@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Math/Quat.h

@@ -0,0 +1,268 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Math/Vec3.h>
+#include <Jolt/Math/Vec4.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Quaternion class, quaternions are 4 dimensional vectors which can describe rotations in 3 dimensional
+/// space if their length is 1.
+///
+/// They are written as:
+///
+/// \f$q = w + x \: i + y \: j + z \: k\f$
+///
+/// or in vector notation:
+///
+/// \f$q = [w, v] = [w, x, y, z]\f$
+///
+/// Where:
+///
+/// w = the real part
+/// v = the imaginary part, (x, y, z)
+///
+/// Note that we store the quaternion in a Vec4 as [x, y, z, w] because that makes
+/// it easy to extract the rotation axis of the quaternion:
+///
+/// q = [cos(angle / 2), sin(angle / 2) * rotation_axis]
+class [[nodiscard]] alignas(JPH_VECTOR_ALIGNMENT) Quat
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	///@name Constructors
+	///@{
+	inline						Quat() = default; ///< Intentionally not initialized for performance reasons
+								Quat(const Quat &inRHS) = default;
+	Quat &						operator = (const Quat &inRHS) = default;
+	inline						Quat(float inX, float inY, float inZ, float inW)				: mValue(inX, inY, inZ, inW) { }
+	inline explicit				Quat(const Float4 &inV)											: mValue(Vec4::sLoadFloat4(&inV)) { }
+	inline explicit				Quat(Vec4Arg inV)												: mValue(inV) { }
+	///@}
+
+	///@name Tests
+	///@{
+
+	/// Check if two quaternions are exactly equal
+	inline bool					operator == (QuatArg inRHS) const								{ return mValue == inRHS.mValue; }
+
+	/// Check if two quaternions are different
+	inline bool					operator != (QuatArg inRHS) const								{ return mValue != inRHS.mValue; }
+
+	/// If this quaternion is close to inRHS. Note that q and -q represent the same rotation, this is not checked here.
+	inline bool					IsClose(QuatArg inRHS, float inMaxDistSq = 1.0e-12f) const		{ return mValue.IsClose(inRHS.mValue, inMaxDistSq); }
+
+	/// If the length of this quaternion is 1 +/- inTolerance
+	inline bool					IsNormalized(float inTolerance = 1.0e-5f) const					{ return mValue.IsNormalized(inTolerance); }
+
+	/// If any component of this quaternion is a NaN (not a number)
+	inline bool					IsNaN() const													{ return mValue.IsNaN(); }
+
+	///@}
+	///@name Get components
+	///@{
+
+	/// Get X component (imaginary part i)
+	JPH_INLINE float			GetX() const													{ return mValue.GetX(); }
+
+	/// Get Y component (imaginary part j)
+	JPH_INLINE float			GetY() const													{ return mValue.GetY(); }
+
+	/// Get Z component (imaginary part k)
+	JPH_INLINE float			GetZ() const													{ return mValue.GetZ(); }
+
+	/// Get W component (real part)
+	JPH_INLINE float			GetW() const													{ return mValue.GetW(); }
+
+	/// Get the imaginary part of the quaternion
+	JPH_INLINE Vec3				GetXYZ() const													{ return Vec3(mValue); }
+
+	/// Get the quaternion as a Vec4
+	JPH_INLINE Vec4				GetXYZW() const													{ return mValue; }
+
+	/// Set individual components
+	JPH_INLINE void				SetX(float inX)													{ mValue.SetX(inX); }
+	JPH_INLINE void				SetY(float inY)													{ mValue.SetY(inY); }
+	JPH_INLINE void				SetZ(float inZ)													{ mValue.SetZ(inZ); }
+	JPH_INLINE void				SetW(float inW)													{ mValue.SetW(inW); }
+
+	/// Set all components
+	JPH_INLINE void				Set(float inX, float inY, float inZ, float inW)					{ mValue.Set(inX, inY, inZ, inW); }
+
+	///@}
+	///@name Default quaternions
+	///@{
+
+	/// @return [0, 0, 0, 0]
+	JPH_INLINE static Quat		sZero()															{ return Quat(Vec4::sZero()); }
+
+	/// @return [1, 0, 0, 0] (or in storage format Quat(0, 0, 0, 1))
+	JPH_INLINE static Quat		sIdentity()														{ return Quat(0, 0, 0, 1); }
+
+	///@}
+
+	/// Rotation from axis and angle
+	JPH_INLINE static Quat		sRotation(Vec3Arg inAxis, float inAngle);
+
+	/// Get axis and angle that represents this quaternion, outAngle will always be in the range \f$[0, \pi]\f$
+	JPH_INLINE void				GetAxisAngle(Vec3 &outAxis, float &outAngle) const;
+
+	/// Create quaternion that rotates a vector from the direction of inFrom to the direction of inTo along the shortest path
+	/// @see https://www.euclideanspace.com/maths/algebra/vectors/angleBetween/index.htm
+	JPH_INLINE static Quat		sFromTo(Vec3Arg inFrom, Vec3Arg inTo);
+
+	/// Random unit quaternion
+	template <class Random>
+	inline static Quat			sRandom(Random &inRandom);
+
+	/// Conversion from Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX). Angles in radians.
