/**
* @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);
}