

◆ QuatVectorRegister

template<typename T >

using UE::Math::TQuat< T >::QuatVectorRegister = TVectorRegisterType<T>

Constructor & Destructor Documentation

◆ TQuat() [1/9]

template<typename T >

UE::Math::TQuat< T >::TQuat ( )

default

Default constructor (no initialization).

◆ TQuat() [2/9]

template<typename T >

UE_FORCEINLINE_HINT UE::Math::TQuat< T >::TQuat ( EForceInit ZeroOrNot )

explicit

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

Parameters

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

◆ TQuat() [3/9]

template<typename T >

UE::Math::TQuat< T >::TQuat	(	T	InX,
		T	InY,
		T	InZ,
		T	InW
	)

inline

Constructor.

Parameters

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

◆ TQuat() [4/9]

template<typename T >

template<typename DummyT = T UE_REQUIRES(std::is_arithmetic_v<T>)>

UE::Math::TQuat< T >::TQuat ( T V )

inlineexplicit

Initializes all elements to V

◆ TQuat() [5/9]

template<typename T >

UE::Math::TQuat< T >::TQuat ( QuatVectorRegister V )

inlineexplicitprotected

Creates and initializes a new quaternion from the XYZW values in the given VectorRegister4Float.

Parameters

V	XYZW components of the quaternion packed into a single VectorRegister4Float

◆ TQuat() [6/9]

template<typename T >

UE::Math::TQuat< T >::TQuat ( const TRotator< T > & R )

inlineexplicit

Creates and initializes a new quaternion from the given rotator.

Parameters

R	The rotator to initialize from.

◆ TQuat() [7/9]

template<typename T >

UE::Math::TQuat< T >::TQuat ( const TMatrix< T > & M )

inlineexplicit

Creates and initializes a new quaternion from the given matrix.

Parameters

M	The rotation matrix to initialize from.

◆ TQuat() [8/9]

template<typename T >

UE::Math::TQuat< T >::TQuat	(	TVector< T >	Axis,
		T	AngleRad
	)

inline

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

Parameters

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

◆ TQuat() [9/9]

template<typename T >

template<typename FArg UE_REQUIRES>

UE::Math::TQuat< T >::TQuat ( const TQuat< FArg > & From )

inlineexplicit

Member Function Documentation

◆ AngularDistance()

template<typename T >

T UE::Math::TQuat< T >::AngularDistance ( const TQuat< T > & Q ) const

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

◆ CalcTangents()

template<typename T >

void UE::Math::TQuat< T >::CalcTangents	(	const TQuat< T > &	PrevP,
		const TQuat< T > &	P,
		const TQuat< T > &	NextP,
		T	Tension,
		TQuat< T > &	OutTan
	)

static

Calculate tangents between given points

Parameters

PrevP	quaternion at P-1
P	quaternion to return the tangent
NextP	quaternion P+1
Tension
OutTan	Out control point

◆ ContainsNaN()

template<typename T >

bool UE::Math::TQuat< T >::ContainsNaN ( ) const

inline

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

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

◆ DiagnosticCheckNaN() [1/2]

template<typename T >

UE_FORCEINLINE_HINT void UE::Math::TQuat< T >::DiagnosticCheckNaN ( ) const

inline

◆ DiagnosticCheckNaN() [2/2]

template<typename T >

UE_FORCEINLINE_HINT void UE::Math::TQuat< T >::DiagnosticCheckNaN ( const TCHAR * Message ) const

inline

◆ EnforceShortestArcWith()

template<typename T >

void UE::Math::TQuat< T >::EnforceShortestArcWith ( const TQuat< T > & OtherQuat )

inline

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

◆ Equals()

template<typename T >

bool UE::Math::TQuat< T >::Equals	(	const TQuat< T > &	Q,
		T	Tolerance = `UE_KINDA_SMALL_NUMBER`
	)		const

inline

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

Parameters

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

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

◆ Error()

template<typename T >

T UE::Math::TQuat< T >::Error	(	const TQuat< T > &	Q1,
		const TQuat< T > &	Q2
	)

inlinestatic

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

Note: normalized input is expected.

◆ ErrorAutoNormalize()

template<typename T >

T UE::Math::TQuat< T >::ErrorAutoNormalize	(	const TQuat< T > &	A,
		const TQuat< T > &	B
	)

inlinestatic

TQuat<T>::Error with auto-normalization.