+	inline static Quat			sEulerAngles(Vec3Arg inAngles);
+
+	/// Conversion to Euler angles. Rotation order is X then Y then Z (RotZ * RotY * RotX). Angles in radians.
+	inline Vec3					GetEulerAngles() const;
+
+	///@name Length / normalization operations
+	///@{
+
+	/// Squared length of quaternion.
+	/// @return Squared length of quaternion (\f$|v|^2\f$)
+	JPH_INLINE float			LengthSq() const												{ return mValue.LengthSq(); }
+
+	/// Length of quaternion.
+	/// @return Length of quaternion (\f$|v|\f$)
+	JPH_INLINE float			Length() const													{ return mValue.Length(); }
+
+	/// Normalize the quaternion (make it length 1)
+	JPH_INLINE Quat				Normalized() const												{ return Quat(mValue.Normalized()); }
+
+	///@}
+	///@name Additions / multiplications
+	///@{
+
+	JPH_INLINE void				operator += (QuatArg inRHS)										{ mValue += inRHS.mValue; }
+	JPH_INLINE void				operator -= (QuatArg inRHS)										{ mValue -= inRHS.mValue; }
+	JPH_INLINE void				operator *= (float inValue)										{ mValue *= inValue; }
+	JPH_INLINE void				operator /= (float inValue)										{ mValue /= inValue; }
+	JPH_INLINE Quat				operator - () const												{ return Quat(-mValue); }
+	JPH_INLINE Quat				operator + (QuatArg inRHS) const								{ return Quat(mValue + inRHS.mValue); }
+	JPH_INLINE Quat				operator - (QuatArg inRHS) const								{ return Quat(mValue - inRHS.mValue); }
+	JPH_INLINE Quat				operator * (QuatArg inRHS) const;
+	JPH_INLINE Quat				operator * (float inValue) const								{ return Quat(mValue * inValue); }
+	inline friend Quat			operator * (float inValue, QuatArg inRHS)						{ return Quat(inRHS.mValue * inValue); }
+	JPH_INLINE Quat				operator / (float inValue) const								{ return Quat(mValue / inValue); }
+
+	///@}
+
+	/// Rotate a vector by this quaternion
+	JPH_INLINE Vec3				operator * (Vec3Arg inValue) const;
+
+	/// Multiply a quaternion with imaginary components and no real component (x, y, z, 0) with a quaternion
+	static JPH_INLINE Quat		sMultiplyImaginary(Vec3Arg inLHS, QuatArg inRHS);
+
+	/// Rotate a vector by the inverse of this quaternion
+	JPH_INLINE Vec3				InverseRotate(Vec3Arg inValue) const;
+
+	/// Rotate a the vector (1, 0, 0) with this quaternion
+	JPH_INLINE Vec3				RotateAxisX() const;
+
+	/// Rotate a the vector (0, 1, 0) with this quaternion
+	JPH_INLINE Vec3				RotateAxisY() const;
+
+	/// Rotate a the vector (0, 0, 1) with this quaternion
+	JPH_INLINE Vec3				RotateAxisZ() const;
+
+	/// Dot product
+	JPH_INLINE float			Dot(QuatArg inRHS) const										{ return mValue.Dot(inRHS.mValue); }
+
+	/// The conjugate [w, -x, -y, -z] is the same as the inverse for unit quaternions
+	JPH_INLINE Quat				Conjugated() const												{ return Quat(mValue.FlipSign<-1, -1, -1, 1>()); }
+
+	/// Get inverse quaternion
+	JPH_INLINE Quat				Inversed() const												{ return Conjugated() / Length(); }
+
+	/// Ensures that the W component is positive by negating the entire quaternion if it is not. This is useful when you want to store a quaternion as a 3 vector by discarding W and reconstructing it as sqrt(1 - x^2 - y^2 - z^2).
