TQuat struct

Unit quaternion parameterized on a scalar type.

Template parameters
VecType	Scalar element type — defaults to `SimFloat`.

Stored as (x, y, z, w) with the scalar part in w. Hamilton product convention.

Public static functions

auto Conjugate() const -> TQuat
auto LengthSqr() const -> VecType
auto Normalized() const -> TQuat
auto operator*(const TQuat& o) const -> TQuat: Hamilton product: this * o.
auto Rotate(const TVector3<VecType>& v) const -> TVector3<VecType>: Rotate vector v by this unit quaternion: v + 2w(q×v) + 2(q×(q×v)).
template<typename Dst> auto CastTo() const -> TQuat<Dst>: Explicit per-component type conversion.
auto ToFloat() const -> TQuat<float>: Convert to float components.
auto ToSim() const -> TQuat<SimFloat>: Convert to SimFloat components.