◆ Euler()

template<typename T >

TVector< T > UE::Math::TQuat< T >::Euler ( ) const

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

◆ Exp()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::Exp ( ) const

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

◆ FastBilerp()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::FastBilerp	(	const TQuat< T > &	P00,
		const TQuat< T > &	P10,
		const TQuat< T > &	P01,
		const TQuat< T > &	P11,
		T	FracX,
		T	FracY
	)

inlinestatic

Bi-Linear Quaternion interpolation. Result is NOT normalized.

◆ FastLerp()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::FastLerp	(	const TQuat< T > &	A,
		const TQuat< T > &	B,
		const T	Alpha
	)

inlinestatic

Fast Linear Quaternion Interpolation. Result is NOT normalized.

◆ FindBetween()

template<typename T >

static UE_FORCEINLINE_HINT TQuat< T > UE::Math::TQuat< T >::FindBetween	(	const TVector< T > &	Vector1,
		const TVector< T > &	Vector2
	)

inlinestatic

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

◆ FindBetweenNormals()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::FindBetweenNormals	(	const TVector< T > &	Normal1,
		const TVector< T > &	Normal2
	)

static

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

◆ FindBetweenVectors()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::FindBetweenVectors	(	const TVector< T > &	Vector1,
		const TVector< T > &	Vector2
	)

static

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

◆ GetAngle()

template<typename T >

UE_FORCEINLINE_HINT T UE::Math::TQuat< T >::GetAngle ( ) const

Get the angle in radians of this quaternion

Warning: : The rotation returned may not be the shortest version. You may wish to call GetShortestArcWith(FQuat::Identity) first.

◆ GetAxisX()

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::GetAxisX ( ) const

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

◆ GetAxisY()

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::GetAxisY ( ) const

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

◆ GetAxisZ()

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::GetAxisZ ( ) const

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

◆ GetForwardVector()

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::GetForwardVector ( ) const

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

◆ GetNormalized()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::GetNormalized ( T Tolerance = UE_SMALL_NUMBER ) const

inline

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

Parameters

Tolerance Minimum squared length of quaternion for normalization.

◆ GetRightVector()

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::GetRightVector ( ) const

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

◆ GetRotationAxis()

template<typename T >

TVector< T > UE::Math::TQuat< T >::GetRotationAxis ( ) const

inline

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

◆ GetShortestArcWith()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::GetShortestArcWith ( const TQuat< T > & OtherQuat ) const

inline

Returns the version of this quaternion that represents the shortest rotation angle to the other quaternion

◆ GetTwistAngle()

template<typename T >

T UE::Math::TQuat< T >::GetTwistAngle ( const TVector< T > & TwistAxis ) const

Get the twist angle (in radians) for a specified axis

Parameters

TwistAxis Axis to use for decomposition

Returns: Twist angle (in radians)

Warning: assumes normalized quaternion and twist axis

◆ GetUpVector()

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::GetUpVector ( ) const

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

◆ Identical()

template<typename T >

UE_FORCEINLINE_HINT bool UE::Math::TQuat< T >::Identical	(	const TQuat< T > *	Q,
		const uint32	PortFlags
	)		const

Identical implementation for TQuat properties. Avoids intrinsics to remain consistent with previous per-property comparison.

◆ InitFromString()

template<typename T >

bool UE::Math::TQuat< T >::InitFromString ( const FString & InSourceString )

inline

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

Parameters

InSourceString FString containing the quaternion values.

Returns: true if the TQuat was initialized; false otherwise.

◆ Inverse()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::Inverse ( ) const

inline

Returns: inverse of this quaternion

Warning: : Requires this quaternion to be normalized.

◆ IsIdentity()

template<typename T >

UE_FORCEINLINE_HINT bool UE::Math::TQuat< T >::IsIdentity ( T Tolerance = UE_SMALL_NUMBER ) const

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

Parameters

Tolerance Error tolerance for comparison with Identity Quaternion.

Returns: true if Quaternion is a normalized Identity Quaternion.

◆ IsNormalized()

template<typename T >

bool UE::Math::TQuat< T >::IsNormalized ( ) const

inline

◆ Log()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::Log ( ) const

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

Warning: : The rotation returned may not be the shortest version. You may wish to call GetShortestArcWith(FQuat::Identity) first.

◆ MakeFromEuler()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::MakeFromEuler ( const TVector< T > & Euler )

static

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

Parameters

Euler the Euler angles

Returns: constructed TQuat

◆ MakeFromLUFEuler()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::MakeFromLUFEuler ( const TTuple< T, T, T > & InLUFEuler )

static

◆ MakeFromRotationVector()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::MakeFromRotationVector ( const TVector< T > & RotationVector )

inlinestatic

Constructs a quaternion corresponding to the rotation vector. The direction of the vector represents the rotation axis, and the magnitude the angle in radians.