+	JPH_INLINE Quat				EnsureWPositive() const											{ return Quat(Vec4::sXor(mValue, Vec4::sAnd(mValue.SplatW(), UVec4::sReplicate(0x80000000).ReinterpretAsFloat()))); }
+
+	/// Get a quaternion that is perpendicular to this quaternion
+	JPH_INLINE Quat				GetPerpendicular() const										{ return Quat(mValue.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>().FlipSign<1, -1, 1, -1>()); }
+
+	/// Get rotation angle around inAxis (uses Swing Twist Decomposition to get the twist quaternion and uses q(axis, angle) = [cos(angle / 2), axis * sin(angle / 2)])
+	JPH_INLINE float			GetRotationAngle(Vec3Arg inAxis) const							{ return GetW() == 0.0f? JPH_PI : 2.0f * ATan(GetXYZ().Dot(inAxis) / GetW()); }
+
+	/// Swing Twist Decomposition: any quaternion can be split up as:
+	///
+	/// \f[q = q_{swing} \: q_{twist}\f]
+	///
+	/// where \f$q_{twist}\f$ rotates only around axis v.
+	///
+	/// \f$q_{twist}\f$ is:
+	///
+	/// \f[q_{twist} = \frac{[q_w, q_{ijk} \cdot v \: v]}{\left|[q_w, q_{ijk} \cdot v \: v]\right|}\f]
+	///
+	/// where q_w is the real part of the quaternion and q_i the imaginary part (a 3 vector).
+	///
+	/// The swing can then be calculated as:
+	///
+	/// \f[q_{swing} = q \: q_{twist}^* \f]
+	///
+	/// Where \f$q_{twist}^*\f$ = complex conjugate of \f$q_{twist}\f$
+	JPH_INLINE Quat				GetTwist(Vec3Arg inAxis) const;
+
+	/// Decomposes quaternion into swing and twist component:
+	///
+	/// \f$q = q_{swing} \: q_{twist}\f$
+	///
+	/// where \f$q_{swing} \: \hat{x} = q_{twist} \: \hat{y} = q_{twist} \: \hat{z} = 0\f$
+	///
+	/// In other words:
+	///
+	/// - \f$q_{twist}\f$ only rotates around the X-axis.
+	/// - \f$q_{swing}\f$ only rotates around the Y and Z-axis.
+	///
+	/// @see Gino van den Bergen - Rotational Joint Limits in Quaternion Space - GDC 2016
+	JPH_INLINE void				GetSwingTwist(Quat &outSwing, Quat &outTwist) const;
+
+	/// Linear interpolation between two quaternions (for small steps).
+	/// @param inFraction is in the range [0, 1]
+	/// @param inDestination The destination quaternion
+	/// @return (1 - inFraction) * this + fraction * inDestination
+	JPH_INLINE Quat				LERP(QuatArg inDestination, float inFraction) const;
+
+	/// Spherical linear interpolation between two quaternions.
+	/// @param inFraction is in the range [0, 1]
+	/// @param inDestination The destination quaternion
+	/// @return When fraction is zero this quaternion is returned, when fraction is 1 inDestination is returned.
