/**
* @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))
*/
public FQuat Exp()
{
float Angle = (float)FMath.Sqrt(X * X + Y * Y + Z * Z);
float SinAngle = (float)FMath.Sin(Angle);
FQuat Result = new FQuat();
Result.W = (float)FMath.Cos(Angle);
if (FMath.Abs(SinAngle) >= Const.SMALL_NUMBER)
{
float Scale = SinAngle / Angle;
Result.X = Scale * X;
Result.Y = Scale * Y;
Result.Z = Scale * Z;
}
else
{
Result.X = X;
Result.Y = Y;
Result.Z = Z;
}
return(Result);
}
/**
* @return quaternion with W=0 and V=theta*v.
*/
public FQuat Log()
{
FQuat Result = new UnrealEngine.FQuat();
Result.W = 0.0f;
if (FMath.Abs(W) < 1.0f)
{
float Angle = (float)FMath.Acos(W);
float SinAngle = (float)FMath.Sin(Angle);
if (FMath.Abs(SinAngle) >= Const.SMALL_NUMBER)
{
float Scale = Angle / SinAngle;
Result.X = Scale * X;
Result.Y = Scale * Y;
Result.Z = Scale * Z;
return(Result);
}
}
Result.X = X;
Result.Y = Y;
Result.Z = Z;
return(Result);
}
/**
* Checks whether another Quaternion is equal to this, within specified tolerance.
*
* @param Q The other Quaternion.
* @param Tolerance Error Tolerance.
* @return true if two Quaternion are equal, within specified tolerance, otherwise false.
*/
public override bool Equals(object Obj)
{
FQuat Q = (FQuat)Obj;
float Tolerance = Const.KINDA_SMALL_NUMBER;
return((FMath.Abs(X - Q.X) <= Tolerance && FMath.Abs(Y - Q.Y) <= Tolerance && FMath.Abs(Z - Q.Z) <= Tolerance && FMath.Abs(W - Q.W) <= Tolerance) ||
(FMath.Abs(X + Q.X) <= Tolerance && FMath.Abs(Y + Q.Y) <= Tolerance && FMath.Abs(Z + Q.Z) <= Tolerance && FMath.Abs(W + Q.W) <= Tolerance));
}
/**
* Checks whether another Matrix is equal to this, within specified tolerance.
*
* @param Other The other Matrix.
* @param Tolerance Error Tolerance.
* @return true if two Matrix are equal, within specified tolerance, otherwise false.
*/
public override bool Equals(object Obj)
{
FMatrix Other = (FMatrix)Obj;
float Tolerance = Const.KINDA_SMALL_NUMBER;
for (int X = 0; X < 4; X++)
{
for (int Y = 0; Y < 4; Y++)
{
if (FMath.Abs(this[X, Y] - Other[X, Y]) > Tolerance)
{
return(false);
}
}
}
return(true);
}
/**
* Compare two points and see if they're within specified distance.
*
* @param Point1 First vector.
* @param Point2 Second vector.
* @param Dist Specified distance.
* @return Whether two points are within the specified distance. Uses fast distance approximation (linear per-component distance).
*/
public static bool PointsAreNear(FVector Point1, FVector Point2, float Dist)
{
float Temp;
Temp = (Point1.X - Point2.X); if (FMath.Abs(Temp) >= Dist)
{
return(false);
}
Temp = (Point1.Y - Point2.Y); if (FMath.Abs(Temp) >= Dist)
{
return(false);
}
Temp = (Point1.Z - Point2.Z); if (FMath.Abs(Temp) >= Dist)
{
return(false);
}
return(true);
}
// Return true if this quaternion is normalized
public bool IsNormalized()
{
return(FMath.Abs(1.0f - SizeSquared()) < Const.THRESH_QUAT_NORMALIZED);
}
bool Equals(FRotator R, float Tolerance = Const.KINDA_SMALL_NUMBER)
{
return((FMath.Abs(NormalizeAxis(Pitch - R.Pitch)) <= Tolerance) &&
(FMath.Abs(NormalizeAxis(Yaw - R.Yaw)) <= Tolerance) &&
(FMath.Abs(NormalizeAxis(Roll - R.Roll)) <= Tolerance));
}
bool AllComponentsEqual(float Tolerance)
{
return(FMath.Abs(X - Y) <= Tolerance && FMath.Abs(X - Z) <= Tolerance && FMath.Abs(Y - Z) <= Tolerance);
}
/**
* Get a copy of this vector with absolute value of each component.
*
* @return A copy of this vector with absolute value of each component.
*/
public FVector GetAbs()
{
return(new FVector(FMath.Abs(X), FMath.Abs(Y), FMath.Abs(Z)));
}
/**
* Get the minimum absolute value of the vector's components.
*
* @return The minimum absolute value of the vector's components.
*/
public float GetAbsMin()
{
return(FMath.Min(FMath.Min(FMath.Abs(X), FMath.Abs(Y)), FMath.Abs(Z)));
}