◆ MakeFromRotator()

template<typename T >

static UE_FORCEINLINE_HINT TQuat< T > UE::Math::TQuat< T >::MakeFromRotator ( const TRotator< T > & R )

inlinestatic

◆ MakeFromVectorRegister()

template<typename T >

static UE_FORCEINLINE_HINT TQuat< T > UE::Math::TQuat< T >::MakeFromVectorRegister ( QuatVectorRegister V )

inlinestatic

◆ NetSerialize()

template<typename T >

bool UE::Math::TQuat< T >::NetSerialize	(	FArchive &	Ar,
		class UPackageMap *	Map,
		bool &	bOutSuccess
	)

Serializes the vector compressed for e.g. network transmission.

Parameters

Ar	Archive to serialize to/ from.

Returns: false to allow the ordinary struct code to run (this never happens).

◆ Normalize()

template<typename T >

void UE::Math::TQuat< T >::Normalize ( T Tolerance = UE_SMALL_NUMBER )

inline

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

Parameters

Tolerance Minimum squared length of quaternion for normalization.

◆ operator!=()

template<typename T >

bool UE::Math::TQuat< T >::operator!= ( const TQuat< T > & Q ) const

inline

Checks whether two quaternions are not identical.

Parameters

Q	The other quaternion.

Returns: true if two quaternion are not identical, otherwise false.

◆ operator*() [1/4]

template<typename T >

template<typename FArg UE_REQUIRES>

TQuat< T > UE::Math::TQuat< T >::operator* ( const FArg Scale ) const

inline

Get the result of scaling this quaternion.

Parameters

Scale The scaling factor.

Returns: The result of scaling.

◆ operator*() [2/4]

template<typename T >

TMatrix< T > UE::Math::TQuat< T >::operator* ( const TMatrix< T > & M ) const

Multiply this by a matrix. This matrix conversion came from http://www.m-hikari.com/ija/ija-password-2008/ija-password17-20-2008/aristidouIJA17-20-2008.pdf used for non-uniform scaling transform.

Parameters

M	Matrix to multiply by.

Returns: Matrix result after multiplication.

◆ operator*() [3/4]

template<typename T >

TQuat< T > UE::Math::TQuat< T >::operator* ( const TQuat< T > & Q ) const

inline

Gets the result of multiplying this by another quaternion (this * Q).

Order matters when composing quaternions: C = A * B will yield a quaternion C that logically first applies B then A to any subsequent transformation (right first, then left).

Parameters

Q	The Quaternion to multiply this by.

Returns: The result of multiplication (this * Q).

◆ operator*() [4/4]

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::operator* ( const TVector< T > & V ) const

Rotate a vector by this quaternion.

Parameters

V	the vector to be rotated

Returns: vector after rotation

See also: RotateVector

◆ operator*=() [1/2]

template<typename T >

template<typename FArg UE_REQUIRES>

TQuat< T > UE::Math::TQuat< T >::operator*= ( const FArg Scale )

inline

Multiply this quaternion by a scaling factor.

Parameters

Scale The scaling factor.

Returns: a reference to this after scaling.

◆ operator*=() [2/2]

template<typename T >

TQuat< T > UE::Math::TQuat< T >::operator*= ( const TQuat< T > & Q )

inline

Multiply this by a quaternion (this = this * Q).

Order matters when composing quaternions: C = A * B will yield a quaternion C that logically first applies B then A to any subsequent transformation (right first, then left).

Parameters

Q	the quaternion to multiply this by.

Returns: The result of multiplication (this * Q).

◆ operator+()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::operator+ ( const TQuat< T > & Q ) const

inline

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

Parameters

Q	The Quaternion to add.

Returns: The result of addition.

◆ operator+=()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::operator+= ( const TQuat< T > & Q )

inline

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

Parameters

Other The quaternion to add to this.

Returns: Result after addition.

◆ operator-() [1/2]

template<typename T >

TQuat< T > UE::Math::TQuat< T >::operator- ( ) const

inline

Negates the quaternion. Note that this represents the same rotation.

Returns: The result of negation.

◆ operator-() [2/2]

template<typename T >

TQuat< T > UE::Math::TQuat< T >::operator- ( const TQuat< T > & Q ) const

inline

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

Parameters

Q	The Quaternion to subtract.

Returns: The result of subtraction.

◆ operator-=()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::operator-= ( const TQuat< T > & Q )

inline

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

Parameters

Q	The other quaternion.

Returns: reference to this after subtraction.

