AZ::Quaternion Class Reference

Public Member Functions
	Quaternion ()=default
	Default constructor, components are uninitialized.
	Quaternion (const Quaternion &q)
	Copy constructor, clones the provided quaternion.
	Quaternion (float x)
	Constructs quaternion with all components set to the same specified value.
	Quaternion (float x, float y, float z, float w)
	Constructs quaternion with all components set to the provided values.
	Quaternion (const Vector3 &v, float w)
	Constructs quaternion from a vector3 and scalar w value.
	Quaternion (Simd::Vec4::FloatArgType value)
void	StoreToFloat4 (float *values) const
	Stores the vector to an array of 4 floats. The floats need only be 4 byte aligned, 16 byte alignment is not required.
float	GetElement (int index) const
	We recommend using GetX,Y,Z,W. GetElement can be slower.
void	SetElement (int index, float v)
	We recommend using SetX,Y,Z,W. SetElement can be slower.
float	operator() (int index) const
void	Set (float x)
void	Set (float x, float y, float z, float w)
void	Set (const Vector3 &v, float w)
void	Set (const float values[])
Quaternion	GetConjugate () const
	The conjugate of a quaternion is (-x, -y, -z, w).
float	Dot (const Quaternion &q) const
	Dot product.
float	GetLengthSq () const
float	GetLength () const
	Returns length of the quaternion, full accuracy.
float	GetLengthEstimate () const
	Returns length of the quaternion, fast but low accuracy, uses raw estimate instructions.
float	GetLengthReciprocal () const
	Returns 1/length, full accuracy.
float	GetLengthReciprocalEstimate () const
	Returns 1/length of the quaternion, fast but low accuracy, uses raw estimate instructions.
Quaternion	GetNormalized () const
	Returns normalized quaternion, full accuracy.
Quaternion	GetNormalizedEstimate () const
	Returns normalized quaternion, fast but low accuracy, uses raw estimate instructions.
void	Normalize ()
	Normalizes the quaternion in-place, full accuracy.
void	NormalizeEstimate ()
	Normalizes the quaternion in-place, fast but low accuracy, uses raw estimate instructions.
Quaternion	Lerp (const Quaternion &dest, float t) const
Quaternion	NLerp (const Quaternion &dest, float t) const
Quaternion	Slerp (const Quaternion &dest, float t) const
	Spherical linear interpolation. Result is not normalized.
Quaternion	Squad (const Quaternion &dest, const Quaternion &in, const Quaternion &out, float t) const
bool	IsClose (const Quaternion &q, float tolerance=Constants::Tolerance) const
	Checks if the quaternion is close to another quaternion with a given floating point tolerance.
bool	IsIdentity (float tolerance=Constants::Tolerance) const
bool	IsZero (float tolerance=Constants::FloatEpsilon) const
Quaternion &	operator= (const Quaternion &rhs)
Quaternion	operator- () const
Quaternion	operator+ (const Quaternion &q) const
Quaternion	operator- (const Quaternion &q) const
Quaternion	operator* (const Quaternion &q) const
Quaternion	operator* (float multiplier) const
Quaternion	operator/ (float divisor) const
Quaternion &	operator+= (const Quaternion &q)
Quaternion &	operator-= (const Quaternion &q)
Quaternion &	operator*= (const Quaternion &q)
Quaternion &	operator*= (float multiplier)
Quaternion &	operator/= (float divisor)
bool	operator== (const Quaternion &rhs) const
bool	operator!= (const Quaternion &rhs) const
Vector3	TransformVector (const Vector3 &v) const
	Transforms a vector using the rotation described by this quaternion.
Vector3	GetEulerDegrees () const
Vector3	GetEulerRadians () const
void	SetFromEulerRadians (const Vector3 &eulerRadians)
void	SetFromEulerDegrees (const Vector3 &eulerDegrees)
void	ConvertToAxisAngle (Vector3 &outAxis, float &outAngle) const
Vector3	ConvertToScaledAxisAngle () const
	Convert the quaternion into scaled axis-angle representation.
Vector3	GetImaginary () const
	Returns the imaginary (X/Y/Z) portion of the quaternion.
float	GetAngle () const
	Return angle in radians.
bool	IsFinite () const
Simd::Vec4::FloatType	GetSimdValue () const
float	GetX () const
float	GetY () const
float	GetZ () const
float	GetW () const
void	SetX (float x)
void	SetY (float y)
void	SetZ (float z)
void	SetW (float w)
Quaternion	GetInverseFast () const
void	InvertFast ()
Quaternion	GetInverseFull () const
void	InvertFull ()
float	NormalizeWithLength ()
float	NormalizeWithLengthEstimate ()
Quaternion	GetShortestEquivalent () const
void	ShortestEquivalent ()