+	/// When fraction is between 0 and 1 an interpolation along the shortest path is returned.
+	JPH_INLINE Quat				SLERP(QuatArg inDestination, float inFraction) const;
+
+	/// Load 3 floats from memory (X, Y and Z component and then calculates W) reads 32 bits extra which it doesn't use
+	static JPH_INLINE Quat		sLoadFloat3Unsafe(const Float3 &inV);
+
+	/// Store as 3 floats to memory (X, Y and Z component). Ensures that W is positive before storing.
+	JPH_INLINE void				StoreFloat3(Float3 *outV) const;
+
+	/// Store as 4 floats
+	JPH_INLINE void				StoreFloat4(Float4 *outV) const;
+
+	/// Compress a unit quaternion to a 32 bit value, precision is around 0.5 degree
+	JPH_INLINE uint32			CompressUnitQuat() const										{ return mValue.CompressUnitVector(); }
+
+	/// Decompress a unit quaternion from a 32 bit value
+	JPH_INLINE static Quat		sDecompressUnitQuat(uint32 inValue)								{ return Quat(Vec4::sDecompressUnitVector(inValue)); }
+
+	/// To String
+	friend ostream &			operator << (ostream &inStream, QuatArg inQ)					{ inStream << inQ.mValue; return inStream; }
+
+	/// 4 vector that stores [x, y, z, w] parts of the quaternion
+	Vec4						mValue;
+};
+
+static_assert(std::is_trivial<Quat>(), "Is supposed to be a trivial type!");
+
+JPH_NAMESPACE_END
+
+#include "Quat.inl"

package/native/third_party/JoltPhysics/Jolt/Math/Quat.inl

@@ -0,0 +1,406 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+JPH_NAMESPACE_BEGIN
+
+Quat Quat::operator * (QuatArg inRHS) const
+{
+#if defined(JPH_USE_SSE4_1)
+	// Taken from: http://momchil-velikov.blogspot.nl/2013/10/fast-sse-quternion-multiplication.html
+	__m128 abcd = mValue.mValue;
+	__m128 xyzw = inRHS.mValue.mValue;
+
+	__m128 t0 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(3, 3, 3, 3));
+	__m128 t1 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(2, 3, 0, 1));
+
+	__m128 t3 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(0, 0, 0, 0));
+	__m128 t4 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(1, 0, 3, 2));
+
+	__m128 t5 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(1, 1, 1, 1));
+	__m128 t6 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(2, 0, 3, 1));
+
+	// [d,d,d,d] * [z,w,x,y] = [dz,dw,dx,dy]
+	__m128 m0 = _mm_mul_ps(t0, t1);
+
+	// [a,a,a,a] * [y,x,w,z] = [ay,ax,aw,az]
+	__m128 m1 = _mm_mul_ps(t3, t4);
+
+	// [b,b,b,b] * [z,x,w,y] = [bz,bx,bw,by]
+	__m128 m2 = _mm_mul_ps(t5, t6);
+
+	// [c,c,c,c] * [w,z,x,y] = [cw,cz,cx,cy]
+	__m128 t7 = _mm_shuffle_ps(abcd, abcd, _MM_SHUFFLE(2, 2, 2, 2));
+	__m128 t8 = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 2, 0, 1));
+	__m128 m3 = _mm_mul_ps(t7, t8);
+
+	// [dz,dw,dx,dy] + -[ay,ax,aw,az] = [dz+ay,dw-ax,dx+aw,dy-az]
+	__m128 e = _mm_addsub_ps(m0, m1);
+
+	// [dx+aw,dz+ay,dy-az,dw-ax]
+	e = _mm_shuffle_ps(e, e, _MM_SHUFFLE(1, 3, 0, 2));
+