◆ operator/()

template<typename T >

template<typename FArg UE_REQUIRES>

TQuat< T > UE::Math::TQuat< T >::operator/ ( const FArg Scale ) const

inline

Divide this quaternion by scale.

Parameters

Scale What to divide by.

Returns: new Quaternion of this after division by scale.

◆ operator/=()

template<typename T >

template<typename FArg UE_REQUIRES>

TQuat< T > UE::Math::TQuat< T >::operator/= ( const FArg Scale )

inline

Divide this quaternion by scale.

Parameters

Scale What to divide by.

Returns: a reference to this after scaling.

◆ operator==()

template<typename T >

bool UE::Math::TQuat< T >::operator== ( const TQuat< T > & Q ) const

inline

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

Parameters

Q	The other quaternion.

Returns: true if two quaternion are identical, otherwise false.

See also: Equals

◆ operator|()

template<typename T >

UE_FORCEINLINE_HINT T UE::Math::TQuat< T >::operator| ( const TQuat< T > & Q ) const

Calculates dot product of two quaternions.

Parameters

Q	The other quaternions.

Returns: The dot product.

◆ RotateVector()

template<typename T >

TVector< T > UE::Math::TQuat< T >::RotateVector ( TVector< T > V ) const

inline

Rotate a vector by this quaternion.

Parameters

V	the vector to be rotated

Returns: vector after rotation

◆ Rotator()

template<typename T >

CORE_API TRotator< T > UE::Math::TQuat< T >::Rotator ( ) const

Get the TRotator<T> representation of this Quaternion.

◆ Serialize()

template<typename T >

bool UE::Math::TQuat< T >::Serialize ( FArchive & Ar )

inline

◆ SerializeFromMismatchedTag()

template<typename T >

bool UE::Math::TQuat< T >::SerializeFromMismatchedTag	(	FName	StructTag,
		FArchive &	Ar
	)

inline

◆ Size()

template<typename T >

UE_FORCEINLINE_HINT T UE::Math::TQuat< T >::Size ( ) const

Get the length of this quaternion.

Returns: The length of this quaternion.

◆ SizeSquared()

template<typename T >

UE_FORCEINLINE_HINT T UE::Math::TQuat< T >::SizeSquared ( ) const

Get the length squared of this quaternion.

Returns: The length of this quaternion.

◆ Slerp()

template<typename T >

static UE_FORCEINLINE_HINT TQuat< T > UE::Math::TQuat< T >::Slerp	(	const TQuat< T > &	Quat1,
		const TQuat< T > &	Quat2,
		T	Slerp
	)

inlinestatic

Spherical interpolation. Will correct alignment. Result is normalized.

◆ Slerp_NotNormalized()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::Slerp_NotNormalized	(	const TQuat< T > &	Quat1,
		const TQuat< T > &	Quat2,
		T	Slerp
	)

static

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

◆ SlerpFullPath()

template<typename T >

static UE_FORCEINLINE_HINT TQuat< T > UE::Math::TQuat< T >::SlerpFullPath	(	const TQuat< T > &	quat1,
		const TQuat< T > &	quat2,
		T	Alpha
	)

inlinestatic

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

◆ SlerpFullPath_NotNormalized()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::SlerpFullPath_NotNormalized	(	const TQuat< T > &	quat1,
		const TQuat< T > &	quat2,
		T	Alpha
	)

static

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

◆ Squad()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::Squad	(	const TQuat< T > &	quat1,
		const TQuat< T > &	tang1,
		const TQuat< T > &	quat2,
		const TQuat< T > &	tang2,
		T	Alpha
	)

static

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

◆ SquadFullPath()

template<typename T >

TQuat< T > UE::Math::TQuat< T >::SquadFullPath	(	const TQuat< T > &	quat1,
		const TQuat< T > &	tang1,
		const TQuat< T > &	quat2,
		const TQuat< T > &	tang2,
		T	Alpha
	)

static

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

◆ ToAxisAndAngle() [1/2]

template<typename T >

void UE::Math::TQuat< T >::ToAxisAndAngle	(	TVector< T > &	Axis,
		double &	Angle
	)		const

inline

◆ ToAxisAndAngle() [2/2]

template<typename T >

void UE::Math::TQuat< T >::ToAxisAndAngle	(	TVector< T > &	Axis,
		float &	Angle
	)		const

inline

get the axis and angle of rotation of this quaternion

Parameters

Axis{out]	Normalized rotation axis of the quaternion
Angle{out]	Angle of the quaternion in radians

Warning: : Requires this quaternion to be normalized.; : The rotation returned may not be the shortest version. You may wish to call GetShortestArcWith(FQuat::Identity) first.

