PxSeparateSwingTwist

Defined in include/foundation/PxMathUtils.h

inline void PxSeparateSwingTwist(const PxQuat &q, PxQuat &swing, PxQuat &twist)

Compute from an input quaternion q a pair of quaternions (swing, twist) such that q = swing * twist with the caveats that swing.x = twist.y = twist.z = 0.

Parameters

• q – [in] is the quaternion to be decomposed into swing and twist quaternions.

• swing – [out] is the swing component of the quaternion decomposition.

• twist – [out] is the twist component of the quaternion decomposition.