+	// [dx+aw,dz+ay,dy-az,dw-ax] + -[bz,bx,bw,by] = [dx+aw+bz,dz+ay-bx,dy-az+bw,dw-ax-by]
+	e = _mm_addsub_ps(e, m2);
+
+	// [dz+ay-bx,dw-ax-by,dy-az+bw,dx+aw+bz]
+	e = _mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 0, 1, 3));
+
+	// [dz+ay-bx,dw-ax-by,dy-az+bw,dx+aw+bz] + -[cw,cz,cx,cy] = [dz+ay-bx+cw,dw-ax-by-cz,dy-az+bw+cx,dx+aw+bz-cy]
+	e = _mm_addsub_ps(e, m3);
+
+	// [dw-ax-by-cz,dz+ay-bx+cw,dy-az+bw+cx,dx+aw+bz-cy]
+	return Quat(Vec4(_mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 3, 1, 0))));
+#else
+	float lx = mValue.GetX();
+	float ly = mValue.GetY();
+	float lz = mValue.GetZ();
+	float lw = mValue.GetW();
+
+	float rx = inRHS.mValue.GetX();
+	float ry = inRHS.mValue.GetY();
+	float rz = inRHS.mValue.GetZ();
+	float rw = inRHS.mValue.GetW();
+
+	float x = lw * rx + lx * rw + ly * rz - lz * ry;
+	float y = lw * ry - lx * rz + ly * rw + lz * rx;
+	float z = lw * rz + lx * ry - ly * rx + lz * rw;
+	float w = lw * rw - lx * rx - ly * ry - lz * rz;
+
+	return Quat(x, y, z, w);
+#endif
+}
+
+Quat Quat::sMultiplyImaginary(Vec3Arg inLHS, QuatArg inRHS)
+{
+#if defined(JPH_USE_SSE4_1)
+	__m128 abc0 = inLHS.mValue;
+	__m128 xyzw = inRHS.mValue.mValue;
+
+	// [a,a,a,a] * [w,y,z,x] = [aw,ay,az,ax]
+	__m128 aaaa = _mm_shuffle_ps(abc0, abc0, _MM_SHUFFLE(0, 0, 0, 0));
+	__m128 xzyw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 1, 2, 0));
+	__m128 axazayaw = _mm_mul_ps(aaaa, xzyw);
+
+	// [b,b,b,b] * [z,x,w,y] = [bz,bx,bw,by]
+	__m128 bbbb = _mm_shuffle_ps(abc0, abc0, _MM_SHUFFLE(1, 1, 1, 1));
+	__m128 ywxz = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(2, 0, 3, 1));
+	__m128 bybwbxbz = _mm_mul_ps(bbbb, ywxz);
+
+	// [c,c,c,c] * [w,z,x,y] = [cw,cz,cx,cy]
+	__m128 cccc = _mm_shuffle_ps(abc0, abc0, _MM_SHUFFLE(2, 2, 2, 2));
+	__m128 yxzw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 2, 0, 1));
+	__m128 cycxczcw = _mm_mul_ps(cccc, yxzw);
+
+	// [+aw,+ay,-az,-ax]
+	__m128 e = _mm_xor_ps(axazayaw, _mm_set_ps(0.0f, 0.0f, -0.0f, -0.0f));
+
+	// [+aw,+ay,-az,-ax] + -[bz,bx,bw,by] = [+aw+bz,+ay-bx,-az+bw,-ax-by]
+	e = _mm_addsub_ps(e, bybwbxbz);
+
+	// [+ay-bx,-ax-by,-az+bw,+aw+bz]
+	e = _mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 0, 1, 3));
+
+	// [+ay-bx,-ax-by,-az+bw,+aw+bz] + -[cw,cz,cx,cy] = [+ay-bx+cw,-ax-by-cz,-az+bw+cx,+aw+bz-cy]
+	e = _mm_addsub_ps(e, cycxczcw);
+
+	// [-ax-by-cz,+ay-bx+cw,-az+bw+cx,+aw+bz-cy]
+	return Quat(Vec4(_mm_shuffle_ps(e, e, _MM_SHUFFLE(2, 3, 1, 0))));
+#else
+	float lx = inLHS.GetX();
+	float ly = inLHS.GetY();
+	float lz = inLHS.GetZ();
+
+	float rx = inRHS.mValue.GetX();
+	float ry = inRHS.mValue.GetY();
+	float rz = inRHS.mValue.GetZ();
+	float rw = inRHS.mValue.GetW();
+
+	float x =  (lx * rw) + ly * rz - lz * ry;
+	float y = -(lx * rz) + ly * rw + lz * rx;
+	float z =  (lx * ry) - ly * rx + lz * rw;