Static Public Member Functions
static void	Reflect (ReflectContext *context)
static Quaternion	CreateIdentity ()
static Quaternion	CreateZero ()
static Quaternion	CreateFromFloat4 (const float *values)
	Sets components from an array of 4 floats, stored in xyzw order.
static Quaternion	CreateFromVector3 (const Vector3 &v)
	Sets components using a Vector3 for the imaginary part and setting the real part to zero.
static Quaternion	CreateFromVector3AndValue (const Vector3 &v, float w)
	Sets components using a Vector3 for the imaginary part and a float for the real part.
static Quaternion	CreateFromEulerRadiansXYZ (const Vector3 &eulerRadians)
static Quaternion	CreateFromEulerRadiansYXZ (const Vector3 &eulerRadians)
static Quaternion	CreateFromEulerRadiansZYX (const Vector3 &eulerRadians)
static Quaternion	CreateFromEulerDegreesXYZ (const Vector3 &eulerDegrees)
static Quaternion	CreateFromEulerDegreesYXZ (const Vector3 &eulerDegrees)
static Quaternion	CreateFromEulerDegreesZYX (const Vector3 &eulerDegrees)
static Quaternion	CreateFromMatrix3x3 (const class Matrix3x3 &m)
	Creates a quaternion from a Matrix3x3.
static Quaternion	CreateFromMatrix3x4 (const class Matrix3x4 &m)
static Quaternion	CreateFromMatrix4x4 (const class Matrix4x4 &m)
	Creates a quaternion using the rotation part of a Matrix4x4.
static Quaternion	CreateFromBasis (const Vector3 &basisX, const Vector3 &basisY, const Vector3 &basisZ)
	Creates a quaternion from a set of basis vectors.
static Quaternion	CreateFromAxisAngle (const Vector3 &axis, float angle)
static Quaternion	CreateFromScaledAxisAngle (const Vector3 &scaledAxisAngle)
	Create a quaternion from a scaled axis-angle representation.
static Quaternion	CreateShortestArc (const Vector3 &v1, const Vector3 &v2)
static const Quaternion	CreateFromEulerAnglesDegrees (const Vector3 &anglesInDegrees)
	Creates a quaternion using rotation in degrees about the axes. First rotated about the X axis, followed by the Y axis, then the Z axis.
static const Quaternion	CreateFromEulerAnglesRadians (const Vector3 &anglesInRadians)
	Creates a quaternion using rotation in radians about the axes. First rotated about the X axis, followed by the Y axis, then the Z axis.
static Quaternion	CreateRotationX (float angleInRadians)
static Quaternion	CreateRotationY (float angleInRadians)
static Quaternion	CreateRotationZ (float angleInRadians)

Constructor & Destructor Documentation

Quaternion()

AZ_MATH_INLINE AZ::Quaternion::Quaternion ( Simd::Vec4::FloatArgType  value )

explicit

Constructs quaternion from a SIMD type. For internal use only, arrangement of values in SIMD type is not guaranteed.

Member Function Documentation

ConvertToAxisAngle()

void AZ::Quaternion::ConvertToAxisAngle	(	Vector3 &	outAxis,
		float &	outAngle
	)		const

Populate axis and angle of rotation from Quaternion

Parameters

[out]	outAxis	A Vector3 defining the rotation axis.
[out]	outAngle	A float rotation angle around the axis in radians.

CreateFromMatrix3x4()

static Quaternion AZ::Quaternion::CreateFromMatrix3x4 ( const class Matrix3x4 &  m )

static

Creates a quaternion using the left 3x3 part of a Matrix3x4.

Note

If the matrix has a scale other than (1, 1, 1) be sure to extract the scale first with AZ::Matrix3x4::ExtractScale or ::ExtractScaleExact.