◆ ToLUFEuler()

template<typename T >

TTuple< T, T, T > UE::Math::TQuat< T >::ToLUFEuler ( ) const

◆ ToMatrix() [1/2]

template<typename T >

TMatrix< T > UE::Math::TQuat< T >::ToMatrix ( ) const

inline

Get the TMatrix<T> representation of this Quaternion.

◆ ToMatrix() [2/2]

template<typename T >

void UE::Math::TQuat< T >::ToMatrix ( TMatrix< T > & Mat ) const

Get the TMatrix<T> representation of this Quaternion and store it in Mat

◆ ToRotationVector()

template<typename T >

TVector< T > UE::Math::TQuat< T >::ToRotationVector ( ) const

inline

Get the rotation vector corresponding to this quaternion. The direction of the vector represents the rotation axis, and the magnitude the angle in radians.

Warning: : Requires this quaternion to be normalized.; : The rotation returned may not be the shortest version. You may wish to call GetShortestArcWith(FQuat::Identity) first.

◆ ToString()

template<typename T >

UE_FORCEINLINE_HINT FString UE::Math::TQuat< T >::ToString ( ) const

Get a textual representation of the vector.

Returns: Text describing the vector.

◆ ToSwingTwist()

template<typename T >

void UE::Math::TQuat< T >::ToSwingTwist	(	const TVector< T > &	InTwistAxis,
		TQuat< T > &	OutSwing,
		TQuat< T > &	OutTwist
	)		const

Get the swing and twist decomposition for a specified axis

Parameters

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

Warning: assumes normalized quaternion and twist axis

◆ UnrotateVector()

template<typename T >

TVector< T > UE::Math::TQuat< T >::UnrotateVector ( TVector< T > V ) const

inline

Rotate a vector by the inverse of this quaternion.

Parameters

V	the vector to be rotated

Returns: vector after rotation by the inverse of this quaternion.

◆ Vector()

template<typename T >

UE_FORCEINLINE_HINT TVector< T > UE::Math::TQuat< T >::Vector ( ) const

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

Member Data Documentation

◆ Identity

template<typename T >

CORE_API const TQuat<T> UE::Math::TQuat< T >::Identity

static

Identity quaternion.

◆ W

template<typename T >

T UE::Math::TQuat< T >::W

The quaternion's W-component.

◆ X

template<typename T >

T UE::Math::TQuat< T >::X

The quaternion's X-component.

◆ Y

template<typename T >

T UE::Math::TQuat< T >::Y

The quaternion's Y-component.

◆ Z

template<typename T >

T UE::Math::TQuat< T >::Z

The quaternion's Z-component.

The documentation for this struct was generated from the following files:

Engine/Source/Runtime/Core/Public/Math/MathFwd.h
Engine/Source/Runtime/Core/Public/Math/Quat.h
Engine/Source/Runtime/Core/Private/Math/UnrealMath.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ FReal

◆ QuatVectorRegister

Constructor & Destructor Documentation

◆ TQuat() [1/9]

◆ TQuat() [2/9]

◆ TQuat() [3/9]

◆ TQuat() [4/9]

◆ TQuat() [5/9]

◆ TQuat() [6/9]

◆ TQuat() [7/9]

◆ TQuat() [8/9]

◆ TQuat() [9/9]

Member Function Documentation

◆ AngularDistance()

◆ CalcTangents()

◆ ContainsNaN()

◆ DiagnosticCheckNaN() [1/2]

◆ DiagnosticCheckNaN() [2/2]

◆ EnforceShortestArcWith()

◆ Equals()

◆ Error()

◆ ErrorAutoNormalize()

◆ Euler()

◆ Exp()

◆ FastBilerp()

◆ FastLerp()

◆ FindBetween()

◆ FindBetweenNormals()

◆ FindBetweenVectors()

◆ GetAngle()

◆ GetAxisX()

◆ GetAxisY()

◆ GetAxisZ()

◆ GetForwardVector()

◆ GetNormalized()

◆ GetRightVector()

◆ GetRotationAxis()

◆ GetShortestArcWith()

◆ GetTwistAngle()

◆ GetUpVector()

◆ Identical()

◆ InitFromString()

◆ Inverse()

◆ IsIdentity()

◆ IsNormalized()

◆ Log()

◆ MakeFromEuler()

◆ MakeFromLUFEuler()

◆ MakeFromRotationVector()

◆ MakeFromRotator()

◆ MakeFromVectorRegister()

◆ NetSerialize()

◆ Normalize()

◆ operator!=()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator==()

◆ operator|()

◆ RotateVector()

◆ Rotator()

◆ Serialize()