+	float w = -(lx * rx) - ly * ry - lz * rz;
+
+	return Quat(x, y, z, w);
+#endif
+}
+
+Quat Quat::sRotation(Vec3Arg inAxis, float inAngle)
+{
+	// returns [inAxis * sin(0.5f * inAngle), cos(0.5f * inAngle)]
+	JPH_ASSERT(inAxis.IsNormalized());
+	Vec4 s, c;
+	Vec4::sReplicate(0.5f * inAngle).SinCos(s, c);
+	return Quat(Vec4::sSelect(Vec4(inAxis) * s, c, UVec4(0, 0, 0, 0xffffffffU)));
+}
+
+void Quat::GetAxisAngle(Vec3 &outAxis, float &outAngle) const
+{
+	JPH_ASSERT(IsNormalized());
+	Quat w_pos = EnsureWPositive();
+	float abs_w = w_pos.GetW();
+	if (abs_w >= 1.0f)
+	{
+		outAxis = Vec3::sZero();
+		outAngle = 0.0f;
+	}
+	else
+	{
+		outAngle = 2.0f * ACos(abs_w);
+		outAxis = w_pos.GetXYZ().NormalizedOr(Vec3::sZero());
+	}
+}
+
+Quat Quat::sFromTo(Vec3Arg inFrom, Vec3Arg inTo)
+{
+	/*
+		Uses (inFrom = v1, inTo = v2):
+
+		angle = arcos(v1 . v2 / |v1||v2|)
+		axis = normalize(v1 x v2)
+
+		Quaternion is then:
+
+		s = sin(angle / 2)
+		x = axis.x * s
+		y = axis.y * s
+		z = axis.z * s
+		w = cos(angle / 2)
+
+		Using identities:
+
+		sin(2 * a) = 2 * sin(a) * cos(a)
+		cos(2 * a) = cos(a)^2 - sin(a)^2
+		sin(a)^2 + cos(a)^2 = 1
+
+		This reduces to:
+
+		x = (v1 x v2).x
+		y = (v1 x v2).y
+		z = (v1 x v2).z
+		w = |v1||v2| + v1 . v2
+
+		which then needs to be normalized because the whole equation was multiplied by 2 cos(angle / 2)
+	*/
+
+	float len_v1_v2 = sqrt(inFrom.LengthSq() * inTo.LengthSq());
+	float w = len_v1_v2 + inFrom.Dot(inTo);
+
+	if (w == 0.0f)
+	{
+		if (len_v1_v2 == 0.0f)
+		{
+			// If either of the vectors has zero length, there is no rotation and we return identity
+			return Quat::sIdentity();
+		}
+		else
+		{
+			// If vectors are perpendicular, take one of the many 180 degree rotations that exist
+			return Quat(Vec4(inFrom.GetNormalizedPerpendicular(), 0));
+		}
+	}
+
+	Vec3 v = inFrom.Cross(inTo);
+	return Quat(Vec4(v, w)).Normalized();
+}
+
+template <class Random>
+Quat Quat::sRandom(Random &inRandom)
+{
+	std::uniform_real_distribution<float> zero_to_one(0.0f, 1.0f);
+	float x0 = zero_to_one(inRandom);
+	float r1 = sqrt(1.0f - x0), r2 = sqrt(x0);
+	std::uniform_real_distribution<float> zero_to_two_pi(0.0f, 2.0f * JPH_PI);
+	Vec4 s, c;
+	Vec4(zero_to_two_pi(inRandom), zero_to_two_pi(inRandom), 0, 0).SinCos(s, c);
+	return Quat(s.GetX() * r1, c.GetX() * r1, s.GetY() * r2, c.GetY() * r2);
+}
+
+Quat Quat::sEulerAngles(Vec3Arg inAngles)
+{
+	Vec4 half(0.5f * inAngles);
+	Vec4 s, c;
+	half.SinCos(s, c);
+
+	float cx = c.GetX();
+	float sx = s.GetX();
+	float cy = c.GetY();
+	float sy = s.GetY();
+	float cz = c.GetZ();
+	float sz = s.GetZ();
+
+	return Quat(
+		cz * sx * cy - sz * cx * sy,
+		cz * cx * sy + sz * sx * cy,
+		sz * cx * cy - cz * sx * sy,
+		cz * cx * cy + sz * sx * sy);
+}
+
+Vec3 Quat::GetEulerAngles() const
+{
+	float y_sq = GetY() * GetY();
+
+	// X