CreateRotationX()

AZ_MATH_INLINE Quaternion AZ::Quaternion::CreateRotationX ( float  angleInRadians )

static

Sets the quaternion to be a rotation around a specified axis in radians.

GetEulerDegrees()

AZ_MATH_INLINE Vector3 AZ::Quaternion::GetEulerDegrees

(

)

const

Create, from the quaternion, a set of Euler angles of rotations around first z-axis, then y-axis and then x-axis.

Returns

Vector3 A vector containing component-wise rotation angles in degrees.

GetEulerRadians()

AZ_MATH_INLINE Vector3 AZ::Quaternion::GetEulerRadians

(

)

const

Create, from the quaternion, a set of Euler angles of rotations around first z-axis, then y-axis and then x-axis.

Returns

Vector3 A vector containing component-wise rotation angles in radians.

GetInverseFast()

AZ_MATH_INLINE Quaternion AZ::Quaternion::GetInverseFast

(

)

const

For a unit quaternion, the inverse is just the conjugate. This function assumes a unit quaternion.

GetInverseFull()

AZ_MATH_INLINE Quaternion AZ::Quaternion::GetInverseFull

(

)

const

This is the inverse for any quaternion, not just unit quaternions.

GetShortestEquivalent()

AZ_MATH_INLINE Quaternion AZ::Quaternion::GetShortestEquivalent

(

)

const

Get the shortest equivalent of the rotation. In case the w component of the quaternion is negative the rotation is > 180° and taking the longer path. The quaternion will be inverted in that case to take the shortest path of rotation.

GetX()

AZ_MATH_INLINE float AZ::Quaternion::GetX

(

)

const

Component access

Lerp()

AZ_MATH_INLINE Quaternion AZ::Quaternion::Lerp	(	const Quaternion &	dest,
		float	t
	)		const

Linearly interpolate towards a destination quaternion.

Parameters

[in]	dest	The quaternion to interpolate towards.
[in]	t	Normalized interpolation value where 0.0 represents the current and 1.0 the destination value.

Returns

The interpolated quaternion at the given interpolation point.

NLerp()

AZ_MATH_INLINE Quaternion AZ::Quaternion::NLerp	(	const Quaternion &	dest,
		float	t
	)		const

Linearly interpolate towards a destination quaternion, and normalize afterwards.

Parameters

[in]	dest	The quaternion to interpolate towards.
[in]	t	Normalized interpolation value where 0.0 represents the current and 1.0 the destination value.

Returns

The interpolated and normalized quaternion at the given interpolation point.

NormalizeWithLength()

AZ_MATH_INLINE float AZ::Quaternion::NormalizeWithLength

(

)

Normalizes the vector in-place and returns the previous length. This takes a few more instructions than calling just Normalize().

operator()()

AZ_MATH_INLINE float AZ::Quaternion::operator()

(

int

index

)

const

Indexed access using operator(). It's just for convenience.

Note

This can be slower than using GetX,GetY, etc.

Reflect()

static void AZ::Quaternion::Reflect ( ReflectContext *  context )

static

AzCore Reflection.

Parameters

context

reflection context

SetFromEulerDegrees()

AZ_MATH_INLINE void AZ::Quaternion::SetFromEulerDegrees

(

const Vector3 &

eulerDegrees

)

Parameters

eulerDegrees

A vector containing component-wise rotation angles in degrees. O3DE_DEPRECATION_NOTICE(GHI-10929)

Deprecated:

use CreateFromEulerDegreesXYZ

SetFromEulerRadians()

void AZ::Quaternion::SetFromEulerRadians

(

const Vector3 &

eulerRadians

)

Parameters

eulerRadians

A vector containing component-wise rotation angles in radians. O3DE_DEPRECATION_NOTICE(GHI-10929)

Deprecated:

use CreateFromEulerRadiansXYZ

Squad()

AZ_MATH_INLINE Quaternion AZ::Quaternion::Squad	(	const Quaternion &	dest,
		const Quaternion &	in,
		const Quaternion &	out,
		float	t
	)		const

Spherical linear interpolation, but with in/out tangent quaternions. Squad(p,a,b,q,t) = Slerp(Slerp(p,q,t), Slerp(a,b,t); 2(1-t)t).

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

• Code/Framework/AzCore/AzCore/Math/Quaternion.h
• Code/Framework/AzCore/AzCore/Math/Quaternion.inl