/**
* @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);
}
/**
* get the axis and angle of rotation of this quaternion
*
* @param Axis{out] vector of axis of the quaternion
* @param Angle{out] angle of the quaternion
* @warning : assumes normalized quaternions.
*/
public void ToAxisAndAngle(out FVector Axis, out float Angle)
{
Angle = (float)(2.0f * FMath.Acos(W));
Axis = GetRotationAxis();
}