+	float t0 = 2.0f * (GetW() * GetX() + GetY() * GetZ());
+	float t1 = 1.0f - 2.0f * (GetX() * GetX() + y_sq);
+
+	// Y
+	float t2 = 2.0f * (GetW() * GetY() - GetZ() * GetX());
+	t2 = t2 > 1.0f? 1.0f : t2;
+	t2 = t2 < -1.0f? -1.0f : t2;
+
+	// Z
+	float t3 = 2.0f * (GetW() * GetZ() + GetX() * GetY());
+	float t4 = 1.0f - 2.0f * (y_sq + GetZ() * GetZ());
+
+	return Vec3(ATan2(t0, t1), ASin(t2), ATan2(t3, t4));
+}
+
+Quat Quat::GetTwist(Vec3Arg inAxis) const
+{
+	Quat twist(Vec4(GetXYZ().Dot(inAxis) * inAxis, GetW()));
+	float twist_len = twist.LengthSq();
+	if (twist_len != 0.0f)
+		return twist / sqrt(twist_len);
+	else
+		return Quat::sIdentity();
+}
+
+void Quat::GetSwingTwist(Quat &outSwing, Quat &outTwist) const
+{
+	float x = GetX(), y = GetY(), z = GetZ(), w = GetW();
+	float s = sqrt(Square(w) + Square(x));
+	if (s != 0.0f)
+	{
+		outTwist = Quat(x / s, 0, 0, w / s);
+		outSwing = Quat(0, (w * y - x * z) / s, (w * z + x * y) / s, s);
+	}
+	else
+	{
+		// If both x and w are zero, this must be a 180 degree rotation around either y or z
+		outTwist = Quat::sIdentity();
+		outSwing = *this;
+	}
+}
+
+Quat Quat::LERP(QuatArg inDestination, float inFraction) const
+{
+	float scale0 = 1.0f - inFraction;
+	return Quat(Vec4::sReplicate(scale0) * mValue + Vec4::sReplicate(inFraction) * inDestination.mValue);
+}
+
+Quat Quat::SLERP(QuatArg inDestination, float inFraction) const
+{
+	// Difference at which to LERP instead of SLERP
+	const float delta = 0.0001f;
+
+	// Calc cosine
+	float sign_scale1 = 1.0f;
+	float cos_omega = Dot(inDestination);
+
+	// Adjust signs (if necessary)
+	if (cos_omega < 0.0f)
+	{
+		cos_omega = -cos_omega;
+		sign_scale1 = -1.0f;
+	}
+
+	// Calculate coefficients
+	float scale0, scale1;
+	if (1.0f - cos_omega > delta)
+	{
+		// Standard case (slerp)
+		float omega = ACos(cos_omega);
+		float sin_omega = Sin(omega);
+		scale0 = Sin((1.0f - inFraction) * omega) / sin_omega;
+		scale1 = sign_scale1 * Sin(inFraction * omega) / sin_omega;
+	}
+	else
+	{
+		// Quaternions are very close so we can do a linear interpolation
+		scale0 = 1.0f - inFraction;
+		scale1 = sign_scale1 * inFraction;
+	}
+
+	// Interpolate between the two quaternions
+	return Quat(Vec4::sReplicate(scale0) * mValue + Vec4::sReplicate(scale1) * inDestination.mValue).Normalized();
+}
+
+Vec3 Quat::operator * (Vec3Arg inValue) const
+{
+	// Rotating a vector by a quaternion is done by: p' = q * (p, 0) * q^-1 (q^-1 = conjugated(q) for a unit quaternion)
+	// Using Rodrigues formula: https://en.m.wikipedia.org/wiki/Euler%E2%80%93Rodrigues_formula
+	// This is equivalent to: p' = p + 2 * (q.w * q.xyz x p + q.xyz x (q.xyz x p))
+	//
+	// This is:
+	//
+	// Vec3 xyz = GetXYZ();
+	// Vec3 q_cross_p = xyz.Cross(inValue);
+	// Vec3 q_cross_q_cross_p = xyz.Cross(q_cross_p);
+	// Vec3 v = mValue.SplatW3() * q_cross_p + q_cross_q_cross_p;
+	// return inValue + (v + v);
+	//
+	// But we can write out the cross products in a more efficient way:
+	JPH_ASSERT(IsNormalized());
+	Vec3 xyz = GetXYZ();
+	Vec3 yzx = xyz.Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>();
+	Vec3 q_cross_p = (inValue.Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>() * xyz - yzx * inValue).Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>();
+	Vec3 q_cross_q_cross_p = (q_cross_p.Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>() * xyz - yzx * q_cross_p).Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>();
+	Vec3 v = mValue.SplatW3() * q_cross_p + q_cross_q_cross_p;
+	return inValue + (v + v);
+}
+
+Vec3 Quat::InverseRotate(Vec3Arg inValue) const
+{
+	JPH_ASSERT(IsNormalized());
+	Vec3 xyz = GetXYZ(); // Needs to be negated, but we do this in the equations below
+	Vec3 yzx = xyz.Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>();
+	Vec3 q_cross_p = (yzx * inValue - inValue.Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>() * xyz).Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>();
+	Vec3 q_cross_q_cross_p = (yzx * q_cross_p - q_cross_p.Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>() * xyz).Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_X>();
+	Vec3 v = mValue.SplatW3() * q_cross_p + q_cross_q_cross_p;
+	return inValue + (v + v);
+}
+
+Vec3 Quat::RotateAxisX() const
+{
+	// This is *this * Vec3::sAxisX() written out:
+	JPH_ASSERT(IsNormalized());
+	Vec4 t = mValue + mValue;
+	return Vec3(t.SplatX() * mValue + (t.SplatW() * mValue.Swizzle<SWIZZLE_W, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X>()).FlipSign<1, 1, -1, 1>() - Vec4(1, 0, 0, 0));
+}
+
+Vec3 Quat::RotateAxisY() const
+{
+	// This is *this * Vec3::sAxisY() written out:
+	JPH_ASSERT(IsNormalized());
+	Vec4 t = mValue + mValue;
+	return Vec3(t.SplatY() * mValue + (t.SplatW() * mValue.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>()).FlipSign<-1, 1, 1, 1>() - Vec4(0, 1, 0, 0));
+}
+
+Vec3 Quat::RotateAxisZ() const
+{
+	// This is *this * Vec3::sAxisZ() written out:
+	JPH_ASSERT(IsNormalized());
+	Vec4 t = mValue + mValue;
+	return Vec3(t.SplatZ() * mValue + (t.SplatW() * mValue.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>()).FlipSign<1, -1, 1, 1>() - Vec4(0, 0, 1, 0));
+}
+
+void Quat::StoreFloat3(Float3 *outV) const
+{
+	JPH_ASSERT(IsNormalized());
+	EnsureWPositive().GetXYZ().StoreFloat3(outV);
+}
+
+void Quat::StoreFloat4(Float4 *outV) const
+{
+	mValue.StoreFloat4(outV);
+}
+
+Quat Quat::sLoadFloat3Unsafe(const Float3 &inV)
+{
+	Vec3 v = Vec3::sLoadFloat3Unsafe(inV);
+	float w = sqrt(max(1.0f - v.LengthSq(), 0.0f)); // It is possible that the length of v is a fraction above 1, and we don't want to introduce NaN's in that case so we clamp to 0
+	return Quat(Vec4(v, w));
+}
+
+JPH_NAMESPACE_END